Goal: Trying to detect and publish all the detected planes (coefficients) from a depth image.
Using depth_image_proc to compute the point-cloud. Created a similar segmentation nodelet, attached below. Test script works fine, where I just publish the cloud height. But, when I include pcl::VoxelGrid<pcl::PointXYZ> vg, pcl::SACSegmentation<pcl::PointXYZ> seg Nodelet crashes at run time (compiles without issues) with the following error.
[ERROR] [1597300025.991310390]: Failed to load nodelet [/pcl_segmentation] of type [using_image_pipeline/pcl_segmentation] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type using_image_pipeline::PclSegmentationNodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[ERROR] [1597300025.991394042]: The error before refreshing the cache was: Failed to load library /home/kotaru/catkin_ws/devel/lib//libusing_image_pipeline.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/kotaru/catkin_ws/devel/lib//libusing_image_pipeline.so: undefined symbol: _ZN3pcl7PCLBaseINS_8PointXYZEE13setInputCloudERKN5boost10shared_ptrIKNS_10PointCloudIS1_EEEE)
[FATAL] [1597300025.991807722]: Failed to load nodelet '/pcl_segmentation` of type `using_image_pipeline/pcl_segmentation` to manager `using_image_pipeline_nodelet'
[pcl_segmentation-4] process has died [pid 12564, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load using_image_pipeline/pcl_segmentation using_image_pipeline_nodelet __name:=pcl_segmentation __log:=/home/kotaru/.ros/log/00c8aa44-dd2e-11ea-aa9d-54bf64375ec6/pcl_segmentation-4.log].
log file: /home/kotaru/.ros/log/00c8aa44-dd2e-11ea-aa9d-54bf64375ec6/pcl_segmentation-4*.log
Can't seem to understand why that is happening, or if the implementation is wrong.
Plane segmentation nodelet source code,
#include <image_transport/image_transport.h>
#include <nodelet/nodelet.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl_conversions/pcl_conversions.h>
#include <ros/ros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float32MultiArray.h>
#include <boost/thread.hpp>
namespace using_image_pipeline {
class PclSegmentationNodelet : public nodelet::Nodelet {
public:
ros::NodeHandlePtr nh_ptr_;
boost::shared_ptr<sensor_msgs::PointCloud2> cloud_;
boost::mutex connect_mutex_;
boost::mutex mutex_;
bool receivedAtLeastOnce = false;
ros::Subscriber sub_points_;
ros::Publisher pub_planes_;
ros::Publisher pub_point_height_;
std_msgs::Float32MultiArray msg_planes_;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_raw, cloud, cloud_f;
float leaf_size = 0.01; // 10cm
pcl::VoxelGrid<pcl::PointXYZ> vg;
// pcl::SACSegmentation<pcl::PointXYZ> seg;
PclSegmentationNodelet(/* args */) {
NODELET_INFO_STREAM("PclSegmentationNodelet constructor");
}
~PclSegmentationNodelet() {}
virtual void onInit();
void pointCb(const sensor_msgs::PointCloud2ConstPtr &points_msg);
void connectCb();
void planarSegmentation();
};
void PclSegmentationNodelet::onInit() {
ros::NodeHandle &nh = getNodeHandle();
nh_ptr_.reset(new ros::NodeHandle(nh));
// cloud_.reset(new sensor_msgs::PointCloud2(nh));
NODELET_INFO_STREAM("Initialising nodelet... [PclSegmentationNodelet]");
ros::SubscriberStatusCallback connect_cb = boost::bind(&PclSegmentationNodelet::connectCb, this);
boost::lock_guard<boost::mutex> lock(connect_mutex_);
pub_planes_ = nh_ptr_->advertise<std_msgs::Float32MultiArray>("planes", 3, connect_cb, connect_cb);
pub_point_height_ = nh_ptr_->advertise<std_msgs::Float32>("test_msg", 3, connect_cb, connect_cb);
cloud_raw.reset(new pcl::PointCloud<pcl::PointXYZ>);
cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
}
void PclSegmentationNodelet::connectCb() {
boost::lock_guard<boost::mutex> lock(connect_mutex_);
sub_points_ = nh_ptr_->subscribe("points", 3, &PclSegmentationNodelet::pointCb, this);
}
void PclSegmentationNodelet::pointCb(const sensor_msgs::PointCloud2ConstPtr &points_msg) {
// boost::mutex::scoped_lock lock (mutex_);
NODELET_DEBUG("PointCloud2 height %f", (double)points_msg->height);
std::cout << points_msg->height << std::endl;
// convert points_msg to pcl point cloud
pcl::fromROSMsg(*points_msg, *cloud_raw);
std_msgs::Float32 tmp_msg;
tmp_msg.data = (float)cloud_raw->height;
pub_point_height_.publish(tmp_msg);
pub_planes_.publish(msg_planes_);
}
} // namespace using_image_pipeline
// Register as nodelet
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(using_image_pipeline::PclSegmentationNodelet, nodelet::Nodelet);
Originally posted by praskot on ROS Answers with karma: 257 on 2020-08-13
Post score: 1
Original comments
Comment by praskot on 2020-08-13:
After some googling, I see that the issue is with loading pcl.