Hi, I have a problem in running this pkg.
It ran successfully in last week. However, Today It doesn't work after updating ubuntu software.
(Well, there are Nvidia bug issue after updating ubuntu software)
But, I thought It is not problem because I run it with OpenCL method of intel GPU.
Following progress is what problem I face.
$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
The terminal show me :
beta@alpa:~$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
... logging to /home/beta/.ros/log/6e7ea4d2-38db-11e5-8524-fcf8aed93681/roslaunch-alpa-21732.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.15:33664/
SUMMARY
PARAMETERS
- /kinect2_bridge/base_name: kinect2
- /kinect2_bridge/base_name_tf: kinect2
- /kinect2_bridge/bilateral_filter: True
- /kinect2_bridge/calib_path: /home/beta/catkin...
- /kinect2_bridge/depth_device: -1
- /kinect2_bridge/depth_method: default
- /kinect2_bridge/edge_aware_filter: True
- /kinect2_bridge/fps_limit: -1.0
- /kinect2_bridge/jpeg_quality: 90
- /kinect2_bridge/max_depth: 12.0
- /kinect2_bridge/min_depth: 0.1
- /kinect2_bridge/png_level: 1
- /kinect2_bridge/publish_tf: True
- /kinect2_bridge/queue_size: 5
- /kinect2_bridge/reg_devive: -1
- /kinect2_bridge/reg_method: default
- /kinect2_bridge/sensor:
- /kinect2_bridge/use_png: False
- /kinect2_bridge/worker_threads: 4
- /kinect2_points_xyzrgb_hd/queue_size: 5
- /kinect2_points_xyzrgb_qhd/queue_size: 5
- /kinect2_points_xyzrgb_sd/queue_size: 5
- /rosdistro: indigo
- /rosversion: 1.11.13
NODES
/
kinect2 (nodelet/nodelet)
kinect2_bridge (nodelet/nodelet)
kinect2_points_xyzrgb_hd (nodelet/nodelet)
kinect2_points_xyzrgb_qhd (nodelet/nodelet)
kinect2_points_xyzrgb_sd (nodelet/nodelet)
ROS_MASTER_URI=http://192.168.0.15:11311
core service [/rosout] found
process[kinect2-1]: started with pid [21750]
[ INFO] [1438495195.108948436]: Initializing nodelet with 4 worker threads.
process[kinect2_bridge-2]: started with pid [21770]
[ INFO] [1438495195.140693280]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
process[kinect2_points_xyzrgb_sd-3]: started with pid [21786]
process[kinect2_points_xyzrgb_qhd-4]: started with pid [21826]
parameter:
base_name: kinect2
sensor:
fps_limit: -1
calib_path: /home/beta/catkin_ws/src/iai_kinect2/kinect2_bridge/data/
use_png: false
jpeg_quality: 90
png_level: 1
depth_method: default
depth_device: -1
reg_method: default
reg_devive: -1
max_depth: 12
min_depth: 0.1
queue_size: 5
bilateral_filter: true
edge_aware_filter: true
publish_tf: true
base_name_tf: kinect2
worker_threads: 4
[OpenCLDepthPacketProcessor::listDevice] devices:
0: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[OpenCLDepthPacketProcessor::init] selected device: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[OpenCLDepthPacketProcessor::buildProgram] building OpenCL program...
process[kinect2_points_xyzrgb_hd-5]: started with pid [21855]
[OpenCLDepthPacketProcessor::buildProgram] OpenCL program built successfully
[OpenCLDepthPacketProcessor::buildProgram] building OpenCL program...
[OpenCLDepthPacketProcessor::buildProgram] OpenCL program built successfully
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 12 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:3 with serial 029754145047
[Freenect2Impl] found 1 devices
Kinect2 devices found:
0: 029754145047 (selected)
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
starting kinect2
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020: 0a 21 33 55 ef 00 17 40 00 08 00 00 10 00 00 00 2e2133552e2e2e402e2e2e2e2e2e2e2e
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040: 31 33 00 00 00 05 14 0d 47 4d 46 39 31 32 2e 31 31332e2e2e2e2e2e474d463931322e31
0x0050: 58 00 00 00 00 00 00 00 07 00 00 00 582e2e2e2e2e2e2e2e2e2e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 2e262e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 03 26 00 00 2e262e2e
[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
device serial: 029754145047
device firmware: 4.3.3913.0.7
[Freenect2DeviceImpl] stopping...
[Freenect2DeviceImpl] disabling usb transfer submission...
[Freenect2DeviceImpl] canceling usb transfers...
[DepthPacketStreamParser::onDataReceived] not all subsequences received 0
[DepthPacketStreamParser::onDataReceived] not all subsequences received 512
[Freenect2DeviceImpl] stopped
default ir camera parameters:
fx 365.82, fy 365.82, cx 261.954, cy 208.26
k1 0.0911889, k2 -0.271671, p1 0, p2 0, k3 0.0936603
default color camera parameters:
fx 1081.37, fy 1081.37, cx 959.5, cy 539.5
camera parameters used:
camera matrix color:
[1133.923395373093, 0, 949.3852251462348;
0, 1137.933434837629, 565.8910492688069;
0, 0, 1]
distortion coefficients color:
[-0.2164195095026075, 6.731872045007637, -0.008686524459920842, -0.03039441404873483, -58.89171124284388]
camera matrix ir:
[2390.838493523019, 0, 255.7450083441651;
0, 2229.278843545982, 211.6842679979474;
0, 0, 1]
distortion coefficients ir:
[16.26194620894292, -2761.688219848951, 0.2450612211659857, -0.004496948418098325, -7.600562335179906]
rotation:
[0.9583645909446891, 0.002431295431940966, -0.2855370372227418;
0.02268510740073345, 0.9961549079269922, 0.08462142350009744;
0.2846448607047667, -0.08757561427411331, 0.9546244366549997]
translation:
[1.574080529774825; -0.4623861872280801; -4.385956440506297]
depth shift:
-13.3542
[DepthRegistration::New] Using OpenCL registration method!
[DepthRegistration::New] Using OpenCL registration method!
[DepthRegistrationOpenCL::listDevice] devices:
0: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[DepthRegistrationOpenCL::init] selected device: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[DepthRegistrationOpenCL::listDevice] devices:
0: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[DepthRegistrationOpenCL::init] selected device: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel]
[kinect2_bridge] waiting for clients to connect
and
$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
[ INFO] [1438496189.893945590]: Odom: quality=0, std dev=0.000000m, update time=0.031826s
[ INFO] [1438496189.926260029]: Odom: quality=0, std dev=0.000000m, update time=0.028664s
[ INFO] [1438496189.966557442]: Odom: quality=0, std dev=0.000000m, update time=0.031023s
[ INFO] [1438496190.004746849]: Odom: quality=0, std dev=0.000000m, update time=0.034221s
[ INFO] [1438496190.038229040]: Odom: quality=0, std dev=0.000000m, update time=0.031758s
[ INFO] [1438496190.077097860]: Odom: quality=0, std dev=0.000000m, update time=0.033900s
[ INFO] [1438496190.110425978]: Odom: quality=0, std dev=0.000000m, update time=0.032299s
^C[ INFO] [1438496190.141507145]: Odom: quality=0, std dev=0.000000m, update time=0.030088s
[ WARN] [1438496190.149635015]: Could not get transform from odom to kinect2_base_link after 1 second!
[rtabmap/rtabmapviz-4] killing on exit
[rtabmap/rtabmap-3] killing on exit
[rtabmap/visual_odometry-2] killing on exit
[kinect2_base_link-1] killing on exit
[ERROR](2015-08-02 15:16:30.293) Rtabmap.cpp:874::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 1793 is ignored!
rtabmap: Saving database/long-term memory... (located at /home/beta/.ros/rtabmap.db)
[ WARN] [1438496191.175695063]: Could not get transform from odom to kinect2_base_link after 1 second!
[ INFO] [1438496191.175920443]: rtabmapviz: All done! Closing...
shutting down processing monitor...
... shutting down processing monitor complete
done
Do I need to reinstall ubuntu? or How can I fix it?