Hello everyone,
I'm am attempting to get RGBDSLAM working on Ubuntu 11.04 (Natty).
I have used to following links to aid in installing ROS Electric, RGBDSLAM and openni_kinect:
openni_kinect - Using section 3.1 Ubuntu Installation.
For the RGBDSLAM link I stopped at section 4 (Usage). This is because the terminal command
roslaunch rgbdslam kinect+rgbdslam.launch
lead to only the RGBDSLAM UI to appear; pressing space or enter didn't seem to cause anything to happen.
From here, I decided to test to make sure I could actually use the kinect through openni. I started to follow this and used
roslaunch openni_launch openni.launch
in terminal. The final timeout seems to occur sometimes as I use rviz.
... logging to /home/cleros/.ros/log/89f8eb9e-bf87-11e1-8df5-000c29684d60/roslaunch-ubuntu-10105.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://ubuntu:50032/
SUMMARY
========
PARAMETERS
* /rosdistro
* /camera/driver/rgb_frame_id
* /camera/disparity_depth_registered/min_range
* /camera/driver/rgb_camera_info_url
* /camera/depth_registered/rectify_depth/interpolation
* /camera/driver/depth_frame_id
* /camera/depth/rectify_depth/interpolation
* /camera/disparity_depth/max_range
* /rosversion
* /camera/driver/device_id
* /camera/driver/depth_camera_info_url
* /camera/disparity_depth/min_range
* /camera/disparity_depth_registered/max_range
NODES
/camera/depth/
rectify_depth (nodelet/nodelet)
metric_rect (nodelet/nodelet)
metric (nodelet/nodelet)
points (nodelet/nodelet)
/camera/rgb/
debayer (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
rectify_color (nodelet/nodelet)
/
camera_nodelet_manager (nodelet/nodelet)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
/camera/
driver (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
points_xyzrgb_depth_rgb (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_depth_registered (nodelet/nodelet)
/camera/ir/
rectify_ir (nodelet/nodelet)
/camera/depth_registered/
rectify_depth (nodelet/nodelet)
metric_rect (nodelet/nodelet)
metric (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera_nodelet_manager-1]: started with pid [10123]
process[camera/driver-2]: started with pid [10124]
process[camera/rgb/debayer-3]: started with pid [10136]
process[camera/rgb/rectify_mono-4]: started with pid [10148]
process[camera/rgb/rectify_color-5]: started with pid [10161]
process[camera/ir/rectify_ir-6]: started with pid [10173]
process[camera/depth/rectify_depth-7]: started with pid [10195]
process[camera/depth/metric_rect-8]: started with pid [10214]
process[camera/depth/metric-9]: started with pid [10239]
process[camera/depth/points-10]: started with pid [10247]
process[camera/register_depth_rgb-11]: started with pid [10256]
process[camera/depth_registered/rectify_depth-12]: started with pid [10270]
process[camera/depth_registered/metric_rect-13]: started with pid [10295]
process[camera/depth_registered/metric-14]: started with pid [10308]
process[camera/points_xyzrgb_depth_rgb-15]: started with pid [10321]
process[camera/disparity_depth-16]: started with pid [10337]
process[camera/disparity_depth_registered-17]: started with pid [10362]
process[camera_base_link-18]: started with pid [10367]
process[camera_base_link1-19]: started with pid [10368]
process[camera_base_link2-20]: started with pid [10387]
process[camera_base_link3-21]: started with pid [10388]
[ERROR] [1340712730.404773751]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1340712730.409808584]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ INFO] [1340712732.747229754]: Number devices connected: 1
[ INFO] [1340712732.747448067]: 1. device on bus 001:10 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365902215039A'
[ INFO] [1340712732.748565581]: Searching for device with index = 1
[ INFO] [1340712732.789789267]: Opened 'Xbox NUI Camera' on bus 1:10 with serial number 'A00365902215039A'
[ INFO] [1340712732.822360542]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1340712732.822507419]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1340712732.829450520]: Camera calibration file /home/cleros/.ros/camera_info/rgb_A00365902215039A.yaml not found.
[ WARN] [1340712732.831062365]: Camera calibration file /home/cleros/.ros/camera_info/depth_A00365902215039A.yaml not found.
[ WARN] [1340712732.832879334]: Using default parameters for RGB camera calibration.
[ WARN] [1340712732.833297957]: 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/buildd/ros-electric-openni-kinect-0.3.4/debian/ros-electric-openni-kinect/opt/ros/electric/stacks/openni_kinect/openni_camera/src/openni_device.cpp @ 257 : starting depth stream failed. Reason: Xiron OS got an event timeout!
[camera_nodelet_manager-1] process has died [pid 10123, exit code -6].
log files: /home/cleros/.ros/log/89f8eb9e-bf87-11e1-8df5-000c29684d60/camera_nodelet_manager-1*.log
Any suggestions to getting openni/kinect working would be much appreciated!
I've been trying to get this going for the last few hours now with no success!
Thanks.
Originally posted by cleros on ROS Answers with karma: 15 on 2012-06-26
Post score: 0
Original comments
Comment by cleros on 2012-06-26:
@nitasgu: According to http://ros.org/wiki/roscore roslaunch automatically starts roscore if roscore isn't going. I'm not sure how to restart roscore (I'm new to ROS) - however I would have assumed several restarts of Ubuntu should have done a restart of roscore?
Comment by cleros on 2012-06-30:
@Felix Endres: I'm running Ubuntu in VMWare so that may explain the issue. Unfortunately, I don't really have the time at the moment to check to confirm this is the case. Thanks.
EDIT: Appears VMWare was the issue in the end. Thanks again Felix.