[Ros-kinect] kinect point cloud

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[Ros-kinect] kinect point cloud

Jae Yong Sung
I am trying to get point cloud from kinect using ROS / rviz.
And when I run
  roslaunch kinect_camera kinect_nodelets.launch
I get following errors.

First error i see is libdc1394 error: Failed to initialize libdc1394
Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!

look below for the whole log. Anybody have idea?

Thanks
Jae





SUMMARY
========

PARAMETERS
* /kinect_driver/depth/camera_info_url
* /kinect_driver/device_id
* /kinect_driver/rgb/camera_info_url

NODES
 /
   kinect_manager (nodelet/nodelet)
   kinect_driver (nodelet/nodelet)

starting new master (master configured for auto start)
process[master]: started with pid [7085]
ROS_MASTER_URI=http://galvatron:11311/

setting /run_id to 76334768-f421-11df-aaba-00142225b94c
process[rosout-1]: started with pid [7098]
started core service [/rosout]
process[kinect_manager-2]: started with pid [7107]
process[kinect_driver-3]: started with pid [7111]
[ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager kinect_manager with the following remappings:
[ INFO] [1290201041.065750641]: /camera -> /kinect
[ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
libdc1394 error: Failed to initialize libdc1394
[ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ INFO] [1290201041.327444912]: camera calibration URL: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ INFO] [1290201041.342113344]: camera calibration URL: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!



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Re: [Ros-kinect] kinect point cloud

rusu
Administrator
What does lsusb say ?

Cheers,
Radu.


On 11/19/2010 01:15 PM, Jae Yong Sung wrote:

> I am trying to get point cloud from kinect using ROS / rviz.
> And when I run
>    roslaunch kinect_camera kinect_nodelets.launch
> I get following errors.
>
> First error i see is libdc1394 error: Failed to initialize libdc1394
> Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
> look below for the whole log. Anybody have idea?
>
> Thanks
> Jae
>
>
>
>
>
> SUMMARY
> ========
>
> PARAMETERS
> * /kinect_driver/depth/camera_info_url
> * /kinect_driver/device_id
> * /kinect_driver/rgb/camera_info_url
>
> NODES
>   /
>     kinect_manager (nodelet/nodelet)
>     kinect_driver (nodelet/nodelet)
>
> starting new master (master configured for auto start)
> process[master]: started with pid [7085]
> ROS_MASTER_URI=http://galvatron:11311/
>
> setting /run_id to 76334768-f421-11df-aaba-00142225b94c
> process[rosout-1]: started with pid [7098]
> started core service [/rosout]
> process[kinect_manager-2]: started with pid [7107]
> process[kinect_driver-3]: started with pid [7111]
> [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
> kinect_manager with the following remappings:
> [ INFO] [1290201041.065750641]: /camera -> /kinect
> [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
> [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
> libdc1394 error: Failed to initialize libdc1394
> [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
> RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
> Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
> [ INFO] [1290201041.327444912]: camera calibration URL:
> file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
> [ INFO] [1290201041.342113344]: camera calibration URL:
> file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
> [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
>
>
>
> _______________________________________________
> Ros-kinect mailing list
> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-kinect
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Re: [Ros-kinect] kinect point cloud

Dejan Pangercic
In reply to this post by Jae Yong Sung
On Fri, Nov 19, 2010 at 10:15 PM, Jae Yong Sung <[hidden email]> wrote:
> I am trying to get point cloud from kinect using ROS / rviz.
> And when I run
>   roslaunch kinect_camera kinect_nodelets.launch
> I get following errors.
>
> First error i see is libdc1394 error: Failed to initialize libdc1394
This error I see all the time and I think has nothing to do with the
kinect driver.
Patrick said some days ago that it is probably not harmful.

> Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could
> not open device with index (0)!
This here probably means that your udev rules are not set correctly.
Can you run lsusb and post an output?
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Re: [Ros-kinect] kinect point cloud

Jae Yong Sung
In reply to this post by rusu
Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.

When I run 
  roslaunch kinect_camera kinect_nodelets.launch
or
  roslaunch kinect_camera kinect_with_tf.launch
I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
Thanks you guys all for help.

By the way, what are the differences between all four launch files? How do I figure out what they are?

- Jae


SUMMARY
========

PARAMETERS
 * /kinect_driver/depth/camera_info_url
 * /kinect_driver/device_id
 * /kinect_driver/rgb/camera_info_url

NODES
  /
    kinect_manager (nodelet/nodelet)
    kinect_driver (nodelet/nodelet)


core service [/rosout] found
process[kinect_manager-1]: started with pid [4587]
process[kinect_driver-2]: started with pid [4588]
[ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager kinect_manager with the following remappings:
[ INFO] [1290398536.318689801]: /camera -> /kinect
[ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
[ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type [kinect_camera/KinectDriverNodelet]: Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Cannot load library: /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object file: No such file or directory
[ERROR] [1290398536.370592081]: Failed to call service!


On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email]> wrote:
What does lsusb say ?

Cheers,
Radu.



On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
I am trying to get point cloud from kinect using ROS / rviz.
And when I run
  roslaunch kinect_camera kinect_nodelets.launch
I get following errors.

First error i see is libdc1394 error: Failed to initialize libdc1394
Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!

look below for the whole log. Anybody have idea?

Thanks
Jae





SUMMARY
========

PARAMETERS
* /kinect_driver/depth/camera_info_url
* /kinect_driver/device_id
* /kinect_driver/rgb/camera_info_url

NODES
 /
   kinect_manager (nodelet/nodelet)
   kinect_driver (nodelet/nodelet)

starting new master (master configured for auto start)
process[master]: started with pid [7085]
ROS_MASTER_URI=http://galvatron:11311/

setting /run_id to 76334768-f421-11df-aaba-00142225b94c
process[rosout-1]: started with pid [7098]
started core service [/rosout]
process[kinect_manager-2]: started with pid [7107]
process[kinect_driver-3]: started with pid [7111]
[ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
kinect_manager with the following remappings:
[ INFO] [1290201041.065750641]: /camera -> /kinect
[ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
libdc1394 error: Failed to initialize libdc1394
[ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ INFO] [1290201041.327444912]: camera calibration URL:
file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ INFO] [1290201041.342113344]: camera calibration URL:
file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
[ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!




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Re: [Ros-kinect] kinect point cloud

rusu
Administrator
Jae,

Did you "rosmake kinect_camera"?

Cheers,
Radu.


On 11/21/2010 08:07 PM, Jae Yong Sung wrote:

> Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>
> When I run
>    roslaunch kinect_camera kinect_nodelets.launch
> or
>    roslaunch kinect_camera kinect_with_tf.launch
> I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
> Thanks you guys all for help.
>
> By the way, what are the differences between all four launch files? How do I figure out what they are?
>
> - Jae
>
>
> SUMMARY
> ========
>
> PARAMETERS
>   * /kinect_driver/depth/camera_info_url
>   * /kinect_driver/device_id
>   * /kinect_driver/rgb/camera_info_url
>
> NODES
>    /
>      kinect_manager (nodelet/nodelet)
>      kinect_driver (nodelet/nodelet)
>
> ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>
> core service [/rosout] found
> process[kinect_manager-1]: started with pid [4587]
> process[kinect_driver-2]: started with pid [4588]
> [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
> kinect_manager with the following remappings:
> [ INFO] [1290398536.318689801]: /camera -> /kinect
> [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
> [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
> [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type [kinect_camera/KinectDriverNodelet]:
> Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make sure that
> you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro
> and your XML. Error string: Cannot load library:
> /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object file: No
> such file or directory
> [ERROR] [1290398536.370592081]: Failed to call service!
>
>
> On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     What does lsusb say ?
>
>     Cheers,
>     Radu.
>
>
>
>     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>
>         I am trying to get point cloud from kinect using ROS / rviz.
>         And when I run
>            roslaunch kinect_camera kinect_nodelets.launch
>         I get following errors.
>
>         First error i see is libdc1394 error: Failed to initialize libdc1394
>         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
>         look below for the whole log. Anybody have idea?
>
>         Thanks
>         Jae
>
>
>
>
>
>         SUMMARY
>         ========
>
>         PARAMETERS
>         * /kinect_driver/depth/camera_info_url
>         * /kinect_driver/device_id
>         * /kinect_driver/rgb/camera_info_url
>
>         NODES
>           /
>             kinect_manager (nodelet/nodelet)
>             kinect_driver (nodelet/nodelet)
>
>         starting new master (master configured for auto start)
>         process[master]: started with pid [7085]
>         ROS_MASTER_URI=http://galvatron:11311/
>
>         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>         process[rosout-1]: started with pid [7098]
>         started core service [/rosout]
>         process[kinect_manager-2]: started with pid [7107]
>         process[kinect_driver-3]: started with pid [7111]
>         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>         kinect_manager with the following remappings:
>         [ INFO] [1290201041.065750641]: /camera -> /kinect
>         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>         waiting...
>         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>         libdc1394 error: Failed to initialize libdc1394
>         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ INFO] [1290201041.327444912]: camera calibration URL:
>         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ INFO] [1290201041.342113344]: camera calibration URL:
>         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
>
>
>
>         _______________________________________________
>         Ros-kinect mailing list
>         [hidden email] <mailto:[hidden email]>
>         https://code.ros.org/mailman/listinfo/ros-kinect
>
>
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Re: [Ros-kinect] kinect point cloud

Jae Yong Sung
Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the step

1) roslaunch kinect_camera kinect_with_tf.launch
2) rosrun rviz rviz
3) set fixed frame to /kinect_depth
4) add PointCloud
5) set style to points
6) set topic of PointCloud to kinect/points

As soon as I select kinect/points, rviz crashes with following error

    /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"

Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this pointcloud working soon :)

Best,
Jae


On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email]> wrote:
Jae,

Did you "rosmake kinect_camera"?

Cheers,
Radu.


On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
> Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>
> When I run
>    roslaunch kinect_camera kinect_nodelets.launch
> or
>    roslaunch kinect_camera kinect_with_tf.launch
> I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
> Thanks you guys all for help.
>
> By the way, what are the differences between all four launch files? How do I figure out what they are?
>
> - Jae
>
>
> SUMMARY
> ========
>
> PARAMETERS
>   * /kinect_driver/depth/camera_info_url
>   * /kinect_driver/device_id
>   * /kinect_driver/rgb/camera_info_url
>
> NODES
>    /
>      kinect_manager (nodelet/nodelet)
>      kinect_driver (nodelet/nodelet)
>
> ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>
> core service [/rosout] found
> process[kinect_manager-1]: started with pid [4587]
> process[kinect_driver-2]: started with pid [4588]
> [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
> kinect_manager with the following remappings:
> [ INFO] [1290398536.318689801]: /camera -> /kinect
> [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised, waiting...
> [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
> [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type [kinect_camera/KinectDriverNodelet]:
> Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make sure that
> you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro
> and your XML. Error string: Cannot load library:
> /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object file: No
> such file or directory
> [ERROR] [1290398536.370592081]: Failed to call service!
>
>
> On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     What does lsusb say ?
>
>     Cheers,
>     Radu.
>
>
>
>     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>
>         I am trying to get point cloud from kinect using ROS / rviz.
>         And when I run
>            roslaunch kinect_camera kinect_nodelets.launch
>         I get following errors.
>
>         First error i see is libdc1394 error: Failed to initialize libdc1394
>         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
>         look below for the whole log. Anybody have idea?
>
>         Thanks
>         Jae
>
>
>
>
>
>         SUMMARY
>         ========
>
>         PARAMETERS
>         * /kinect_driver/depth/camera_info_url
>         * /kinect_driver/device_id
>         * /kinect_driver/rgb/camera_info_url
>
>         NODES
>           /
>             kinect_manager (nodelet/nodelet)
>             kinect_driver (nodelet/nodelet)
>
>         starting new master (master configured for auto start)
>         process[master]: started with pid [7085]
>         ROS_MASTER_URI=http://galvatron:11311/
>
>         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>         process[rosout-1]: started with pid [7098]
>         started core service [/rosout]
>         process[kinect_manager-2]: started with pid [7107]
>         process[kinect_driver-3]: started with pid [7111]
>         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>         kinect_manager with the following remappings:
>         [ INFO] [1290201041.065750641]: /camera -> /kinect
>         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>         waiting...
>         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>         libdc1394 error: Failed to initialize libdc1394
>         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ INFO] [1290201041.327444912]: camera calibration URL:
>         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ INFO] [1290201041.342113344]: camera calibration URL:
>         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>
>
>
>
>         _______________________________________________
>         Ros-kinect mailing list
>         [hidden email] <mailto:[hidden email]>
>         https://code.ros.org/mailman/listinfo/ros-kinect
>
>
_______________________________________________
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Re: [Ros-kinect] kinect point cloud

rusu
Administrator
Jae,

If you just want to see point clouds _right_ now, you can do two things :)

1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug, both in RViz
and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.

2) instead of rviz, use
$ rosmake pcl_tutorials
$ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2



Cheers,
Radu.


On 11/21/2010 10:21 PM, Jae Yong Sung wrote:

> Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the step
>
> 1) roslaunch kinect_camera kinect_with_tf.launch
> 2) rosrun rviz rviz
> 3) set fixed frame to /kinect_depth
> 4) add PointCloud
> 5) set style to points
> 6) set topic of PointCloud to kinect/points
>
> As soon as I select kinect/points, rviz crashes with following error
>
>      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>
> Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
> pointcloud working soon :)
>
> Best,
> Jae
>
>
> On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     Jae,
>
>     Did you "rosmake kinect_camera"?
>
>     Cheers,
>     Radu.
>
>
>     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>      > Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>      >
>      > When I run
>      >    roslaunch kinect_camera kinect_nodelets.launch
>      > or
>      >    roslaunch kinect_camera kinect_with_tf.launch
>      > I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>      > Thanks you guys all for help.
>      >
>      > By the way, what are the differences between all four launch files? How do I figure out what they are?
>      >
>      > - Jae
>      >
>      >
>      > SUMMARY
>      > ========
>      >
>      > PARAMETERS
>      >   * /kinect_driver/depth/camera_info_url
>      >   * /kinect_driver/device_id
>      >   * /kinect_driver/rgb/camera_info_url
>      >
>      > NODES
>      >    /
>      >      kinect_manager (nodelet/nodelet)
>      >      kinect_driver (nodelet/nodelet)
>      >
>      > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>      >
>      > core service [/rosout] found
>      > process[kinect_manager-1]: started with pid [4587]
>      > process[kinect_driver-2]: started with pid [4588]
>      > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>      > kinect_manager with the following remappings:
>      > [ INFO] [1290398536.318689801]: /camera -> /kinect
>      > [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>     waiting...
>      > [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type [kinect_camera/KinectDriverNodelet]:
>      > Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>     sure that
>      > you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>     this macro
>      > and your XML. Error string: Cannot load library:
>      > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object file: No
>      > such file or directory
>      > [ERROR] [1290398536.370592081]: Failed to call service!
>      >
>      >
>      > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>      >
>      >     What does lsusb say ?
>      >
>      >     Cheers,
>      >     Radu.
>      >
>      >
>      >
>      >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>      >
>      >         I am trying to get point cloud from kinect using ROS / rviz.
>      >         And when I run
>      >            roslaunch kinect_camera kinect_nodelets.launch
>      >         I get following errors.
>      >
>      >         First error i see is libdc1394 error: Failed to initialize libdc1394
>      >         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      >
>      >         look below for the whole log. Anybody have idea?
>      >
>      >         Thanks
>      >         Jae
>      >
>      >
>      >
>      >
>      >
>      >         SUMMARY
>      >         ========
>      >
>      >         PARAMETERS
>      >         * /kinect_driver/depth/camera_info_url
>      >         * /kinect_driver/device_id
>      >         * /kinect_driver/rgb/camera_info_url
>      >
>      >         NODES
>      >           /
>      >             kinect_manager (nodelet/nodelet)
>      >             kinect_driver (nodelet/nodelet)
>      >
>      >         starting new master (master configured for auto start)
>      >         process[master]: started with pid [7085]
>      >         ROS_MASTER_URI=http://galvatron:11311/
>      >
>      >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>      >         process[rosout-1]: started with pid [7098]
>      >         started core service [/rosout]
>      >         process[kinect_manager-2]: started with pid [7107]
>      >         process[kinect_driver-3]: started with pid [7111]
>      >         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>     to manager
>      >         kinect_manager with the following remappings:
>      >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>      >         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>     advertised,
>      >         waiting...
>      >         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      >         libdc1394 error: Failed to initialize libdc1394
>      >         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>      >         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ INFO] [1290201041.327444912]: camera calibration URL:
>      >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ INFO] [1290201041.342113344]: camera calibration URL:
>      >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      >
>      >
>      >
>      >
>      >         _______________________________________________
>      >         Ros-kinect mailing list
>      > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>
>      > https://code.ros.org/mailman/listinfo/ros-kinect
>      >
>      >
>     _______________________________________________
>     Ros-kinect mailing list
>     [hidden email] <mailto:[hidden email]>
>     https://code.ros.org/mailman/listinfo/ros-kinect
>
>
_______________________________________________
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Re: [Ros-kinect] kinect point cloud

Jae Yong Sung
Radu,

PointCloud2 works but it is as good as what I have seen on other videos running kinect with rviz.
How do I checkout the new code? Do I need to re-install again? ..

Thanks!
Jae

On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email]> wrote:
Jae,

If you just want to see point clouds _right_ now, you can do two things :)

1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug, both in RViz
and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.

2) instead of rviz, use
$ rosmake pcl_tutorials
$ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2



Cheers,
Radu.


On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
> Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the step
>
> 1) roslaunch kinect_camera kinect_with_tf.launch
> 2) rosrun rviz rviz
> 3) set fixed frame to /kinect_depth
> 4) add PointCloud
> 5) set style to points
> 6) set topic of PointCloud to kinect/points
>
> As soon as I select kinect/points, rviz crashes with following error
>
>      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>
> Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
> pointcloud working soon :)
>
> Best,
> Jae
>
>
> On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     Jae,
>
>     Did you "rosmake kinect_camera"?
>
>     Cheers,
>     Radu.
>
>
>     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>      > Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>      >
>      > When I run
>      >    roslaunch kinect_camera kinect_nodelets.launch
>      > or
>      >    roslaunch kinect_camera kinect_with_tf.launch
>      > I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>      > Thanks you guys all for help.
>      >
>      > By the way, what are the differences between all four launch files? How do I figure out what they are?
>      >
>      > - Jae
>      >
>      >
>      > SUMMARY
>      > ========
>      >
>      > PARAMETERS
>      >   * /kinect_driver/depth/camera_info_url
>      >   * /kinect_driver/device_id
>      >   * /kinect_driver/rgb/camera_info_url
>      >
>      > NODES
>      >    /
>      >      kinect_manager (nodelet/nodelet)
>      >      kinect_driver (nodelet/nodelet)
>      >
>      > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>      >
>      > core service [/rosout] found
>      > process[kinect_manager-1]: started with pid [4587]
>      > process[kinect_driver-2]: started with pid [4588]
>      > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>      > kinect_manager with the following remappings:
>      > [ INFO] [1290398536.318689801]: /camera -> /kinect
>      > [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>     waiting...
>      > [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type [kinect_camera/KinectDriverNodelet]:
>      > Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>     sure that
>      > you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>     this macro
>      > and your XML. Error string: Cannot load library:
>      > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object file: No
>      > such file or directory
>      > [ERROR] [1290398536.370592081]: Failed to call service!
>      >
>      >
>      > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>      >
>      >     What does lsusb say ?
>      >
>      >     Cheers,
>      >     Radu.
>      >
>      >
>      >
>      >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>      >
>      >         I am trying to get point cloud from kinect using ROS / rviz.
>      >         And when I run
>      >            roslaunch kinect_camera kinect_nodelets.launch
>      >         I get following errors.
>      >
>      >         First error i see is libdc1394 error: Failed to initialize libdc1394
>      >         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      >
>      >         look below for the whole log. Anybody have idea?
>      >
>      >         Thanks
>      >         Jae
>      >
>      >
>      >
>      >
>      >
>      >         SUMMARY
>      >         ========
>      >
>      >         PARAMETERS
>      >         * /kinect_driver/depth/camera_info_url
>      >         * /kinect_driver/device_id
>      >         * /kinect_driver/rgb/camera_info_url
>      >
>      >         NODES
>      >           /
>      >             kinect_manager (nodelet/nodelet)
>      >             kinect_driver (nodelet/nodelet)
>      >
>      >         starting new master (master configured for auto start)
>      >         process[master]: started with pid [7085]
>      >         ROS_MASTER_URI=http://galvatron:11311/
>      >
>      >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>      >         process[rosout-1]: started with pid [7098]
>      >         started core service [/rosout]
>      >         process[kinect_manager-2]: started with pid [7107]
>      >         process[kinect_driver-3]: started with pid [7111]
>      >         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>     to manager
>      >         kinect_manager with the following remappings:
>      >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>      >         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>     advertised,
>      >         waiting...
>      >         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      >         libdc1394 error: Failed to initialize libdc1394
>      >         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>      >         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ INFO] [1290201041.327444912]: camera calibration URL:
>      >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ INFO] [1290201041.342113344]: camera calibration URL:
>      >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      >         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      >
>      >
>      >
>      >
>      >         _______________________________________________
>      >         Ros-kinect mailing list
>      > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>
>      > https://code.ros.org/mailman/listinfo/ros-kinect
>      >
>      >
>     _______________________________________________
>     Ros-kinect mailing list
>     [hidden email] <mailto:[hidden email]>
>     https://code.ros.org/mailman/listinfo/ros-kinect
>
>
_______________________________________________
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[hidden email]
https://code.ros.org/mailman/listinfo/ros-kinect


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Re: [Ros-kinect] kinect point cloud

rusu
Administrator
Do you mean the PointCloud2 visualizer is too slow? If so there's ways around that:

  * as Josh suggested in previous e-mails, use Points instead of Billboards for displaying the data
  * wait until RViz gets re-released - I believe the rendering performance has increased
  * use a PCL PassThrough/VoxelGrid filter to filter/downsample the data before you display it. More information here:
http://www.ros.org/wiki/pcl_ros/Tutorials

Regarding the code, if you do "git pull" in kinect_camera, you should be able to get the newest version of the code for
the driver.

Cheers,
Radu.


On 11/21/2010 11:22 PM, Jae Yong Sung wrote:

> Radu,
>
> PointCloud2 works but it is as good as what I have seen on other videos running kinect with rviz.
> How do I checkout the new code? Do I need to re-install again? ..
>
> Thanks!
> Jae
>
> On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     Jae,
>
>     If you just want to see point clouds _right_ now, you can do two things :)
>
>     1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug, both in RViz
>     and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.
>
>     2) instead of rviz, use
>     $ rosmake pcl_tutorials
>     $ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2
>
>
>
>     Cheers,
>     Radu.
>
>
>     On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
>      > Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the
>     step
>      >
>      > 1) roslaunch kinect_camera kinect_with_tf.launch
>      > 2) rosrun rviz rviz
>      > 3) set fixed frame to /kinect_depth
>      > 4) add PointCloud
>      > 5) set style to points
>      > 6) set topic of PointCloud to kinect/points
>      >
>      > As soon as I select kinect/points, rviz crashes with following error
>      >
>      >      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>      >
>      > Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
>      > pointcloud working soon :)
>      >
>      > Best,
>      > Jae
>      >
>      >
>      > On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>      >
>      >     Jae,
>      >
>      >     Did you "rosmake kinect_camera"?
>      >
>      >     Cheers,
>      >     Radu.
>      >
>      >
>      >     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>      > > Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>      > >
>      > > When I run
>      > >    roslaunch kinect_camera kinect_nodelets.launch
>      > > or
>      > >    roslaunch kinect_camera kinect_with_tf.launch
>      > > I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>      > > Thanks you guys all for help.
>      > >
>      > > By the way, what are the differences between all four launch files? How do I figure out what they are?
>      > >
>      > > - Jae
>      > >
>      > >
>      > > SUMMARY
>      > > ========
>      > >
>      > > PARAMETERS
>      > >   * /kinect_driver/depth/camera_info_url
>      > >   * /kinect_driver/device_id
>      > >   * /kinect_driver/rgb/camera_info_url
>      > >
>      > > NODES
>      > >    /
>      > >      kinect_manager (nodelet/nodelet)
>      > >      kinect_driver (nodelet/nodelet)
>      > >
>      > > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>      > >
>      > > core service [/rosout] found
>      > > process[kinect_manager-1]: started with pid [4587]
>      > > process[kinect_driver-2]: started with pid [4588]
>      > > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>      > > kinect_manager with the following remappings:
>      > > [ INFO] [1290398536.318689801]: /camera -> /kinect
>      > > [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>      >     waiting...
>      > > [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > > [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type
>     [kinect_camera/KinectDriverNodelet]:
>      > > Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>      >     sure that
>      > > you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>      >     this macro
>      > > and your XML. Error string: Cannot load library:
>      > > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object
>     file: No
>      > > such file or directory
>      > > [ERROR] [1290398536.370592081]: Failed to call service!
>      > >
>      > >
>      > > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>
>      > <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>>> wrote:
>      > >
>      > >     What does lsusb say ?
>      > >
>      > >     Cheers,
>      > >     Radu.
>      > >
>      > >
>      > >
>      > >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>      > >
>      > >         I am trying to get point cloud from kinect using ROS / rviz.
>      > >         And when I run
>      > >            roslaunch kinect_camera kinect_nodelets.launch
>      > >         I get following errors.
>      > >
>      > >         First error i see is libdc1394 error: Failed to initialize libdc1394
>      > >         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      > >
>      > >         look below for the whole log. Anybody have idea?
>      > >
>      > >         Thanks
>      > >         Jae
>      > >
>      > >
>      > >
>      > >
>      > >
>      > >         SUMMARY
>      > >         ========
>      > >
>      > >         PARAMETERS
>      > >         * /kinect_driver/depth/camera_info_url
>      > >         * /kinect_driver/device_id
>      > >         * /kinect_driver/rgb/camera_info_url
>      > >
>      > >         NODES
>      > >           /
>      > >             kinect_manager (nodelet/nodelet)
>      > >             kinect_driver (nodelet/nodelet)
>      > >
>      > >         starting new master (master configured for auto start)
>      > >         process[master]: started with pid [7085]
>      > >         ROS_MASTER_URI=http://galvatron:11311/
>      > >
>      > >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>      > >         process[rosout-1]: started with pid [7098]
>      > >         started core service [/rosout]
>      > >         process[kinect_manager-2]: started with pid [7107]
>      > >         process[kinect_driver-3]: started with pid [7111]
>      > >         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>      >     to manager
>      > >         kinect_manager with the following remappings:
>      > >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>      > >         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>      >     advertised,
>      > >         waiting...
>      > >         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > >         libdc1394 error: Failed to initialize libdc1394
>      > >         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>      > >         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ INFO] [1290201041.327444912]: camera calibration URL:
>      > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ INFO] [1290201041.342113344]: camera calibration URL:
>      > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      > >
>      > >
>      > >
>      > >
>      > >         _______________________________________________
>      > >         Ros-kinect mailing list
>      > > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>> <mailto:[hidden email] <mailto:[hidden email]>
>      > <mailto:[hidden email] <mailto:[hidden email]>>>
>      > > https://code.ros.org/mailman/listinfo/ros-kinect
>      > >
>      > >
>      >     _______________________________________________
>      >     Ros-kinect mailing list
>      > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>
>      > https://code.ros.org/mailman/listinfo/ros-kinect
>      >
>      >
>     _______________________________________________
>     Ros-kinect mailing list
>     [hidden email] <mailto:[hidden email]>
>     https://code.ros.org/mailman/listinfo/ros-kinect
>
>
_______________________________________________
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Re: [Ros-kinect] kinect point cloud

Jae Yong Sung
Finally, I am seeing the points correctly. It is bit slow but I guess that is because I am running this on a laptop. 
But when I run rviz, I see background as black and all the points are white. But when I look at http://www.youtube.com/watch?v=jQgnuupBUI4 , they made it with color on rviz. Do you know what I am suppose to do?

And what is the difference between PointCloud and PointCloud2? I cannot find documentation about it.

Thanks again for help.

Best,
Jae


On Mon, Nov 22, 2010 at 2:49 AM, Radu Bogdan Rusu <[hidden email]> wrote:
Do you mean the PointCloud2 visualizer is too slow? If so there's ways around that:

 * as Josh suggested in previous e-mails, use Points instead of Billboards for displaying the data
 * wait until RViz gets re-released - I believe the rendering performance has increased
 * use a PCL PassThrough/VoxelGrid filter to filter/downsample the data before you display it. More information here:
http://www.ros.org/wiki/pcl_ros/Tutorials

Regarding the code, if you do "git pull" in kinect_camera, you should be able to get the newest version of the code for
the driver.

Cheers,
Radu.


On 11/21/2010 11:22 PM, Jae Yong Sung wrote:
> Radu,
>
> PointCloud2 works but it is as good as what I have seen on other videos running kinect with rviz.
> How do I checkout the new code? Do I need to re-install again? ..
>
> Thanks!
> Jae
>
> On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     Jae,
>
>     If you just want to see point clouds _right_ now, you can do two things :)
>
>     1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug, both in RViz
>     and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.
>
>     2) instead of rviz, use
>     $ rosmake pcl_tutorials
>     $ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2
>
>
>
>     Cheers,
>     Radu.
>
>
>     On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
>      > Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the
>     step
>      >
>      > 1) roslaunch kinect_camera kinect_with_tf.launch
>      > 2) rosrun rviz rviz
>      > 3) set fixed frame to /kinect_depth
>      > 4) add PointCloud
>      > 5) set style to points
>      > 6) set topic of PointCloud to kinect/points
>      >
>      > As soon as I select kinect/points, rviz crashes with following error
>      >
>      >      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>      >
>      > Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
>      > pointcloud working soon :)
>      >
>      > Best,
>      > Jae
>      >
>      >
>      > On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>      >
>      >     Jae,
>      >
>      >     Did you "rosmake kinect_camera"?
>      >
>      >     Cheers,
>      >     Radu.
>      >
>      >
>      >     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>      > > Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>      > >
>      > > When I run
>      > >    roslaunch kinect_camera kinect_nodelets.launch
>      > > or
>      > >    roslaunch kinect_camera kinect_with_tf.launch
>      > > I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>      > > Thanks you guys all for help.
>      > >
>      > > By the way, what are the differences between all four launch files? How do I figure out what they are?
>      > >
>      > > - Jae
>      > >
>      > >
>      > > SUMMARY
>      > > ========
>      > >
>      > > PARAMETERS
>      > >   * /kinect_driver/depth/camera_info_url
>      > >   * /kinect_driver/device_id
>      > >   * /kinect_driver/rgb/camera_info_url
>      > >
>      > > NODES
>      > >    /
>      > >      kinect_manager (nodelet/nodelet)
>      > >      kinect_driver (nodelet/nodelet)
>      > >
>      > > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>      > >
>      > > core service [/rosout] found
>      > > process[kinect_manager-1]: started with pid [4587]
>      > > process[kinect_driver-2]: started with pid [4588]
>      > > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to manager
>      > > kinect_manager with the following remappings:
>      > > [ INFO] [1290398536.318689801]: /camera -> /kinect
>      > > [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>      >     waiting...
>      > > [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > > [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type
>     [kinect_camera/KinectDriverNodelet]:
>      > > Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>      >     sure that
>      > > you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>      >     this macro
>      > > and your XML. Error string: Cannot load library:
>      > > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object
>     file: No
>      > > such file or directory
>      > > [ERROR] [1290398536.370592081]: Failed to call service!
>      > >
>      > >
>      > > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>
>      > <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>>> wrote:
>      > >
>      > >     What does lsusb say ?
>      > >
>      > >     Cheers,
>      > >     Radu.
>      > >
>      > >
>      > >
>      > >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>      > >
>      > >         I am trying to get point cloud from kinect using ROS / rviz.
>      > >         And when I run
>      > >            roslaunch kinect_camera kinect_nodelets.launch
>      > >         I get following errors.
>      > >
>      > >         First error i see is libdc1394 error: Failed to initialize libdc1394
>      > >         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      > >
>      > >         look below for the whole log. Anybody have idea?
>      > >
>      > >         Thanks
>      > >         Jae
>      > >
>      > >
>      > >
>      > >
>      > >
>      > >         SUMMARY
>      > >         ========
>      > >
>      > >         PARAMETERS
>      > >         * /kinect_driver/depth/camera_info_url
>      > >         * /kinect_driver/device_id
>      > >         * /kinect_driver/rgb/camera_info_url
>      > >
>      > >         NODES
>      > >           /
>      > >             kinect_manager (nodelet/nodelet)
>      > >             kinect_driver (nodelet/nodelet)
>      > >
>      > >         starting new master (master configured for auto start)
>      > >         process[master]: started with pid [7085]
>      > >         ROS_MASTER_URI=http://galvatron:11311/
>      > >
>      > >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>      > >         process[rosout-1]: started with pid [7098]
>      > >         started core service [/rosout]
>      > >         process[kinect_manager-2]: started with pid [7107]
>      > >         process[kinect_driver-3]: started with pid [7111]
>      > >         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>      >     to manager
>      > >         kinect_manager with the following remappings:
>      > >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>      > >         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>      >     advertised,
>      > >         waiting...
>      > >         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > >         libdc1394 error: Failed to initialize libdc1394
>      > >         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>      > >         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ INFO] [1290201041.327444912]: camera calibration URL:
>      > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ INFO] [1290201041.342113344]: camera calibration URL:
>      > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > >         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      > >
>      > >
>      > >
>      > >
>      > >         _______________________________________________
>      > >         Ros-kinect mailing list
>      > > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>> <mailto:[hidden email] <mailto:[hidden email]>
>      > <mailto:[hidden email] <mailto:[hidden email]>>>
>      > > https://code.ros.org/mailman/listinfo/ros-kinect
>      > >
>      > >
>      >     _______________________________________________
>      >     Ros-kinect mailing list
>      > [hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>
>      > https://code.ros.org/mailman/listinfo/ros-kinect
>      >
>      >
>     _______________________________________________
>     Ros-kinect mailing list
>     [hidden email] <mailto:[hidden email]>
>     https://code.ros.org/mailman/listinfo/ros-kinect
>
>
_______________________________________________
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[hidden email]
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Re: [Ros-kinect] kinect point cloud

Ivan Dryanovski
We used a coloring scheme in rviz that we wrote here at CCNY. I
believe the coloring has been integrated in th latest release of rviz,
which will be made available soon.

Ivan Dryanovski

On Mon, Nov 22, 2010 at 2:54 PM, Jae Yong Sung <[hidden email]> wrote:

> Finally, I am seeing the points correctly. It is bit slow but I guess that
> is because I am running this on a laptop.
> But when I run rviz, I see background as black and all the points are white.
> But when I look at http://www.youtube.com/watch?v=jQgnuupBUI4 , they made it
> with color on rviz. Do you know what I am suppose to do?
> And what is the difference between PointCloud and PointCloud2? I cannot find
> documentation about it.
> Thanks again for help.
> Best,
> Jae
>
> On Mon, Nov 22, 2010 at 2:49 AM, Radu Bogdan Rusu <[hidden email]>
> wrote:
>>
>> Do you mean the PointCloud2 visualizer is too slow? If so there's ways
>> around that:
>>
>>  * as Josh suggested in previous e-mails, use Points instead of Billboards
>> for displaying the data
>>  * wait until RViz gets re-released - I believe the rendering performance
>> has increased
>>  * use a PCL PassThrough/VoxelGrid filter to filter/downsample the data
>> before you display it. More information here:
>> http://www.ros.org/wiki/pcl_ros/Tutorials
>>
>> Regarding the code, if you do "git pull" in kinect_camera, you should be
>> able to get the newest version of the code for
>> the driver.
>>
>> Cheers,
>> Radu.
>>
>>
>> On 11/21/2010 11:22 PM, Jae Yong Sung wrote:
>> > Radu,
>> >
>> > PointCloud2 works but it is as good as what I have seen on other videos
>> > running kinect with rviz.
>> > How do I checkout the new code? Do I need to re-install again? ..
>> >
>> > Thanks!
>> > Jae
>> >
>> > On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email]
>> > <mailto:[hidden email]>> wrote:
>> >
>> >     Jae,
>> >
>> >     If you just want to see point clouds _right_ now, you can do two
>> > things :)
>> >
>> >     1) pull the latest kinect_camera code from github and try running
>> > RViz again. We hopefully fixed that bug, both in RViz
>> >     and sensor_msgs - which should be released soon, but also in the
>> > driver itself. Try a PointCloud2 display too.
>> >
>> >     2) instead of rviz, use
>> >     $ rosmake pcl_tutorials
>> >     $ rosrun pcl_tutorials pointcloud_online_viewer
>> > input:=/kinect/points2
>> >
>> >
>> >
>> >     Cheers,
>> >     Radu.
>> >
>> >
>> >     On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
>> >      > Awesome. I no longer see that error. Now I am trying to see 3d
>> > point cloud in rviz, I get the error following the
>> >     step
>> >      >
>> >      > 1) roslaunch kinect_camera kinect_with_tf.launch
>> >      > 2) rosrun rviz rviz
>> >      > 3) set fixed frame to /kinect_depth
>> >      > 4) add PointCloud
>> >      > 5) set style to points
>> >      > 6) set topic of PointCloud to kinect/points
>> >      >
>> >      > As soon as I select kinect/points, rviz crashes with following
>> > error
>> >      >
>> >      >      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation
>> > fault      $exepath "$@"
>> >      >
>> >      > Thanks for keeping helping me. I guess I am slowly learning ROS
>> > and seeing bit of progress. Hopefully will get this
>> >      > pointcloud working soon :)
>> >      >
>> >      > Best,
>> >      > Jae
>> >      >
>> >      >
>> >      > On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu
>> > <[hidden email] <mailto:[hidden email]>
>> >     <mailto:[hidden email] <mailto:[hidden email]>>>
>> > wrote:
>> >      >
>> >      >     Jae,
>> >      >
>> >      >     Did you "rosmake kinect_camera"?
>> >      >
>> >      >     Cheers,
>> >      >     Radu.
>> >      >
>> >      >
>> >      >     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>> >      > > Ok I solved that usb issue. It was just permission issue. But
>> > now I am seeing different error.
>> >      > >
>> >      > > When I run
>> >      > >    roslaunch kinect_camera kinect_nodelets.launch
>> >      > > or
>> >      > >    roslaunch kinect_camera kinect_with_tf.launch
>> >      > > I get the error message below. Anybody got idea? I am new to
>> > ROS, please explain to me detail.
>> >      > > Thanks you guys all for help.
>> >      > >
>> >      > > By the way, what are the differences between all four launch
>> > files? How do I figure out what they are?
>> >      > >
>> >      > > - Jae
>> >      > >
>> >      > >
>> >      > > SUMMARY
>> >      > > ========
>> >      > >
>> >      > > PARAMETERS
>> >      > >   * /kinect_driver/depth/camera_info_url
>> >      > >   * /kinect_driver/device_id
>> >      > >   * /kinect_driver/rgb/camera_info_url
>> >      > >
>> >      > > NODES
>> >      > >    /
>> >      > >      kinect_manager (nodelet/nodelet)
>> >      > >      kinect_driver (nodelet/nodelet)
>> >      > >
>> >      > > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>> >      > >
>> >      > > core service [/rosout] found
>> >      > > process[kinect_manager-1]: started with pid [4587]
>> >      > > process[kinect_driver-2]: started with pid [4588]
>> >      > > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver
>> > of type kinect_camera/KinectDriverNodelet to manager
>> >      > > kinect_manager with the following remappings:
>> >      > > [ INFO] [1290398536.318689801]: /camera -> /kinect
>> >      > > [ INFO] [1290398536.325906281]: waitForService: Service
>> > [/kinect_manager/load_nodelet] has not been advertised,
>> >      >     waiting...
>> >      > > [ INFO] [1290398536.368832120]: waitForService: Service
>> > [/kinect_manager/load_nodelet] is now available.
>> >      > > [ERROR] [1290398536.370375441]: Failed to load nodelet
>> > [/kinect_driver] of type
>> >     [kinect_camera/KinectDriverNodelet]:
>> >      > > Failed to load library
>> > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so.
>> > Make
>> >      >     sure that
>> >      > > you are calling the PLUGINLIB_REGISTER_CLASS macro in the
>> > library code, and that names are consistent between
>> >      >     this macro
>> >      > > and your XML. Error string: Cannot load library:
>> >      > >
>> > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so:
>> > cannot open shared object
>> >     file: No
>> >      > > such file or directory
>> >      > > [ERROR] [1290398536.370592081]: Failed to call service!
>> >      > >
>> >      > >
>> >      > > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu
>> > <[hidden email] <mailto:[hidden email]>
>> >     <mailto:[hidden email] <mailto:[hidden email]>>
>> >      > <mailto:[hidden email] <mailto:[hidden email]>
>> > <mailto:[hidden email]
>> >     <mailto:[hidden email]>>>> wrote:
>> >      > >
>> >      > >     What does lsusb say ?
>> >      > >
>> >      > >     Cheers,
>> >      > >     Radu.
>> >      > >
>> >      > >
>> >      > >
>> >      > >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>> >      > >
>> >      > >         I am trying to get point cloud from kinect using ROS /
>> > rviz.
>> >      > >         And when I run
>> >      > >            roslaunch kinect_camera kinect_nodelets.launch
>> >      > >         I get following errors.
>> >      > >
>> >      > >         First error i see is libdc1394 error: Failed to
>> > initialize libdc1394
>> >      > >         Second error is [ERROR] [1290201041.664080332]:
>> > [KinectDriver::init] Could not open device with index (0)!
>> >      > >
>> >      > >         look below for the whole log. Anybody have idea?
>> >      > >
>> >      > >         Thanks
>> >      > >         Jae
>> >      > >
>> >      > >
>> >      > >
>> >      > >
>> >      > >
>> >      > >         SUMMARY
>> >      > >         ========
>> >      > >
>> >      > >         PARAMETERS
>> >      > >         * /kinect_driver/depth/camera_info_url
>> >      > >         * /kinect_driver/device_id
>> >      > >         * /kinect_driver/rgb/camera_info_url
>> >      > >
>> >      > >         NODES
>> >      > >           /
>> >      > >             kinect_manager (nodelet/nodelet)
>> >      > >             kinect_driver (nodelet/nodelet)
>> >      > >
>> >      > >         starting new master (master configured for auto start)
>> >      > >         process[master]: started with pid [7085]
>> >      > >         ROS_MASTER_URI=http://galvatron:11311/
>> >      > >
>> >      > >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>> >      > >         process[rosout-1]: started with pid [7098]
>> >      > >         started core service [/rosout]
>> >      > >         process[kinect_manager-2]: started with pid [7107]
>> >      > >         process[kinect_driver-3]: started with pid [7111]
>> >      > >         [ INFO] [1290201041.065613257]: Loading nodelet
>> > /kinect_driver of type kinect_camera/KinectDriverNodelet
>> >      >     to manager
>> >      > >         kinect_manager with the following remappings:
>> >      > >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>> >      > >         [ INFO] [1290201041.086055611]: waitForService: Service
>> > [/kinect_manager/load_nodelet] has not been
>> >      >     advertised,
>> >      > >         waiting...
>> >      > >         [ INFO] [1290201041.227346798]: waitForService: Service
>> > [/kinect_manager/load_nodelet] is now available.
>> >      > >         libdc1394 error: Failed to initialize libdc1394
>> >      > >         [ INFO] [1290201041.327189803]: [KinectDriver]
>> > Calibration URLs:
>> >      > >         RGB:
>> > file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>> >      > >         Depth:
>> > file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>> >      > >         [ INFO] [1290201041.327444912]: camera calibration URL:
>> >      > >
>> > file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>> >      > >         [ INFO] [1290201041.342113344]: camera calibration URL:
>> >      > >
>> > file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>> >      > >         [ERROR] [1290201041.664080332]: [KinectDriver::init]
>> > Could not open device with index (0)!
>> >      > >
>> >      > >
>> >      > >
>> >      > >
>> >      > >         _______________________________________________
>> >      > >         Ros-kinect mailing list
>> >      > > [hidden email] <mailto:[hidden email]>
>> > <mailto:[hidden email]
>> >     <mailto:[hidden email]>> <mailto:[hidden email]
>> > <mailto:[hidden email]>
>> >      > <mailto:[hidden email]
>> > <mailto:[hidden email]>>>
>> >      > > https://code.ros.org/mailman/listinfo/ros-kinect
>> >      > >
>> >      > >
>> >      >     _______________________________________________
>> >      >     Ros-kinect mailing list
>> >      > [hidden email] <mailto:[hidden email]>
>> > <mailto:[hidden email]
>> >     <mailto:[hidden email]>>
>> >      > https://code.ros.org/mailman/listinfo/ros-kinect
>> >      >
>> >      >
>> >     _______________________________________________
>> >     Ros-kinect mailing list
>> >     [hidden email] <mailto:[hidden email]>
>> >     https://code.ros.org/mailman/listinfo/ros-kinect
>> >
>> >
>> _______________________________________________
>> Ros-kinect mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-kinect
>
>
> _______________________________________________
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> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-kinect
>
>
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Re: [Ros-kinect] kinect point cloud

rusu
Administrator
In reply to this post by Jae Yong Sung
Jae,

We should better document PointCloud vs PointCloud2. I'll set up a wiki page for it and point everyone to add in their
comments.

We're working on coloring the Kinect point clouds, but we're doing this the right way - through proper camera
calibration. Results and instructions on how to replicate / calibrate any Kinect will follow shortly. In the meantime,
we could accommodate some other calibration data (there should be a YAML file in the repo), just so we have something.

Cheers,
Radu.


On 11/22/2010 11:54 AM, Jae Yong Sung wrote:

> Finally, I am seeing the points correctly. It is bit slow but I guess that is because I am running this on a laptop.
> But when I run rviz, I see background as black and all the points are white. But when I look at
> http://www.youtube.com/watch?v=jQgnuupBUI4 , they made it with color on rviz. Do you know what I am suppose to do?
>
> And what is the difference between PointCloud and PointCloud2? I cannot find documentation about it.
>
> Thanks again for help.
>
> Best,
> Jae
>
>
> On Mon, Nov 22, 2010 at 2:49 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>
>     Do you mean the PointCloud2 visualizer is too slow? If so there's ways around that:
>
>       * as Josh suggested in previous e-mails, use Points instead of Billboards for displaying the data
>       * wait until RViz gets re-released - I believe the rendering performance has increased
>       * use a PCL PassThrough/VoxelGrid filter to filter/downsample the data before you display it. More information here:
>     http://www.ros.org/wiki/pcl_ros/Tutorials
>
>     Regarding the code, if you do "git pull" in kinect_camera, you should be able to get the newest version of the code for
>     the driver.
>
>     Cheers,
>     Radu.
>
>
>     On 11/21/2010 11:22 PM, Jae Yong Sung wrote:
>      > Radu,
>      >
>      > PointCloud2 works but it is as good as what I have seen on other videos running kinect with rviz.
>      > How do I checkout the new code? Do I need to re-install again? ..
>      >
>      > Thanks!
>      > Jae
>      >
>      > On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>      >
>      >     Jae,
>      >
>      >     If you just want to see point clouds _right_ now, you can do two things :)
>      >
>      >     1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug,
>     both in RViz
>      >     and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.
>      >
>      >     2) instead of rviz, use
>      >     $ rosmake pcl_tutorials
>      >     $ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2
>      >
>      >
>      >
>      >     Cheers,
>      >     Radu.
>      >
>      >
>      >     On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
>      > > Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the
>      >     step
>      > >
>      > > 1) roslaunch kinect_camera kinect_with_tf.launch
>      > > 2) rosrun rviz rviz
>      > > 3) set fixed frame to /kinect_depth
>      > > 4) add PointCloud
>      > > 5) set style to points
>      > > 6) set topic of PointCloud to kinect/points
>      > >
>      > > As soon as I select kinect/points, rviz crashes with following error
>      > >
>      > >      /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>      > >
>      > > Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
>      > > pointcloud working soon :)
>      > >
>      > > Best,
>      > > Jae
>      > >
>      > >
>      > > On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>
>      > <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>>> wrote:
>      > >
>      > >     Jae,
>      > >
>      > >     Did you "rosmake kinect_camera"?
>      > >
>      > >     Cheers,
>      > >     Radu.
>      > >
>      > >
>      > >     On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>      > > > Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>      > > >
>      > > > When I run
>      > > >    roslaunch kinect_camera kinect_nodelets.launch
>      > > > or
>      > > >    roslaunch kinect_camera kinect_with_tf.launch
>      > > > I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>      > > > Thanks you guys all for help.
>      > > >
>      > > > By the way, what are the differences between all four launch files? How do I figure out what they are?
>      > > >
>      > > > - Jae
>      > > >
>      > > >
>      > > > SUMMARY
>      > > > ========
>      > > >
>      > > > PARAMETERS
>      > > >   * /kinect_driver/depth/camera_info_url
>      > > >   * /kinect_driver/device_id
>      > > >   * /kinect_driver/rgb/camera_info_url
>      > > >
>      > > > NODES
>      > > >    /
>      > > >      kinect_manager (nodelet/nodelet)
>      > > >      kinect_driver (nodelet/nodelet)
>      > > >
>      > > > ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>      > > >
>      > > > core service [/rosout] found
>      > > > process[kinect_manager-1]: started with pid [4587]
>      > > > process[kinect_driver-2]: started with pid [4588]
>      > > > [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to
>     manager
>      > > > kinect_manager with the following remappings:
>      > > > [ INFO] [1290398536.318689801]: /camera -> /kinect
>      > > > [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>      > >     waiting...
>      > > > [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > > > [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type
>      >     [kinect_camera/KinectDriverNodelet]:
>      > > > Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>      > >     sure that
>      > > > you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>      > >     this macro
>      > > > and your XML. Error string: Cannot load library:
>      > > > /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object
>      >     file: No
>      > > > such file or directory
>      > > > [ERROR] [1290398536.370592081]: Failed to call service!
>      > > >
>      > > >
>      > > > On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>     <mailto:[hidden email] <mailto:[hidden email]>>
>      > <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>>>
>      > > <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>     <mailto:[hidden email]>> <mailto:[hidden email] <mailto:[hidden email]>
>      > <mailto:[hidden email] <mailto:[hidden email]>>>>> wrote:
>      > > >
>      > > >     What does lsusb say ?
>      > > >
>      > > >     Cheers,
>      > > >     Radu.
>      > > >
>      > > >
>      > > >
>      > > >     On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>      > > >
>      > > >         I am trying to get point cloud from kinect using ROS / rviz.
>      > > >         And when I run
>      > > >            roslaunch kinect_camera kinect_nodelets.launch
>      > > >         I get following errors.
>      > > >
>      > > >         First error i see is libdc1394 error: Failed to initialize libdc1394
>      > > >         Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index
>     (0)!
>      > > >
>      > > >         look below for the whole log. Anybody have idea?
>      > > >
>      > > >         Thanks
>      > > >         Jae
>      > > >
>      > > >
>      > > >
>      > > >
>      > > >
>      > > >         SUMMARY
>      > > >         ========
>      > > >
>      > > >         PARAMETERS
>      > > >         * /kinect_driver/depth/camera_info_url
>      > > >         * /kinect_driver/device_id
>      > > >         * /kinect_driver/rgb/camera_info_url
>      > > >
>      > > >         NODES
>      > > >           /
>      > > >             kinect_manager (nodelet/nodelet)
>      > > >             kinect_driver (nodelet/nodelet)
>      > > >
>      > > >         starting new master (master configured for auto start)
>      > > >         process[master]: started with pid [7085]
>      > > >         ROS_MASTER_URI=http://galvatron:11311/
>      > > >
>      > > >         setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>      > > >         process[rosout-1]: started with pid [7098]
>      > > >         started core service [/rosout]
>      > > >         process[kinect_manager-2]: started with pid [7107]
>      > > >         process[kinect_driver-3]: started with pid [7111]
>      > > >         [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>      > >     to manager
>      > > >         kinect_manager with the following remappings:
>      > > >         [ INFO] [1290201041.065750641]: /camera -> /kinect
>      > > >         [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>      > >     advertised,
>      > > >         waiting...
>      > > >         [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>      > > >         libdc1394 error: Failed to initialize libdc1394
>      > > >         [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>      > > >         RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > > >         Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > > >         [ INFO] [1290201041.327444912]: camera calibration URL:
>      > > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > > >         [ INFO] [1290201041.342113344]: camera calibration URL:
>      > > >         file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>      > > >         [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>      > > >
>      > > >
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Re: [Ros-kinect] kinect point cloud

mischumok
Hi Radu,

For those of us who try to calibrate it their way, where to put the extrinsic calibration parameters? As Nicolas pointed out earlier, they do not fit into PinholeCameraModel. As far as I see, they don't fit into StereoCameraModel neither.  So the calibration provided by Nicolas can only be applied by hacking KinectDriver (I did, and though it improved the colored point cloud picture, the need for individual calibration is inevitable - so thanks for working on that). Asking in general, how is this done right with ROS?

Regards,
Michael Himmelsbach

On Nov 22, 2010, at 9:03 PM, Radu Bogdan Rusu wrote:

> Jae,
>
> We should better document PointCloud vs PointCloud2. I'll set up a wiki page for it and point everyone to add in their
> comments.
>
> We're working on coloring the Kinect point clouds, but we're doing this the right way - through proper camera
> calibration. Results and instructions on how to replicate / calibrate any Kinect will follow shortly. In the meantime,
> we could accommodate some other calibration data (there should be a YAML file in the repo), just so we have something.
>
> Cheers,
> Radu.
>
>
> On 11/22/2010 11:54 AM, Jae Yong Sung wrote:
>> Finally, I am seeing the points correctly. It is bit slow but I guess that is because I am running this on a laptop.
>> But when I run rviz, I see background as black and all the points are white. But when I look at
>> http://www.youtube.com/watch?v=jQgnuupBUI4 , they made it with color on rviz. Do you know what I am suppose to do?
>>
>> And what is the difference between PointCloud and PointCloud2? I cannot find documentation about it.
>>
>> Thanks again for help.
>>
>> Best,
>> Jae
>>
>>
>> On Mon, Nov 22, 2010 at 2:49 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>> wrote:
>>
>>    Do you mean the PointCloud2 visualizer is too slow? If so there's ways around that:
>>
>>      * as Josh suggested in previous e-mails, use Points instead of Billboards for displaying the data
>>      * wait until RViz gets re-released - I believe the rendering performance has increased
>>      * use a PCL PassThrough/VoxelGrid filter to filter/downsample the data before you display it. More information here:
>>    http://www.ros.org/wiki/pcl_ros/Tutorials
>>
>>    Regarding the code, if you do "git pull" in kinect_camera, you should be able to get the newest version of the code for
>>    the driver.
>>
>>    Cheers,
>>    Radu.
>>
>>
>>    On 11/21/2010 11:22 PM, Jae Yong Sung wrote:
>>> Radu,
>>>
>>> PointCloud2 works but it is as good as what I have seen on other videos running kinect with rviz.
>>> How do I checkout the new code? Do I need to re-install again? ..
>>>
>>> Thanks!
>>> Jae
>>>
>>> On Mon, Nov 22, 2010 at 1:29 AM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>>    <mailto:[hidden email] <mailto:[hidden email]>>> wrote:
>>>
>>>    Jae,
>>>
>>>    If you just want to see point clouds _right_ now, you can do two things :)
>>>
>>>    1) pull the latest kinect_camera code from github and try running RViz again. We hopefully fixed that bug,
>>    both in RViz
>>>    and sensor_msgs - which should be released soon, but also in the driver itself. Try a PointCloud2 display too.
>>>
>>>    2) instead of rviz, use
>>>    $ rosmake pcl_tutorials
>>>    $ rosrun pcl_tutorials pointcloud_online_viewer input:=/kinect/points2
>>>
>>>
>>>
>>>    Cheers,
>>>    Radu.
>>>
>>>
>>>    On 11/21/2010 10:21 PM, Jae Yong Sung wrote:
>>>> Awesome. I no longer see that error. Now I am trying to see 3d point cloud in rviz, I get the error following the
>>>    step
>>>>
>>>> 1) roslaunch kinect_camera kinect_with_tf.launch
>>>> 2) rosrun rviz rviz
>>>> 3) set fixed frame to /kinect_depth
>>>> 4) add PointCloud
>>>> 5) set style to points
>>>> 6) set topic of PointCloud to kinect/points
>>>>
>>>> As soon as I select kinect/points, rviz crashes with following error
>>>>
>>>>     /home/jae/ros/ros/bin/rosrun: line 35: 17998 Segmentation fault      $exepath "$@"
>>>>
>>>> Thanks for keeping helping me. I guess I am slowly learning ROS and seeing bit of progress. Hopefully will get this
>>>> pointcloud working soon :)
>>>>
>>>> Best,
>>>> Jae
>>>>
>>>>
>>>> On Sun, Nov 21, 2010 at 11:14 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>>    <mailto:[hidden email] <mailto:[hidden email]>>
>>> <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>>    <mailto:[hidden email]>>>> wrote:
>>>>
>>>>    Jae,
>>>>
>>>>    Did you "rosmake kinect_camera"?
>>>>
>>>>    Cheers,
>>>>    Radu.
>>>>
>>>>
>>>>    On 11/21/2010 08:07 PM, Jae Yong Sung wrote:
>>>>> Ok I solved that usb issue. It was just permission issue. But now I am seeing different error.
>>>>>
>>>>> When I run
>>>>>   roslaunch kinect_camera kinect_nodelets.launch
>>>>> or
>>>>>   roslaunch kinect_camera kinect_with_tf.launch
>>>>> I get the error message below. Anybody got idea? I am new to ROS, please explain to me detail.
>>>>> Thanks you guys all for help.
>>>>>
>>>>> By the way, what are the differences between all four launch files? How do I figure out what they are?
>>>>>
>>>>> - Jae
>>>>>
>>>>>
>>>>> SUMMARY
>>>>> ========
>>>>>
>>>>> PARAMETERS
>>>>>  * /kinect_driver/depth/camera_info_url
>>>>>  * /kinect_driver/device_id
>>>>>  * /kinect_driver/rgb/camera_info_url
>>>>>
>>>>> NODES
>>>>>   /
>>>>>     kinect_manager (nodelet/nodelet)
>>>>>     kinect_driver (nodelet/nodelet)
>>>>>
>>>>> ROS_MASTER_URI=http://jae-Studio-XPS-1340:11311/
>>>>>
>>>>> core service [/rosout] found
>>>>> process[kinect_manager-1]: started with pid [4587]
>>>>> process[kinect_driver-2]: started with pid [4588]
>>>>> [ INFO] [1290398536.318600401]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet to
>>    manager
>>>>> kinect_manager with the following remappings:
>>>>> [ INFO] [1290398536.318689801]: /camera -> /kinect
>>>>> [ INFO] [1290398536.325906281]: waitForService: Service [/kinect_manager/load_nodelet] has not been advertised,
>>>>    waiting...
>>>>> [ INFO] [1290398536.368832120]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>>>>> [ERROR] [1290398536.370375441]: Failed to load nodelet [/kinect_driver] of type
>>>    [kinect_camera/KinectDriverNodelet]:
>>>>> Failed to load library /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so. Make
>>>>    sure that
>>>>> you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between
>>>>    this macro
>>>>> and your XML. Error string: Cannot load library:
>>>>> /home/jae/kinect-dev/kinect/kinect/kinect_camera/lib/libkinect_driver_nodelets.so: cannot open shared object
>>>    file: No
>>>>> such file or directory
>>>>> [ERROR] [1290398536.370592081]: Failed to call service!
>>>>>
>>>>>
>>>>> On Fri, Nov 19, 2010 at 4:16 PM, Radu Bogdan Rusu <[hidden email] <mailto:[hidden email]>
>>    <mailto:[hidden email] <mailto:[hidden email]>>
>>> <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>>    <mailto:[hidden email]>>>
>>>> <mailto:[hidden email] <mailto:[hidden email]> <mailto:[hidden email]
>>    <mailto:[hidden email]>> <mailto:[hidden email] <mailto:[hidden email]>
>>> <mailto:[hidden email] <mailto:[hidden email]>>>>> wrote:
>>>>>
>>>>>    What does lsusb say ?
>>>>>
>>>>>    Cheers,
>>>>>    Radu.
>>>>>
>>>>>
>>>>>
>>>>>    On 11/19/2010 01:15 PM, Jae Yong Sung wrote:
>>>>>
>>>>>        I am trying to get point cloud from kinect using ROS / rviz.
>>>>>        And when I run
>>>>>           roslaunch kinect_camera kinect_nodelets.launch
>>>>>        I get following errors.
>>>>>
>>>>>        First error i see is libdc1394 error: Failed to initialize libdc1394
>>>>>        Second error is [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index
>>    (0)!
>>>>>
>>>>>        look below for the whole log. Anybody have idea?
>>>>>
>>>>>        Thanks
>>>>>        Jae
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>        SUMMARY
>>>>>        ========
>>>>>
>>>>>        PARAMETERS
>>>>>        * /kinect_driver/depth/camera_info_url
>>>>>        * /kinect_driver/device_id
>>>>>        * /kinect_driver/rgb/camera_info_url
>>>>>
>>>>>        NODES
>>>>>          /
>>>>>            kinect_manager (nodelet/nodelet)
>>>>>            kinect_driver (nodelet/nodelet)
>>>>>
>>>>>        starting new master (master configured for auto start)
>>>>>        process[master]: started with pid [7085]
>>>>>        ROS_MASTER_URI=http://galvatron:11311/
>>>>>
>>>>>        setting /run_id to 76334768-f421-11df-aaba-00142225b94c
>>>>>        process[rosout-1]: started with pid [7098]
>>>>>        started core service [/rosout]
>>>>>        process[kinect_manager-2]: started with pid [7107]
>>>>>        process[kinect_driver-3]: started with pid [7111]
>>>>>        [ INFO] [1290201041.065613257]: Loading nodelet /kinect_driver of type kinect_camera/KinectDriverNodelet
>>>>    to manager
>>>>>        kinect_manager with the following remappings:
>>>>>        [ INFO] [1290201041.065750641]: /camera -> /kinect
>>>>>        [ INFO] [1290201041.086055611]: waitForService: Service [/kinect_manager/load_nodelet] has not been
>>>>    advertised,
>>>>>        waiting...
>>>>>        [ INFO] [1290201041.227346798]: waitForService: Service [/kinect_manager/load_nodelet] is now available.
>>>>>        libdc1394 error: Failed to initialize libdc1394
>>>>>        [ INFO] [1290201041.327189803]: [KinectDriver] Calibration URLs:
>>>>>        RGB: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>>>>>        Depth: file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>>>>>        [ INFO] [1290201041.327444912]: camera calibration URL:
>>>>>        file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>>>>>        [ INFO] [1290201041.342113344]: camera calibration URL:
>>>>>        file:///home/robo328a/kinect-devel/kinect/kinect/kinect_camera/info/calibration.yaml
>>>>>        [ERROR] [1290201041.664080332]: [KinectDriver::init] Could not open device with index (0)!
>>>>>
>>>>>
>>>>>
>>>>>
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