using Ni package in ROS

[freek de bruijn]

Hi all,

Read all the news about the new PrimeSense/Kinect drivers today and
after using the "old" version of the ROS kinect drivers was eager to
start trying these out. Although after having followed directions from
the ROS/Ni wiki I got an error after rosmake ni.

The error displayed is this one (skipped the part before that):

[rosmake-0] Finished <<< eigen ROS_NOBUILD in package
eigen
[ rosmake ] Last 40 linesenni: 36.0
sec ]
[ 1 Active 36/40 Complete ]
{-------------------------------------------------------------------------------
g++ -MD -MP -MT "./lib/XnMockNotifier.d lib/XnMockNotifier.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnMockNotifier.o ../../../../Source/OpenNI/XnMockNotifier.cpp
g++ -MD -MP -MT "./lib/XnModuleLoader.d lib/XnModuleLoader.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnModuleLoader.o ../../../../Source/OpenNI/XnModuleLoader.cpp
g++ -MD -MP -MT "./lib/XnNodeManager.d lib/XnNodeManager.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnNodeManager.o ../../../../Source/OpenNI/XnNodeManager.cpp
g++ -MD -MP -MT "./lib/XnNodeWatcher.d lib/XnNodeWatcher.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnNodeWatcher.o ../../../../Source/OpenNI/XnNodeWatcher.cpp
g++ -MD -MP -MT "./lib/XnOpenNI.d lib/XnOpenNI.o" -c -O3 -msse3 -
malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnOpenNI.o ../../../../Source/OpenNI/XnOpenNI.cpp
g++ -MD -MP -MT "./lib/XnOS.d lib/XnOS.o" -c -O3 -msse3 -malign-
double -fPIC -fvisibility=hidden -I../../../../Include -I../../../../
Source -I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/
XnOS.o ../../../../Source/OpenNI/XnOS.cpp
g++ -MD -MP -MT "./lib/XnOSMemoryProfiling.d lib/
XnOSMemoryProfiling.o" -c -O3 -msse3 -malign-double -fPIC -
fvisibility=hidden -I../../../../Include -I../../../../Source -
I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/
XnOSMemoryProfiling.o ../../../../Source/OpenNI/
XnOSMemoryProfiling.cpp
g++ -MD -MP -MT "./lib/XnPlayerImpl.d lib/XnPlayerImpl.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnPlayerImpl.o ../../../../Source/OpenNI/XnPlayerImpl.cpp
g++ -MD -MP -MT "./lib/XnProfiling.d lib/XnProfiling.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnProfiling.o ../../../../Source/OpenNI/XnProfiling.cpp
g++ -MD -MP -MT "./lib/XnQueries.d lib/XnQueries.o" -c -O3 -msse3 -
malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnQueries.o ../../../../Source/OpenNI/XnQueries.cpp
g++ -MD -MP -MT "./lib/XnRecorderImpl.d lib/XnRecorderImpl.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnRecorderImpl.o ../../../../Source/OpenNI/XnRecorderImpl.cpp
g++ -MD -MP -MT "./lib/XnScheduler.d lib/XnScheduler.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnScheduler.o ../../../../Source/OpenNI/XnScheduler.cpp
g++ -MD -MP -MT "./lib/XnStatusRegister.d lib/XnStatusRegister.o" -c
-O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/XnStatusRegister.o ../../../../Source/OpenNI/
XnStatusRegister.cpp
g++ -MD -MP -MT "./lib/XnUSB.d lib/XnUSB.o" -c -O3 -msse3 -malign-
double -fPIC -fvisibility=hidden -I../../../../Include -I../../../../
Source -I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/
XnUSB.o ../../../../Source/OpenNI/XnUSB.cpp
g++ -MD -MP -MT "./lib/XnUtils.d lib/XnUtils.o" -c -O3 -msse3 -
malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnUtils.o ../../../../Source/OpenNI/XnUtils.cpp
g++ -MD -MP -MT "./lib/XnXmlConfig.d lib/XnXmlConfig.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnXmlConfig.o ../../../../Source/OpenNI/XnXmlConfig.cpp
g++ -MD -MP -MT "./lib/XnXml.d lib/XnXml.o" -c -O3 -msse3 -malign-
double -fPIC -fvisibility=hidden -I../../../../Include -I../../../../
Source -I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/
XnXml.o ../../../../Source/OpenNI/XnXml.cpp
g++ -MD -MP -MT "./lib/Linux-x86CriticalSections.d lib/Linux-
x86CriticalSections.o" -c -O3 -msse3 -malign-double -fPIC -
fvisibility=hidden -I../../../../Include -I../../../../Source -
I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/Linux-
x86CriticalSections.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86CriticalSections.cpp
g++ -MD -MP -MT "./lib/Linux-x86Debug.d lib/Linux-x86Debug.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/Linux-x86Debug.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86Debug.cpp
g++ -MD -MP -MT "./lib/Linux-x86Events.d lib/Linux-x86Events.o" -c -
O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Events.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Events.cpp
g++ -MD -MP -MT "./lib/Linux-x86Files.d lib/Linux-x86Files.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/Linux-x86Files.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86Files.cpp
g++ -MD -MP -MT "./lib/Linux-x86INI.d lib/Linux-x86INI.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/Linux-x86INI.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86INI.cpp
g++ -MD -MP -MT "./lib/Linux-x86Keyboard.d lib/Linux-x86Keyboard.o" -
c -O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Keyboard.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Keyboard.cpp
g++ -MD -MP -MT "./lib/Linux-x86Memory.d lib/Linux-x86Memory.o" -c -
O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Memory.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Memory.cpp
g++ -MD -MP -MT "./lib/Linux-x86Mutex.d lib/Linux-x86Mutex.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/Linux-x86Mutex.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86Mutex.cpp
g++ -MD -MP -MT "./lib/Linux-x86Network.d lib/Linux-x86Network.o" -c
-O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Network.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Network.cpp
g++ -MD -MP -MT "./lib/Linux-x86Processes.d lib/Linux-
x86Processes.o" -c -O3 -msse3 -malign-double -fPIC -fvisibility=hidden
-I../../../../Include -I../../../../Source -I../../../../Source/
External/TinyXml -DXN_EXPORTS -o lib/Linux-x86Processes.o ../../../../
Source/OpenNI/Linux-x86/Linux-x86Processes.cpp
g++ -MD -MP -MT "./lib/Linux-x86SharedLibs.d lib/Linux-
x86SharedLibs.o" -c -O3 -msse3 -malign-double -fPIC -
fvisibility=hidden -I../../../../Include -I../../../../Source -
I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/Linux-
x86SharedLibs.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86SharedLibs.cpp
g++ -MD -MP -MT "./lib/Linux-x86SharedMemory.d lib/Linux-
x86SharedMemory.o" -c -O3 -msse3 -malign-double -fPIC -
fvisibility=hidden -I../../../../Include -I../../../../Source -
I../../../../Source/External/TinyXml -DXN_EXPORTS -o lib/Linux-
x86SharedMemory.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86SharedMemory.cpp
g++ -MD -MP -MT "./lib/Linux-x86Strings.d lib/Linux-x86Strings.o" -c
-O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Strings.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Strings.cpp
g++ -MD -MP -MT "./lib/Linux-x86Threads.d lib/Linux-x86Threads.o" -c
-O3 -msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../
Include -I../../../../Source -I../../../../Source/External/TinyXml -
DXN_EXPORTS -o lib/Linux-x86Threads.o ../../../../Source/OpenNI/Linux-
x86/Linux-x86Threads.cpp
g++ -MD -MP -MT "./lib/Linux-x86Time.d lib/Linux-x86Time.o" -c -O3 -
msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/Linux-x86Time.o ../../../../Source/OpenNI/Linux-x86/Linux-
x86Time.cpp
g++ -MD -MP -MT "./lib/XnUSBLinux-x86.d lib/XnUSBLinux-x86.o" -c -O3
-msse3 -malign-double -fPIC -fvisibility=hidden -I../../../../Include -
I../../../../Source -I../../../../Source/External/TinyXml -DXN_EXPORTS
-o lib/XnUSBLinux-x86.o ../../../../Source/OpenNI/Linux-x86/XnUSBLinux-
x86.cpp
../../../../Source/OpenNI/Linux-x86/XnUSBLinux-x86.cpp: In function
‘XnStatus xnUSBOpenEndPoint(XnUSBDeviceHandle*, XnUInt16,
XnUSBEndPointType, XnUSBDirectionType, XnUSBEndPointHandle**)’:
../../../../Source/OpenNI/Linux-x86/XnUSBLinux-x86.cpp:498: error:
‘libusb_get_max_iso_packet_size’ was not declared in this scope
make[2]: *** [lib/XnUSBLinux-x86.o] Error 1
make[2]: Leaving directory `/home/freek/ni/ni/openni/build/openni/
Platform/Linux-x86/Build/OpenNI'
make[1]: *** [OpenNI] Error 2
make[1]: Leaving directory `/home/freek/ni/ni/openni/build/openni/
Platform/Linux-x86/Build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package openni written to:
[ rosmake ] /home/freek/.ros/rosmake/rosmake_output-20101210-093146/
openni/build_output.log
[rosmake-1] Finished <<< openni [FAIL] [ 36.04
seconds ]
[ rosmake ] Halting due to failure in package openni.
[ rosmake ] Waiting for other threads to
complete.
[ rosmake ]
Results:
[ rosmake ] Built 37 packages with 1
failures.
[ rosmake ] Summary output to
directory
[ rosmake ] /home/freek/.ros/rosmake/rosmake_output-20101210-093146

-------------------------------------------------------------------------------------------------------------------------------------------------

I'm trying to build it on an Ubuntu 9.10 (32 bits) system. Don't
really know what to do with this error. Any help would be greatly
appreciated!

Thanks,

Freek

[Ziv Hendel]

Hi Freek!

It seems that you are missing the "libusb_get_max_iso_packet_size"
function, which means that you are not using libusb 1.0.8, which is a
must.

Ubuntu 9.x only have libusb 1.0.0 when you try to install it via apt-
get so you will need to download, compile and install the latest
libusb by yourself...

I hope that this will help to solve your problem :-)

Ziv.

[Radu Bogdan Rusu]

Alternatively, you might get lucky with downloading the libusb(+dev) package for Maverick, and dpkg -i it.

Cheers,
Radu.
--
http://pointclouds.org

>> �XnStatus xnUSBOpenEndPoint(XnUSBDeviceHandle*, XnUInt16,
>> XnUSBEndPointType, XnUSBDirectionType, XnUSBEndPointHandle**)�:
>> ../../../../Source/OpenNI/Linux-x86/XnUSBLinux-x86.cpp:498: error:
>> �libusb_get_max_iso_packet_size� was not declared in this scope

[freek de bruijn]

Hi,

Thanks so much for this fast reply, awesome! I'll let you know when
i've got it up and running!

Freek

> ...
>
> read more »

[freek de bruijn]

Hi again,

build succesfully :) I downloaded the libusb1.0.8 and installed it.
Afterwards I was able to build the ni package.

Maybe a good point to put in the ros wiki? as I'm sure there are many
people working on 9.10.

Thank you guys!

Freek

[Radu Bogdan Rusu]

Sure, sounds great! Do you mind adding that info to the wiki? It's public read/write access.

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

Hi Radu,

Just updated the ROS wiki with a Known Issues header.

Though after this was fixed I know get another error after running the
launch file in the openni_camera package. When running:
- roslaunch openni_camera openni_kinect.launch

First it seems to be working, I do not get any errors. Although when I
try to get an image (or just wait for about 2 minutes without doing
anything) from say the rgb camera with image_view, I get the following
error:
[ERROR] [1291937722.051974877]: [OpenNIDriver] Xiron OS got an event
timeout!

Also if I try to look at the output using rostopic echo, then I do not
see any data flow. I've tried this for severall topics like /camera/
imu etc.

This is the log file I got:

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
[roscpp_internal] [2010-12-10 10:36:58,158] [thread 0xb4533760]:
[DEBUG] UDPROS server listening on port [52470]
[roscpp_internal] [2010-12-10 10:36:58,161] [thread 0xb4533760]:
[DEBUG] Started node [/openni_camera], pid [3539], bound on [freek-
desktop], xmlrpc port [35868], tcpros port [43882], logging to [/home/
freek/.ros/log/ea6860e8-03ec-11e0-87a9-842b2ba33846/
openni_camera-1.log], using [real] time
[ros.openni_camera] [2010-12-10 10:36:58,174] [thread 0xb4533760]:
[INFO] [OpenNIDriver] Initialization successful.
[ros.openni_camera] [2010-12-10 10:36:58,202] [thread 0xb4533760]:
[INFO] [OpenNIDriver] Calibration URLs:
RGB: file:///home/freek/ni/ni/openni_camera/info/calibration_rgb.yaml
Depth: file:///home/freek/ni/ni/openni_camera/info/calibration_depth.yaml
[ros.camera_info_manager] [2010-12-10 10:36:58,203] [thread
0xb4533760]: [INFO] camera calibration URL:
file:///home/freek/ni/ni/openni_camera/info/calibration_rgb.yaml
[ros.camera_info_manager] [2010-12-10 10:36:58,204] [thread
0xb4533760]: [WARN] [camera] does not match name openni in file /home/
freek/ni/ni/openni_camera/info/calibration_rgb.yaml
[ros.camera_info_manager] [2010-12-10 10:36:58,205] [thread
0xb4533760]: [INFO] camera calibration URL:
file:///home/freek/ni/ni/openni_camera/info/calibration_depth.yaml
[ros.camera_info_manager] [2010-12-10 10:36:58,206] [thread
0xb4533760]: [WARN] [camera] does not match name openni in file /home/
freek/ni/ni/openni_camera/info/calibration_depth.yaml
[roscpp_internal] [2010-12-10 10:36:58,209] [thread 0xb4533760]:
[DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/
openni_camera/depth_rgb_rotation] is not set]
[ros.openni_camera] [2010-12-10 10:36:58,209] [thread 0xb4533760]:
[WARN] Transform between depth and RGB cameras is not calibrated
[roscpp_internal] [2010-12-10 10:36:58,235] [thread 0xb4526b70]:
[DEBUG] Accepted connection on socket [7], new socket [10]
[roscpp_internal] [2010-12-10 10:36:58,235] [thread 0xb4526b70]:
[DEBUG] TCPROS received a connection from [127.0.1.1:59522]
[roscpp_internal] [2010-12-10 10:36:58,235] [thread 0xb4526b70]:
[DEBUG] Connection: Creating TransportSubscriberLink for topic [/
rosout] connected to [callerid=[/rosout] address=[TCPROS connection to
[127.0.1.1:59522 on socket 10]]]
[ros.openni_camera] [2010-12-10 10:37:29,884] [thread 0xb4533760]:
[ERROR] [OpenNIDriver] Xiron OS got an event timeout!
[roscpp_internal] [2010-12-10 10:37:59,890] [thread 0xb4533760]:
[DEBUG] shutting down service [/openni_camera/set_parameters]
[roscpp_internal] [2010-12-10 10:37:59,891] [thread 0xb4533760]:
[DEBUG] shutting down service [/camera/depth/set_camera_info]
[roscpp_internal] [2010-12-10 10:37:59,892] [thread 0xb4533760]:
[DEBUG] shutting down service [/camera/rgb/set_camera_info]
[roscpp_internal] [2010-12-10 10:37:59,910] [thread 0xb4533760]:
[DEBUG] Shutting down roscpp
[roscpp_internal] [2010-12-10 10:37:59,926] [thread 0xb4533760]:
[DEBUG] Shutting down topics...
[roscpp_internal] [2010-12-10 10:37:59,926] [thread 0xb4533760]:
[DEBUG] shutting down publishers
[roscpp_internal] [2010-12-10 10:37:59,927] [thread 0xb4533760]:
[DEBUG] Connection to subscriber [callerid=[/rosout] address=[TCPROS
connection to [127.0.1.1:59522 on socket 10]]] to topic [/rosout]
dropped
[roscpp_internal] [2010-12-10 10:37:59,927] [thread 0xb4533760]:
[DEBUG] TCP socket [10] closed
[roscpp_internal] [2010-12-10 10:37:59,927] [thread 0xb4533760]:
[DEBUG] shutting down subscribers
[roscpp_internal] [2010-12-10 10:37:59,927] [thread 0xb4533760]:
[DEBUG] ServiceManager::shutdown(): unregistering our advertised
services
[roscpp_internal] [2010-12-10 10:37:59,937] [thread 0xb4533760]:
[DEBUG] UDP socket [8] closed
[roscpp_internal] [2010-12-10 10:37:59,937] [thread 0xb4533760]:
[DEBUG] TCP socket [7] closed
[roscpp_internal] [2010-12-10 10:37:59,946] [thread 0xb4533760]:
[DEBUG] Shutdown finished

---------------------------------------------------------------------------------------------------------------------------------------------------------------------

Maybe another quick fix?

Thank you,

Freek

On Dec 10, 10:10 am, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Sure, sounds great! Do you mind adding that info to the wiki? It's public read/write access.
>
> Cheers,
> Radu.

> --http://pointclouds.org

[Radu Bogdan Rusu]

Hmm, weird - I don't know about this one yet. :-/ SO far things seem pretty stable on the machines that we've tested
this on, with many different sensors.

Is there anything in your dmesg regarding the USB controller messing up that might be useful?

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

No not that I can think off, the dmesg look like this:

[ 2318.445854] usb 2-2.3: USB disconnect, address 5
[ 2332.184278] usb 2-1: new high speed USB device using ehci_hcd and
address 6
[ 2332.316476] usb 2-1: configuration #1 chosen from 1 choice
[ 2332.316560] hub 2-1:1.0: USB hub found
[ 2332.316649] hub 2-1:1.0: 3 ports detected
[ 2333.172535] usb 2-1.2: new full speed USB device using ehci_hcd and
address 7
[ 2333.289235] usb 2-1.2: configuration #1 chosen from 1 choice
[ 2334.708158] usb 2-1.1: new high speed USB device using ehci_hcd and
address 8
[ 2334.820369] usb 2-1.1: configuration #1 chosen from 1 choice
[ 2336.244161] usb 2-1.3: new high speed USB device using ehci_hcd and
address 9
[ 2336.355856] usb 2-1.3: configuration #1 chosen from 1 choice

So seems ok to me. I'll just try and reboot my machine, you never
know :)

Freek

On Dec 10, 10:42 am, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Hmm, weird - I don't know about this one yet. :-/ SO far things seem pretty stable on the machines that we've tested
> this on, with many different sensors.
>
> Is there anything in your dmesg regarding the USB controller messing up that might be useful?
>
> Cheers,
> Radu.

[Radu Bogdan Rusu]

Hopefully it's just a glitch. Try changing USB ports and see if it persists.

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

Just rebooted and tried a couple of other usb ports, same results when
using either the launch file or just running the node:

--------------------------------------------------------------------------------------------------------------------------------------------
started roslaunch server http://freek-desktop:37886/

SUMMARY
========

NODES
/
openni_camera (openni_camera/openni_node)

ROS_MASTER_URI=http://freek-desktop:11311/

core service [/rosout] found
process[openni_camera-1]: started with pid [2919]
libdc1394 error: Failed to initialize libdc1394
[ INFO] [1291939504.209056092]: [OpenNIDriver] Initialization
successful.
[ INFO] [1291939504.295448079]: [OpenNIDriver] Calibration URLs:

RGB: file:///home/freek/ni/ni/openni_camera/info/calibration_rgb.yaml
Depth: file:///home/freek/ni/ni/openni_camera/info/calibration_depth.yaml

[ INFO] [1291939504.295578403]: camera calibration URL:
file:///home/freek/ni/ni/openni_camera/info/calibration_rgb.yaml
[ WARN] [1291939504.296808168]: [camera] does not match name openni in
file /home/freek/ni/ni/openni_camera/info/calibration_rgb.yaml
[ INFO] [1291939504.315275879]: camera calibration URL:
file:///home/freek/ni/ni/openni_camera/info/calibration_depth.yaml
[ WARN] [1291939504.316317213]: [camera] does not match name openni
in file /home/freek/ni/ni/openni_camera/info/calibration_depth.yaml
[ WARN] [1291939504.319347277]: Transform between depth and RGB
cameras is not calibrated
Transform matrix:
526.4 0 -175.5 1.728e+04
0 526.4 0 2.366e+04
0 0 0 585.1
---------------------------------------------------------------------------------------------------------------------------------------

So apart from the calibration warning it seems alright. Then after
about 1 minute I get this:

[ERROR] [1291939535.962447734]: [OpenNIDriver] Xiron OS got an event
timeout!
[openni_camera-1] process has died [pid 2919, exit code 255].

And in between I can't see any data flow using rostopic echo.

I'll try think of some other things that might have to do with it.

Thanks,

Freek

On Dec 10, 10:59 am, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Hopefully it's just a glitch. Try changing USB ports and see if it persists.
>
> Cheers,
> Radu.

[Radu Bogdan Rusu]

Freek, do a git pull, as we've done a few changes to the driver. Nothing serious that would fix your bug though. We'll
try to investigate this problem here too and let you know if we run into it.

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

Hi,

After the git pull it seems to be worse :) Result from running the
launch file:

--------------------------------------------------------------------------------------------------------------------------------------------
started roslaunch server http://freek-desktop:35462/

SUMMARY
========

NODES
/
openni_camera (openni_camera/openni_node)

ROS_MASTER_URI=http://freek-desktop:11311/

core service [/rosout] found

process[openni_camera-1]: started with pid [7084]
[ INFO] [1291941191.554893467]: [OpenNIDriver] Initialization
successful.

libdc1394 error: Failed to initialize libdc1394

[ERROR] [1291941223.224454879]: [OpenNIDriver] Xiron OS got an event
timeout!
[openni_camera-1] process has died [pid 7084, exit code 255].
log files: /home/freek/.ros/log/5cb1f644-03f4-11e0-bfda-842b2ba33846/
openni_camera-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
-----------------------------------------------------------------------------------------------------------------------------------------

Thanks for the quick replies, though seems to be a not so quick fix
this time :)

Freek

On Dec 10, 11:09 am, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Freek, do a git pull, as we've done a few changes to the driver. Nothing serious that would fix your bug though. We'll
> try to investigate this problem here too and let you know if we run into it.
>
> Cheers,
> Radu.

> --http://pointclouds.org

>
> On 12/09/2010 04:08 PM, freek de bruijn wrote:
>
> > Just rebooted and tried a couple of other usb ports, same results when
> > using either the launch file or just running the node:
>
> > --------------------------------------------------------------------------------------------------------------------------------------------

> > started roslaunch serverhttp://freek-desktop:37886/

> ...
>
> read more »

[Radu Bogdan Rusu]

The fix is easy actually.

Can you tell us how your /dev/bus/usb/002/* looks like?

$ ls -lsaR /dev/bus/usb/*

Cheers,
Radu.
--
http://pointclouds.org

>> read more �
>

[freek de bruijn]

Hi

Here it is:

freek@freek-desktop:~$ ls -lsaR /dev/bus/usb/*
/dev/bus/usb/001:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 0 2010-12-10 22:21 001

/dev/bus/usb/002:
total 0
0 drwxrwxrwx 2 root root 140 2010-12-10 11:28 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 128 2010-12-10 22:21 001
0 crw-rw-r-- 1 root root 189, 134 2010-12-10 11:28 007
0 crw-rw-rw- 1 root users 189, 135 2010-12-10 11:28 008
0 crw-rw-rw- 1 root users 189, 136 2010-12-10 11:28 009
0 crw-rw-rw- 1 root users 189, 137 2010-12-10 11:34 010

/dev/bus/usb/003:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 256 2010-12-10 22:21 001

/dev/bus/usb/004:
total 0
0 drwxrwxrwx 2 root root 100 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 384 2010-12-10 22:21 001
0 crw-rw-r-- 1 root root 189, 385 2010-12-10 22:21 002
0 crw-rw-r-- 1 root root 189, 386 2010-12-10 22:21 003

/dev/bus/usb/005:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 512 2010-12-10 22:21 001

/dev/bus/usb/006:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 640 2010-12-10 22:21 001

/dev/bus/usb/007:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 768 2010-12-10 22:21 001

/dev/bus/usb/008:
total 0
0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
0 crw-rw-r-- 1 root root 189, 896 2010-12-10 22:21 001


But I've tried running the launch file even with root permission
(sudo) but still same error.

Thanks,

Freek

On Dec 10, 11:47 am, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> The fix is easy actually.
>
> Can you tell us how your /dev/bus/usb/002/* looks like?
>
> $ ls -lsaR /dev/bus/usb/*
>
> Cheers,
> Radu.

> --http://pointclouds.org
>

> On 12/09/2010 04:36 PM, freek de bruijn wrote:
>
> > Hi,
>
> > After the git pull it seems to be worse :) Result from running the
> > launch file:
>
> > --------------------------------------------------------------------------------------------------------------------------------------------

> > started roslaunch serverhttp://freek-desktop:35462/

> ...
>
> read more »

[Radu Bogdan Rusu]

On 12/09/2010 04:55 PM, freek de bruijn wrote:
> Hi
>
> Here it is:
>
> freek@freek-desktop:~$ ls -lsaR /dev/bus/usb/*
> /dev/bus/usb/001:
> total 0
> 0 drwxrwxrwx 2 root root 60 2010-12-10 22:21 .
> 0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
> 0 crw-rw-r-- 1 root root 189, 0 2010-12-10 22:21 001
>
> /dev/bus/usb/002:
> total 0
> 0 drwxrwxrwx 2 root root 140 2010-12-10 11:28 .
> 0 drwxr-xr-x 10 root root 200 2010-12-10 22:21 ..
> 0 crw-rw-r-- 1 root root 189, 128 2010-12-10 22:21 001
> 0 crw-rw-r-- 1 root root 189, 134 2010-12-10 11:28 007

Can you chmod a+rw these ones too?

In the long run, http://www.ros.org/wiki/ni#USB_Setup will fix all these issues.

[freek de bruijn]

Yeah I've done sudo chmod a+rw on all of them but still same error.

Thanks,

Freek

> In the long run,http://www.ros.org/wiki/ni#USB_Setupwill fix all these issues.
>
> Cheers,
> Radu.
> --http://pointclouds.org

[Radu Bogdan Rusu]

Freek, is this on the latest git pull with :

$ roscd openni_camera && make clean && make

?

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

haha so many updates in such little time :) But yeah its the last git
pull and clean make.

Thanks
Freek

On Dec 10, 12:07 pm, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Freek, is this on the latest git pull with :
>
> $ roscd openni_camera && make clean && make
>
> ?
>
> Cheers,
> Radu.

> --http://pointclouds.org

>
> On 12/09/2010 05:03 PM, freek de bruijn wrote:
>
> > Yeah I've done sudo chmod a+rw on all of them but still same error.
>
> > Thanks,
>
> > Freek
>
> > On Dec 10, 12:00 pm, Radu Bogdan Rusu<r...@willowgarage.com>  wrote:
> >> On 12/09/2010 04:55 PM, freek de bruijn wrote:
>
> >>> Hi
>
> >>> Here it is:
>
> >>> freek@freek-desktop:~$ ls -lsaR /dev/bus/usb/*
> >>> /dev/bus/usb/001:
> >>> total 0
> >>> 0 drwxrwxrwx  2 root root     60 2010-12-10 22:21 .
> >>> 0 drwxr-xr-x 10 root root    200 2010-12-10 22:21 ..
> >>> 0 crw-rw-r--  1 root root 189, 0 2010-12-10 22:21 001
>
> >>> /dev/bus/usb/002:
> >>> total 0
> >>> 0 drwxrwxrwx  2 root root       140 2010-12-10 11:28 .
> >>> 0 drwxr-xr-x 10 root root       200 2010-12-10 22:21 ..
> >>> 0 crw-rw-r--  1 root root  189, 128 2010-12-10 22:21 001
> >>> 0 crw-rw-r--  1 root root  189, 134 2010-12-10 11:28 007
>
> >> Can you chmod a+rw these ones too?
>

> >> In the long run,http://www.ros.org/wiki/ni#USB_Setupwillfix all these issues.
>
> >> Cheers,
> >> Radu.
> >> --http://pointclouds.org

[Radu Bogdan Rusu]

:)

Damn, so...

* latest code, compiled
* camera connected, correct permissions

and still doesn't work? Can you try:

$ rosrun openni NiViewer

?

Cheers,
Radu.
--
http://pointclouds.org

On 12/09/2010 05:12 PM, freek de bruijn wrote:
> haha so many updates in such little time :) But yeah its the last git
> pull and clean make.
>
> Thanks
> Freek
>
> On Dec 10, 12:07 pm, Radu Bogdan Rusu<r...@willowgarage.com> wrote:
>> Freek, is this on the latest git pull with :
>>

>> $ roscd openni_camera&& make clean&& make

[freek de bruijn]

Well I just did a clean install of the ni package, so removed old
version and then downloaded the new one through git.

rosmake gives an error now, but thats concerning the openni_viewer.cpp
file (the openni_camera package is already build succesfully before
that), anyways here is the result:

----------------------------------------------------------------------------------------------------------------------------
rosmake-1] Finished <<< openni_camera [PASS] [ 13.49 seconds ] --
WARNING: 33 compiler warnings
[rosmake-1] Starting >>> openni_pcl
[ make ]
[ rosmake ] Last 40 linesenni_pcl: 7.1 sec ]
[ 1 Active 53/54 Complete ]
{-------------------------------------------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/freek/ni/ni/openni_pcl/
build
cd build && make -j2
make[1]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
make[2]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
make[3]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
Scanning dependencies of target rospack_genmsg_libexe
make[3]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
[ 0%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
Scanning dependencies of target rosbuild_precompile
make[3]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
[ 0%] Built target rosbuild_precompile
make[3]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
Scanning dependencies of target openni_viewer
make[3]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
make[3]: Entering directory `/home/freek/ni/ni/openni_pcl/build'
[100%] Building CXX object CMakeFiles/openni_viewer.dir/src/
openni_viewer.o
In file included from /usr/include/c++/4.4/backward/strstream:46,
from /usr/include/vtk-5.2/vtkIOStream.h:112,
from /usr/include/vtk-5.2/vtkSystemIncludes.h:40,
from /usr/include/vtk-5.2/vtkIndent.h:24,
from /usr/include/vtk-5.2/vtkObjectBase.h:43,
from /usr/include/vtk-5.2/vtkObject.h:41,
from /usr/include/vtk-5.2/vtkObjectFactory.h:43,
from /opt/ros/cturtle/stacks/point_cloud_perception/
pcl_visualization/include/pcl_visualization/
pcl_visualizer_interactor.h:40,
from /opt/ros/cturtle/stacks/point_cloud_perception/
pcl_visualization/include/pcl_visualization/pcl_visualizer.h:45,
from /home/freek/ni/ni/openni_pcl/src/
openni_viewer.cpp:47:
/usr/include/c++/4.4/backward/backward_warning.h:28:2: warning:
#warning This file includes at least one deprecated or antiquated
header which may be removed without further notice at a future date.
Please use a non-deprecated interface with equivalent functionality
instead. For a listing of replacement headers and interfaces, consult
the file backward_warning.h. To disable this warning use -Wno-
deprecated.
/home/freek/ni/ni/openni_pcl/src/openni_viewer.cpp: In function ‘int
main(int, char**)’:
/home/freek/ni/ni/openni_pcl/src/openni_viewer.cpp:107: error:
‘class pcl_visualization::PCLVisualizer’ has no member named
‘getPointCloudRenderingProperties’
/home/freek/ni/ni/openni_pcl/src/openni_viewer.cpp:90: warning:
unused variable ‘color_handler_idx’
make[3]: *** [CMakeFiles/openni_viewer.dir/src/openni_viewer.o]
Error 1
make[3]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
make[2]: *** [CMakeFiles/openni_viewer.dir/all] Error 2
make[2]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/freek/ni/ni/openni_pcl/build'
-------------------------------------------------------------------------------}


I'lll do a restart of my computer because i've done the udev rules
according to the ROS wiki. I'll try then again.

Thanks,

Freek

On Dec 10, 12:21 pm, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> :)
>
> Damn, so...
>
>   * latest code, compiled
>   * camera connected, correct permissions
>
> and still doesn't work? Can you try:
>
> $ rosrun openni NiViewer
>
> ?
>
> Cheers,
> Radu.

> >>>> In the long run,http://www.ros.org/wiki/ni#USB_Setupwillfixall these issues.
>
> >>>> Cheers,
> >>>> Radu.
> >>>> --http://pointclouds.org

[freek de bruijn]

Hi,

Just rebooted and problem still persists. Same response as earlier
ending in this error:
[ERROR] [1291944730.490193714]: [OpenNIDriver] Xiron OS got an event
timeout!

So so far:
- clean install
- rosmake resulted in error (but only with openni_viewer), the
openni_camera package builds succesfully.

Cheers,

Freek

[Radu Bogdan Rusu]

Does the NiViewer work though?

The openni_viewer does require perception_pcl and perception_pcl_addons. See their ROS wiki pages for more instructions.

Cheers,
Radu.
--
http://pointclouds.org

[freek de bruijn]

Yes it runs but tells me the sensor is not connected.

I'm running the unstable version of PCL, could that be an issue here?

Thanks,

Freek

On Dec 10, 12:38 pm, Radu Bogdan Rusu <r...@willowgarage.com> wrote:
> Does the NiViewer work though?
>
> The openni_viewer does require perception_pcl and perception_pcl_addons. See their ROS wiki pages for more instructions.
>
> Cheers,
> Radu.

> --http://pointclouds.org

[Radu Bogdan Rusu]

On 12/09/2010 05:45 PM, freek de bruijn wrote:
> Yes it runs but tells me the sensor is not connected.

Then the problem is somewhere else. Let's see... more debugging... :)

$ cat `rospack find openni`/lib/modules.xml

> I'm running the unstable version of PCL, could that be an issue here?

Only for the visualization part. The visualizer works with trunk, so I need to do a release in unstable.

Cheers,
Radu.

[freek de bruijn]

Hi again :)

debugging debugging debugging, haha always the same :)

cat results:

freek@freek-desktop:~$ cat `rospack find openni`/lib/modules.xml
<Modules>
<Module path="/home/freek/ni/ni/openni/lib/libnimMockNodes.so"
configDir="/home/freek/ni/ni/openni/lib" />
<Module path="/home/freek/ni/ni/openni/lib/libnimCodecs.so"
configDir="/home/freek/ni/ni/openni/lib" />
<Module path="/home/freek/ni/ni/openni/lib/libnimRecorder.so"
configDir="/home/freek/ni/ni/openni/lib" />
<Module path="/home/freek/ni/ni/nite/lib/libXnVFeatures.so"
configDir="/home/freek/ni/ni/nite/XnVFeatures" />
<Module path="/home/freek/ni/ni/nite/lib/libXnVHandGenerator.so"
configDir="/home/freek/ni/ni/nite/XnVHandGenerator" />
<Module path="/home/freek/ni/ni/ps_engine/lib/
libXnDeviceSensorV2.so" configDir="/home/freek/ni/ni/ps_engine/lib" />
<Module path="/home/freek/ni/ni/ps_engine/lib/libXnDeviceFile.so"
configDir="/home/freek/ni/ni/ps_engine/lib" />
</Modules>


Looks ok to me, or maybe i'm missing something?

Freek