[Jderobot] Problemas al ejecutar diversos componentes de la rama stable

Mar Oct 8 22:17:10 CEST 2013

Hola,

tras el problema con basic_component al compilar todo jderobot [1], he
utilizado el mÃ©todo de compilaciÃ³n por componentes para compilar todos
menos ese (basic_component) y el make ha resultado bien.

Ahora el problema lo tengo al ejecutar los componentes, al menos los que he
probado; y tras pegarme con ficheros de configuraciÃ³n, la wiki y mirar los
cÃ³digos de los componentes, he decidido comentarlo a ver si alguien sabe
por dÃ³nde puede estar el problema.
El Ãºnico que consigo hacer funcionar es el plugin de kinect en gazebo
1.7.3. Los problemas los tengo con (los ficheros de las salidas en general
son los del repositorio, aunque modificÃ¡ndolos obtengo los mismos
resultados):

cameraserver probado conectado a la webcam del portatil (tambiÃ©n he probado
con un video dÃ¡ndole la ruta, con los mismos resultados) :

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$
./cameraserver --Ice.Config=cameraserver.cfg
Constructor CameraI -> CameraSrv.Camera.0.
URI: v4l2:///dev/video0
ViolaciÃ³n de segmento (`core' generado)

openniServer con un kinect real:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openniServer$
./openniServer --Ice.Config=openniServer.cfg
-! 10/08/13 21:59:39.670 warning: found unknown properties for object
adapter `openniServer':
       openniServer.CameraDEPTH
       openniServer.CameraDEPTH.Format
       openniServer.CameraDEPTH.Mirror
       openniServer.CameraDEPTH.Name
       openniServer.CameraDEPTH.PlayerDetection
       openniServer.CameraDEPTH.fps
       openniServer.CameraIR
       openniServer.CameraRGB
       openniServer.CameraRGB.Format
       openniServer.CameraRGB.Mirror
       openniServer.CameraRGB.Name
       openniServer.CameraRGB.PlayerDetection
       openniServer.CameraRGB.fps
       openniServer.ImageRegistration
       openniServer.KinectLedsActive
       openniServer.Mode
       openniServer.NCameras
       openniServer.PlayerDetection
       openniServer.PointCloud.Name
       openniServer.Pose3DMotorsActive
       openniServer.deviceId
       openniServer.pointCloud.Fps
       openniServer.pointCloudActive
Selected device: 0
NCAMERAS = 2
Missing devices
0 : Couldn't open device ï¿½ï¿½ï¿½ï¿½1: DeviceOpen: Couldn't open device 'ï¿½ï¿½ï¿½ï¿½1'

ViolaciÃ³n de segmento (`core' generado)

recorder conectado a gazebo con el plugin de kinect:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/recorder$
./recorder --Ice.Config=simulatedKinect.cfg
Outgoing.cpp:424: Ice::ObjectNotExistException:
object does not exist:
identity: `CameraI'
facet:
operation: ice_isA
0

kinectViewer conectado a gazebo con plugin de kinect:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/kinectViewer$
./kinectViewer --Ice.Config=kinectViewer.cfg
Outgoing.cpp:424: Ice::ObjectNotExistException:
object does not exist:
identity: `CameraI'
facet:
operation: ice_isA
terminate called after throwing an instance of
'IceUtil::NullHandleException'
  what():  /usr/include/IceUtil/Handle.h:46: IceUtil::NullHandleException
Abortado (`core' generado)

La salida de la ejecuciÃ³n de gazebo con el plugin de kinect al que conecto
algunos de los componentes anteriores, por si puede ser de utilidad, es:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect$
gazebo kinect.world
Gazebo multi-robot simulator, version 1.7.3
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.7.3
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jnbosgos/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/kinect.world].
Warning [Converter.cc:58]   Version[1.0] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jnbosgos/.gazebo/models/ground_plane/model.sdf].
Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jnbosgos/.gazebo/models/sun/model.sdf].
Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.108

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.108
Kinect Endpoints > default -h localhost -p 9998
Constructor CameraI
safeThread
Constructor CameraDepth
safeThread
        adapter->add(object, ic->stringToIdentity(Kinect));

 y el fichero de configuraciÃ³n de recorder 'simulatedKinect.cfg':

Recorder.FileName=datos.jde
Recorder.nCameras=1
Recorder.nDethSensors=1
Recorder.nLasers=0
Recorder.DepthSensor1.Proxy=CameraDepth:tcp -h localhost -p 9998
Recorder.Camera1.Proxy=CameraI:tcp -h localhost -p 9998
Recorder.GUI=1

Recorder.Hostname=localhost
Recorder.Port=9990
Recorder.Format=png
Recorder.PngCompression=0
#from 0 to 9. A higher value means a smaller size
Recorder.JpgQuality=80
# from 0 to 100 (the higher is the better)
Recorder.Laser.Samples=180
Recorder.Hz=10

Un saludo,
Juan

[1] [Jderobot] Problema con openniServer al hacer el
make<http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Problema-con-openniServer-al-hacer-el-make-tp4641664.html>
------------ próxima parte ------------
Se ha borrado un adjunto en formato HTML...
URL: http://gsyc.escet.urjc.es/pipermail/jde-developers/attachments/20131008/cb9b4991/attachment.htm 