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I am trying to use ccny_rgbd_tools , I compiled the tools from the source , the output :

roslaunch ccny_openni_launch openni.launch publsh_cloud:=true

openni.launch publsh_cloud:=true ... logging to /root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/roslaunch-ubuntu-armhf-1174.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-armhf:45387/

SUMMARY

PARAMETERS * /openni_driver/depth_camera_info_url

  • /openni_driver/depth_frame_id * /openni_driver/depth_mode * /openni_driver/device_id * /openni_driver/image_mode * /openni_driver/rgb_camera_info_url * /openni_driver/rgb_frame_id * /rgbd_image_proc/calib_path * /rgbd_image_proc/publish_cloud * /rgbd_image_proc/scale * /rgbd_image_proc/unwarp * /rgbd_image_proc/verbose * /rosdistro
  • /rosversion

NODES / camera_rgb_frame_tf (tf/static_transform_publisher) camera_rgb_optical_frame_tf (tf/static_transform_publisher) debayer (nodelet/nodelet) openni_driver (nodelet/nodelet) rgbd_image_proc (nodelet/nodelet) rgbd_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[rgbd_manager-1]: started with pid [1192] [ INFO] [1386166814.932014355]: Initializing nodelet with 1 worker threads. process[openni_driver-2]: started with pid [1214] [ INFO] [1386166818.151105481]: Loading nodelet /openni_driver of type openni_camera/driver to manager rgbd_manager with the following remappings: [ INFO] [1386166818.168595981]: /depth -> /camera/depth [ INFO] [1386166818.182154397]: /ir -> /camera/ir [ INFO] [1386166818.190459147]: /rgb -> /camera/rgb [ INFO] [1386166821.764989731]: Number devices connected: 1 [ INFO] [1386166822.137412189]: 1. device on bus 001:04 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1301040309' [ INFO] [1386166822.158497814]: Searching for device with index = 1 [ INFO] [1386166822.586708023]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /root/catkin_ws/src/openni_camera/src/openni_device.cpp @ 65 : creating image generator failed. Reason: Failed to set USB interface! process[debayer-3]: started with pid [1251] [ INFO] [1386166825.679466898]: Number devices connected: 1 [ INFO] [1386166825.688282565]: 1. device on bus 001:04 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1301040309' [ INFO] [1386166825.708856357]: Searching for device with index = 1 [ INFO] [1386166825.748079148]: Opened 'SensorV2' on bus 1:4 with serial number '1301040309' [ERROR] [1386166826.468534148]: Failed to load nodelet [/debayer] of type [image_proc/debayer]: According to the loaded plugin descriptions the class image_proc/debayer with base class type nodelet::Nodelet does not exist. Declared types are ccny_rgbd/RGBDImageProcNodelet openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid test_nodelet/ConsoleTest test_nodelet/Plus test_nodelet_topic_tools/NodeletThrottleString [FATAL] [1386166826.486667607]: Service call failed! [debayer-3] process has died [pid 1251, exit code 255, cmd /root/catkin_ws/devel/lib/nodelet/nodelet load image_proc/debayer rgbd_manager image_raw:=/camera/rgb/image_raw image_color:=/camera/rgb/image_color __name:=debayer __log:=/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3.log]. log file: /root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3*.log process[rgbd_image_proc-4]: started with pid [1321] [ INFO] [1386166830.955137816]: rgb_frame_id = '/camera_rgb_optical_frame' [ INFO] [1386166830.964522691]: depth_frame_id = '/camera_depth_optical_frame' [ WARN] [1386166831.168540649]: [rgb_1301040309] does not match name rgb in file /root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/rgb.yml [ WARN] [1386166831.219288024]: [depth_1301040309] does not match name depth in file /root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/depth.yml [ERROR] [1386166833.444105024]: Failed to load nodelet [/rgbd_image_proc] of type [ccny_rgbd/RGBDImageProcNodelet]: Failed to load library /root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/lib/librgbd_image_proc_nodelet.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 = libopencv_imgproc.so.3.0: cannot open shared object file: No such file or directory) [FATAL] [1386166833.466222482]: Service call failed! [rgbd_image_proc-4] process has died [pid 1321, exit code 255, cmd /root/catkin_ws/devel/lib/nodelet/nodelet load ccny_rgbd/RGBDImageProcNodelet rgbd_manager __name:=rgbd_image_proc __log:=/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/rgbd_image_proc-4.log]. log file: /root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/rgbd_image_proc-4*.log process[camera_rgb_frame_tf-5]: started with pid [1370] process[camera_rgb_optical_frame_tf-6]: started with pid [1381]


Originally posted by 7mdan92 on ROS Answers with karma: 13 on 2013-12-04

Post score: 0


Original comments

Comment by Martin Günther on 2014-01-26:
That output is unreadable. Please use 4 spaces to indent code, or use the "preformatted text" button ("101010") when editing your answer. Unfortunately, the line breaks are messed up, otherwise I'd do it for you.

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Looks like the opencv libraries are not supported. I would ask you to download the ccny_rgbd_tools from this link https://dl.dropboxusercontent.com/u/95042389/ccny_rgbd_tools.zip

This should work on ubuntu 12.04 and fuerte with rosbuild system.

  1. Remove the libg2o libraries from ubuntu software center
  2. rosdep install ccny_rgbd_tools then rosmake and hope fully it will work

Originally posted by sai with karma: 1935 on 2014-01-22

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by Martin Günther on 2014-01-26:
I wouldn't recommend using some zip file. It's a git repo for a reason, so better figure out what branch / commit works for what setup. If we don't keep code in one place, things will just start to get chaotic.

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