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ravijo / ros_openpose

ROS wrapper for OpenPose
MIT License
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(OpenPose 1.7.0:16877): Gtk-ERROR ** #85

Closed TinkerYxs closed 1 year ago

TinkerYxs commented 1 year ago 
$ roslaunch ros_openpose run.launch camera:=rfly_nodepth 
[ INFO] [1670996123.218492638]: Starting ros_openpose...
Auto-detecting all available GPUs... Detected 1 GPU(s), using 1 of them starting at GPU 0.
[ WARN] [1670996123.241249413]: Waiting for color image frame...
[ WARN] [1670996123.242357895]: Waiting for datum...
(OpenPose 1.7.0:16877): Gtk-ERROR **: 13:35:23.243: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
================================================================================REQUIRED process [rosOpenpose-2] has died!
process has died [pid 16877, exit code -5, cmd /home/nvidia/32Tracking_ws/devel/lib/ros_openpose/rosOpenposeAsync --model_folder /home/nvidia/32Tracking_ws/src/openpose/models/ __name:=rosOpenpose __log:=/home/nvidia/.ros/log/1a1933e0-7b71-11ed-8f1b-48b02d694004/rosOpenpose-2.log].
log file: /home/nvidia/.ros/log/1a1933e0-7b71-11ed-8f1b-48b02d694004/rosOpenpose-2*.log
Initiating shutdown!
ravijo commented 1 year ago

@TinkerYxs

The GTK error is most probably coming from OpenCV. I guess that you are using a custom OpenCV. To debug your issue, can you please do the following:

  1. Run OpenPose as a standalone program by giving an example video mentioned in OpenPose/Quick Start Overview.
  2. Please make sure GUI inside ROS works fine by executing the following command: 
    rosrun image_view image_view image:=/your_camera/image_topic

BTW, are you defining your new camera rfly_nodepth? If so, we can add your contributions to this repository after discussions with you.

xiang2020git commented 1 year ago

From your command line output I assume that you use a Nvidia Jetson board. I had this gtk version issue with my AGX Orin. My wild guess is, this is due to some openCV version mismatch from cv_bridge and openpose, see here

I did the following to solve this:

  1. Build and install openCV 4.6 with CUDA enabled. The preinstalled openCV in Jetson Orin does not support CUDA.
  2. Build openpose with openCV 4.6. You can do this by specifying OPENCV_DIR to the installed path of openCV in cmake-gui interface, see this Reference
  3. Edit cv_bridgeConfig.cmake to tell catkin_make to find the newly installed openCV, see this link
    • I am not sure if this step is mandatory because i tried many ways to make the whole system work. But in the end it works.
  4. If you installed ROS using àpt, then it is probably that the cv_bridge package is also built with another openCV. To solve this, you can build the vision_opencv with ros_openpose using openCV 4.6:
    1. Assume that your workspace of ros_openpose is located in ~/catkin_ws/src.
    2. Download the source code of vision_opencv, which contains cv_bridge 
      cd ~/catkin_ws/src
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
    3. build vision_opencv and ros_openpose together: 
      cd ~/catkin_ws
catkin_make

      Then it should work.

TinkerYxs commented 1 year ago

From your command line output I assume that you use a Nvidia Jetson board. I had this gtk version issue with my AGX Orin. My wild guess is, this is due to some openCV version mismatch from cv_bridge and openpose, see here

I did the following to solve this:

1. Build and install openCV 4.6 with CUDA enabled. The preinstalled openCV in Jetson Orin does not support CUDA.

2. Build openpose with openCV 4.6. You can do this by specifying `OPENCV_DIR` to the installed path of openCV in `cmake-gui` interface, see [this Reference](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation/2_additional_settings.md#custom-opencv)

3. Edit `cv_bridgeConfig.cmake` to tell `catkin_make` to find the newly installed openCV, see [this link](https://github.com/ravijo/ros_openpose/issues/62#issuecomment-1123430014)

   * I am not sure if this step is mandatory because i tried many ways to make the whole system work. But in the end it works.

4. If you installed ROS using `àpt`, then it is probably that the `cv_bridge` package is also built with another openCV. To solve this, you can build the `vision_opencv` with `ros_openpose` using openCV 4.6:

   1. Assume that your workspace of `ros_openpose` is located in `~/catkin_ws/src`.
   2. Download the source code of `vision_opencv`, which contains `cv_bridge`
      ```
      cd ~/catkin_ws/src
      git clone https://github.com/ros-perception/vision_opencv.git
      cd vision_opencv
      git checkout noetic
      ```
   3. build `vision_opencv` and `ros_openpose` together:
      ```
      cd ~/catkin_ws
      catkin_make
      ```

Then it should work.

yes, i use jetson agx ogin and my opencv version is 4.5.4(default and not compiled by cuda), let me try your method.

TinkerYxs commented 1 year ago

@TinkerYxs

The GTK error is most probably coming from OpenCV. I guess that you are using a custom OpenCV. To debug your issue, can you please do the following:

1. Run OpenPose as a standalone program by giving an example video mentioned in [OpenPose/Quick Start Overview](https://github.com/CMU-Perceptual-Computing-Lab/openpose#quick-start-overview).

2. Please make sure GUI inside ROS works fine by executing the following command:
   ```
   rosrun image_view image_view image:=/your_camera/image_topic
   ```

BTW, are you defining your new camera rfly_nodepth? If so, we can add your contributions to this repository after discussions with you.

my openpose runs just fine and i just use a simulation camera

TinkerYxs commented 1 year ago

From your command line output I assume that you use a Nvidia Jetson board. I had this gtk version issue with my AGX Orin. My wild guess is, this is due to some openCV version mismatch from cv_bridge and openpose, see here

I did the following to solve this:

1. Build and install openCV 4.6 with CUDA enabled. The preinstalled openCV in Jetson Orin does not support CUDA.

2. Build openpose with openCV 4.6. You can do this by specifying `OPENCV_DIR` to the installed path of openCV in `cmake-gui` interface, see [this Reference](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation/2_additional_settings.md#custom-opencv)

3. Edit `cv_bridgeConfig.cmake` to tell `catkin_make` to find the newly installed openCV, see [this link](https://github.com/ravijo/ros_openpose/issues/62#issuecomment-1123430014)

   * I am not sure if this step is mandatory because i tried many ways to make the whole system work. But in the end it works.

4. If you installed ROS using `àpt`, then it is probably that the `cv_bridge` package is also built with another openCV. To solve this, you can build the `vision_opencv` with `ros_openpose` using openCV 4.6:

   1. Assume that your workspace of `ros_openpose` is located in `~/catkin_ws/src`.
   2. Download the source code of `vision_opencv`, which contains `cv_bridge`
      ```
      cd ~/catkin_ws/src
      git clone https://github.com/ros-perception/vision_opencv.git
      cd vision_opencv
      git checkout noetic
      ```
   3. build `vision_opencv` and `ros_openpose` together:
      ```
      cd ~/catkin_ws
      catkin_make
      ```

Then it should work.

Thank you very much, your method slove this problem, I install opencv4.6.0 and cover the default opencv4.5.4, after this I meet another problem " error while loading shared libraries: libopencv_highgui.so.406: cannot open shared object file: No such file or directory", I "sudo apt-get install libopencv-highgui-dev", then my openpose and ros_openpose run correctly.