Enable AR tag recognition

130s commented 9 years ago

@RyuYamamoto is working on this.

[x] Use http://wiki.ros.org/rtmros_nextage/Tutorials/Setup%20stereo%20camera#Cameras_at_hand_tip to run cameras at handtip.
- Output1: On rqt_image_view (or similar tool) you can see camera image topic.
- Output2: Fill the blank topic names on the wiki
[x] Create a launch file under nextage_ros_bridge/launch that passes the topics above to ar_track_alvar pkg. Don't forget to work on a branch.
- Output1: nextage_ros_bridge/launch/ar.launch
[x] Print AR markers http://wiki.ros.org/ar_track_alvar?action=AttachFile&do=get&target=markers0to8.png --> I asked someone.
[x] Show any of the printed AR marker to either hand camera.
- Output1: Take a screenshot of a tree on rqt_tf_tree that shows the marker.
[ ] Add static tf publisher to combine the 2 tf trees: one from robot, and one from cameras. See this line of this launch file as an example.
[ ] Run ros_bridge and run RViz. Open tf plugin on it, then see if the frames of any AR marker is recognized.
- Output1: screenshot of the RViz with the frames of markers recognized.
[ ] While ros_bridge is still running, take again a screenshot of the tree on rqt_tf_tree that shows the marker. This time the cameras and the markers frames should be connected to the robot.

RyuYamamoto commented 9 years ago

作業しようとした途中ros_bridgeを立ち上げたら以下のようなエラーで接続ができなくなりました.

... logging to /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/roslaunch-marsryu-CF-S10EWHDS-23591.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://marsryu-CF-S10EWHDS:33655/

SUMMARY
========-

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms
 * /collision_state/comp_name
 * /controller_configuration
 * /diagnostic_aggregator/analyzers/computers/contains
 * /diagnostic_aggregator/analyzers/computers/path
 * /diagnostic_aggregator/analyzers/computers/type
 * /diagnostic_aggregator/analyzers/hrpsys/contains
 * /diagnostic_aggregator/analyzers/hrpsys/path
 * /diagnostic_aggregator/analyzers/hrpsys/type
 * /diagnostic_aggregator/analyzers/mode/contains
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/motor/contains
 * /diagnostic_aggregator/analyzers/motor/path
 * /diagnostic_aggregator/analyzers/motor/type
 * /diagnostic_aggregator/base_path
 * /diagnostic_aggregator/pub_rate
 * /robot_description
 * /robot_pose_ekf/debug
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/output_frame
 * /robot_pose_ekf/self_diagnose
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /rosdistro
 * /rosversion

NODES
  /
    CollisionDetectorComp (hrpsys/CollisionDetectorComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    base_footprint_rootlink (tf/static_transform_publisher)
    collision_state (hrpsys_ros_bridge/collision_state.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hironx_ros_bridge/hironx.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
auto-starting new master
process[master]: started with pid [23605]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e715b862-13cf-11e5-a01b-100ba90b744c
process[rosout-1]: started with pid [23618]
started core service [/rosout]
process[hrpsys_py-2]: started with pid [23630]
process[HrpsysSeqStateROSBridge-3]: started with pid [23631]
process[HrpsysJointTrajectoryBridge-4]: started with pid [23659]
process[hrpsys_state_publisher-5]: started with pid [23676]
process[hrpsys_ros_diagnostics-6]: started with pid [23695]
[ INFO] [1434421939.003427866]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
configuration ORB with nextage:15005
[ERROR] Connection Failed with the Nameserver (hostname=nextage port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys_py-2] process has died [pid 23630, exit code 1, cmd /opt/ros/hydro/share/hironx_ros_bridge/scripts/hironx.py --host nextage --port 15005 --modelfile /opt/jsk/etc/NEXTAGE/model/main.wrl --robot RobotHardware __name:=hrpsys_py __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/hrpsys_py-2.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/hrpsys_py-2*.log
process[diagnostic_aggregator-7]: started with pid [23715]
process[hrpsys_profile-8]: started with pid [23744]
process[sensor_ros_bridge_connect-9]: started with pid [23805]
[ERROR] Connection Failed with the Nameserver (hostname=nextage port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys_profile-8] process has died [pid 23744, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/hrpsys_profile.py -ORBInitRef NameService=corbaloc:iiop:nextage:15005/NameService __name:=hrpsys_profile __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/hrpsys_profile-8.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/hrpsys_profile-8*.log
process[rtmlaunch_hrpsys_ros_bridge-10]: started with pid [23812]
[sensor_ros_bridge_connect.py]  start
configuration ORB with nextage:15005
[ERROR] Connection Failed with the Nameserver (hostname=nextage port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[sensor_ros_bridge_connect-9] process has died [pid 23805, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py /opt/jsk/etc/NEXTAGE/model/main.wrl RobotHardware0 HrpsysSeqStateROSBridge0 nextage -ORBInitRef NameService=corbaloc:iiop:nextage:15005/NameService __name:=sensor_ros_bridge_connect __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/sensor_ros_bridge_connect-9.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/sensor_ros_bridge_connect-9*.log
process[SequencePlayerServiceROSBridge-11]: started with pid [23818]
[rtmlaunch] starting...  /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /nextage:15005/RobotHardware0.rtc:q , /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] Could not Activate ( nextage:15005/HrpsysSeqStateROSBridge0.rtc ) :  Invalid CORBA naming service: nextage:15005 
process[DataLoggerServiceROSBridge-12]: started with pid [23869]
process[ForwardKinematicsServiceROSBridge-13]: started with pid [23888]
process[StateHolderServiceROSBridge-14]: started with pid [23907]
process[RobotHardwareServiceROSBridge-15]: started with pid [23924]
process[robot_pose_ekf-16]: started with pid [23955]
process[base_footprint_rootlink-17]: started with pid [23992]
process[CollisionDetectorComp-18]: started with pid [24003]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
terminate called after throwing an instance of 'CORBA::BAD_PARAM'
[CollisionDetectorComp-18] process has died [pid 24003, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/CollisionDetectorComp -o corba.nameservers:nextage:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/collision_detector%p.log -o example.CollisionDetector.config_file:/opt/ros/hydro/share/hironx_ros_bridge/conf/hironx_realrobot_fixedpath.conf __name:=CollisionDetectorComp __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/CollisionDetectorComp-18.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/CollisionDetectorComp-18*.log
process[rtmlaunch_collision_detector-19]: started with pid [24008]
process[collision_state-20]: started with pid [24012]
[rtmlaunch] starting...  /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /nextage:15005/RobotHardware0.rtc:q , /nextage:15005/CollisionDetector0.rtc:qCurrent ):  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] Could not Activate ( nextage:15005/$(arg COLLISIONDETECTOR_INSTANCE_NAME).rtc ) :  Invalid CORBA naming service: nextage:15005 
configuration ORB with nextage:15005
[ERROR] Connection Failed with the Nameserver (hostname=nextage port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[collision_state-20] process has died [pid 24012, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/collision_state.py /opt/jsk/etc/NEXTAGE/model/main.wrl -ORBInitRef NameService=corbaloc:iiop:nextage:15005/NameService __name:=collision_state __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/collision_state-20.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/collision_state-20*.log
[HrpsysSeqStateROSBridge-3] process has died [pid 23631, exit code -11, cmd /opt/ros/hydro/lib/hrpsys_ros_bridge/HrpsysSeqStateROSBridge -o corba.nameservers:nextage:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/opt/jsk/etc/NEXTAGE/model/main.wrl -o example.HrpsysSeqStateROSBridge.config_file: __name:=HrpsysSeqStateROSBridge __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/HrpsysSeqStateROSBridge-3.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/HrpsysSeqStateROSBridge-3*.log
[HrpsysJointTrajectoryBridge-4] process has died [pid 23659, exit code -11, cmd /opt/ros/hydro/lib/hrpsys_ros_bridge/HrpsysJointTrajectoryBridge -o corba.nameservers:nextage:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/opt/jsk/etc/NEXTAGE/model/main.wrl __name:=HrpsysJointTrajectoryBridge __log:=/home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/HrpsysJointTrajectoryBridge-4.log].
log file: /home/marsryu/.ros/log/e715b862-13cf-11e5-a01b-100ba90b744c/HrpsysJointTrajectoryBridge-4*.log
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /nextage:15005/RobotHardware0.rtc:q , /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] Could not Activate ( nextage:15005/HrpsysSeqStateROSBridge0.rtc ) :  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /nextage:15005/RobotHardware0.rtc:q , /nextage:15005/CollisionDetector0.rtc:qCurrent ):  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] Could not Activate ( nextage:15005/$(arg COLLISIONDETECTOR_INSTANCE_NAME).rtc ) :  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /nextage:15005/RobotHardware0.rtc:q , /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  Invalid CORBA naming service: nextage:15005 
[rtmlaunch] Could not Activate ( nextage:15005/HrpsysSeqStateROSBridge0.rtc ) :  Invalid CORBA naming service: nextage:15005

130s commented 9 years ago

Aside from the real issue, this particular task doesn't require ros_bridge to be running, until you want to work with tf.

RyuYamamoto commented 9 years ago

roslaunch nextage_ros_bridge hands_ueye.launch

で手先カメラの画像が見れることをrqtで確認しました．

wikiの方も空欄になっているtopicを以下のようにしました.

rostopic echo /left_hand_ueye/image_raw rostopic echo /right_hand_ueye/image_raw

130s commented 9 years ago

The issue reported in https://github.com/tork-a/rtmros_nextage/issues/179#issuecomment-112263834 is not generic; turned out it's only due to the specific lab's LAN environment.

130s commented 9 years ago

Add static tf publisher to combine the 2 tf trees: the one of the robot, and the one of cameras. See this line of this launch file as an example.

On this robot, I think hand-tip cameras can be statically attached to the tf frame of eef (I forgot the name). So the node you have to add would look something like (numbers and the frame names can be incorrect):

<node pkg="tf" type="static_transform_publisher" name="handcamera_l" args="0.080 0.120 0.150 0.0 1.5708 1.5708 /camera_l /larm_joint5 100" />
<node pkg="tf" type="static_transform_publisher" name="handcamera_r" args="0.080 0.120 0.150 0.0 1.5708 1.5708 /camera_r /rarm_joint5 100" />

tork-a / rtmros_nextage

Enable AR tag recognition #179