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ros-drivers / openni_tracker

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running on ROS Kinetic? #14

Open j5207 opened 6 years ago

j5207 commented 6 years ago

Hi: I'm wondering is it possible to run openni_tracker with kinect v1 on Ros kinetic? Any way to hack it?

Thanks!

daniel-s-ingram commented 6 years ago

Hi, I had no problems getting this running with Kinect v1 on Kinetic. Just make sure you have OpenNI 1.5.4, SensorKinect, and NITE 1.5.2 properly installed - I have some instructions for this here:

https://github.com/daniel-s-ingram/uarm_kinect

j5207 commented 6 years ago

HI @daniel-s-ingram : Thanks so much for your help! Your repo is fantastic!

j5207 commented 6 years ago

@daniel-s-ingram Sorry to reopen this issue, I make it work on my own laptop, but in another PC, it shows: `roslaunch openni_launch openni.launch ... logging to /home/intuitivecompting/.ros/log/815565ec-382d-11e8-930e-d89ef30a35db/roslaunch-intuitivecompting-15862.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.128:40148/

SUMMARY

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher)

auto-starting new master process[master]: started with pid [15873] ROS_MASTER_URI=http://192.168.1.128:11311

setting /run_id to 815565ec-382d-11e8-930e-d89ef30a35db process[rosout-1]: started with pid [15886] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [15897] process[camera/driver-3]: started with pid [15904] process[camera/rgb_debayer-4]: started with pid [15905] process[camera/rgb_rectify_mono-5]: started with pid [15912] process[camera/rgb_rectify_color-6]: started with pid [15925] process[camera/ir_rectify_ir-7]: started with pid [15938] process[camera/depth_rectify_depth-8]: started with pid [15951] process[camera/depth_metric_rect-9]: started with pid [15963] process[camera/depth_metric-10]: started with pid [15977] process[camera/depth_points-11]: started with pid [15990] process[camera/register_depth_rgb-12]: started with pid [16004] process[camera/points_xyzrgb_sw_registered-13]: started with pid [16026] process[camera/depth_registered_sw_metric_rect-14]: started with pid [16028] process[camera/depth_registered_rectify_depth-15]: started with pid [16044] process[camera/points_xyzrgb_hw_registered-16]: started with pid [16053] process[camera/depth_registered_hw_metric_rect-17]: started with pid [16060] process[camera/depth_registered_metric-18]: started with pid [16072] process[camera/disparity_depth-19]: started with pid [16085] process[camera/disparity_registered_sw-20]: started with pid [16100] process[camera/disparity_registered_hw-21]: started with pid [16115] process[camera_base_link-22]: started with pid [16124] process[camera_base_link1-23]: started with pid [16142] process[camera_base_link2-24]: started with pid [16161] process[camera_base_link3-25]: started with pid [16175] [ INFO] [1522862874.146318218]: Initializing nodelet with 4 worker threads. Warning: USB events thread - failed to set priority. This might cause loss of data... Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1522862874.283340420]: Number devices connected: 1 [ INFO] [1522862874.283467286]: 1. device on bus 001:24 is a SensorKinect (2bf) from PrimeSense (45e) with serial id '0000000000000000' [ INFO] [1522862874.285006436]: Searching for device with index = 1

[ INFO] [1522862875.345520675]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1522862875.345579658]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1522862875.349928771]: Camera calibration file /home/intuitivecompting/.ros/camera_info/rgb_0000000000000000.yaml not found. [ WARN] [1522862875.349964538]: Using default parameters for RGB camera calibration. [ WARN] [1522862875.349993657]: Camera calibration file /home/intuitivecompting/.ros/camera_info/depth_0000000000000000.yaml not found. [ WARN] [1522862875.350014946]: Using default parameters for IR camera calibration. terminate called after throwing an instance of 'openni_wrapper::OpenNIException' what(): virtual void openni_wrapper::OpenNIDevice::startDepthStream() @ /tmp/binarydeb/ros-kinetic-openni-camera-1.11.0/src/openni_device.cpp @ 257 : starting depth stream failed. Reason: Failed to send a USB control request! [camera/camera_nodelet_manager-2] process has died [pid 15897, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=camera_nodelet_manager log:=/home/intuitivecompting/.ros/log/815565ec-382d-11e8-930e-d89ef30a35db/camera-camera_nodelet_manager-2.log]. log file: /home/intuitivecompting/.ros/log/815565ec-382d-11e8-930e-d89ef30a35db/camera-camera_nodelet_manager-2*.log` I stuck here for quite a while. Any susgestions?

daniel-s-ingram commented 6 years ago

@j5207 ,

Start a roscore and execute

rosrun openni_tracker openni_tracker

instead.