[Jderobot] Problemas al ejecutar diversos componentes de la rama stable
Juan Navarro Bosgos
jnbosgos en gmail.com
Mar Oct 29 13:25:45 CET 2013
驴C贸mo se ejecutan las demos? He estado mir谩ndolo en el manual [1] y por el
c贸digo pero no lo encuentro.
[1] http://jderobot.org/Manual-5
El 29 de octubre de 2013 11:23, <franciscomiguel.rivas en urjc.es> escribi贸:
> Buenas,
> te funcionan las demos de openni1?
>
>
> un saludo,
> Fran.
>
>
> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi贸:
>
> Hola Fran,
>>
>> gracia por responder; pero solo tengo conectado un kinect, y directamente
>> a
>> uno de los 3 puertos del port谩til, y en otro un rat贸n y el 煤ltimo libre;
>> por eso no entend铆a que pod铆a estar pasando. Por probar si era cosa del
>> puerto utilizado, he conectado el kinect en los otros 2 puertos, sin tener
>> nada m谩s conectado, y sigo con los mismos resultados.
>>
>> Un saludo,
>> Juan
>>
>>
>> El 29 de octubre de 2013 09:15, <franciscomiguel.rivas en urjc.es**>
>> escribi贸:
>>
>> Buenas,
>>> los warnings de openniServer tanto del 1 como del 2, son s贸lo warnings
>>> y te dicen que no se est谩n consiguiendo cumplir las demandas que se
>>> han metido por configuraci贸n, es decir, que no se consigue adquirir a
>>> los fps que se hayan fijado.
>>>
>>> El WaitAnyUpdateAll() es porque no se consigue acceder a los datos del
>>> kinect, es necesario que cada kinect est茅 conectado a un bus usb y si
>>> puede ser s贸lo para 茅l mucho mejor, no se si tienes conectado alg煤n
>>> dispositivo que genere mucho tr谩fico en el mismo bus o incluso dos
>>> kinects.
>>>
>>> un saludo,
>>> Fran.
>>>
>>>
>>>
>>> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi贸:
>>>
>>> > Hola,
>>> >
>>> > revisando esta incidencia que coment茅, he observado algunos cambios:
>>> >
>>> > cameraserver ya no me lanza una "Violaci贸n de segmento", pero al
>>> ejecutarlo
>>> > se me cierra ofreciendo la siguiente salida:
>>> >
>>> > jnbosgos en teleko:~/pfc/**jderobot/trunk/src/stable/**
>>> components/cameraserver$
>>> > ./cameraserver --Ice.Config=cameraserver.cfg
>>> > Constructor CameraI -> CameraSrv.Camera.0.
>>> > URI: 0
>>> > jnbosgos en teleko:~/pfc/**jderobot/trunk/src/stable/**
>>> components/cameraserver$
>>> >
>>> >
>>> > revisando el c贸digo de cameraserver.cpp he observado que el problema
>>> > parec铆a ser que la condici贸n de la l铆nea 101 de dicha clase:
>>> > "if(cap.isOpened())" devolv铆a cero; para comprobarlo he impreso el
>>> estado
>>> > por pantalla antes de que entrase a la condici贸n y tras sus asignaci贸n
>>> en
>>> > las l铆neas 96 a 99, mediante "std::cout << "cap.isOpened: " <<
>>> > cap.isOpened() << std::endl;", obteniendo:
>>> >
>>> > cap.isOpened: 0
>>> >
>>> >
>>> > el fichero de configuraci贸n utilizado es el que est谩 en el repositorio;
>>> en
>>> > el port谩til que lo ejecuto hay una webcam integrada, y en versiones
>>> > anteriores de jderobot el componente me funcionaba utilizando como Uri
>>> > '/dev/video0' (si utilizo dicha uri ahora me salta la Violaci贸n de
>>> > segmento), se supone que el '0' que aparece en el fichero de
>>> configuraci贸n
>>> > hace referencia a dicha ruta; entonces no s茅 c贸mo solucionarlo para que
>>> > abra el capturador de video y no se termine la ejecuci贸n.
>>> >
>>> >
>>> > Luego con respecto a openniServer, como utilizo Kinect como sensor
>>> RGBD,
>>> no
>>> > me pod铆a funcionar ya que OpenNI2 no lo soporta; as铆 que deb铆a utilizar
>>> > openni1Server. Utilizando un kinect real, openni1Server lo detecta pero
>>> se
>>> > produce un fallo por TimeOut mientras espera datos nuevos, y la mayor铆a
>>> de
>>> > las veces termina la ejecuci贸n inesperadamente con una Violaci贸n de
>>> > segmento, otras pocas se queda ejecutando pero lanzando avisos de
>>> timeouts
>>> > de las distintas c谩maras:
>>> >
>>> > Sin violaci贸n de segmento:
>>> >
>>> > jnbosgos en teleko
>>> :~/pfc/jderobot/trunk/src/**stable/components/**openni1Server$
>>> > ./openni1Server --Ice.Config=openni1Server.cfg
>>> > -! 10/28/13 17:29:17.519 warning: found unknown properties for object
>>> > adapter `openni1Server':
>>> > openni1Server.CameraDEPTH
>>> > openni1Server.CameraDEPTH.**Format
>>> > openni1Server.CameraDEPTH.Name
>>> > openni1Server.CameraDEPTH.fps
>>> > openni1Server.CameraRGB
>>> > openni1Server.CameraRGB.Format
>>> > openni1Server.CameraRGB.Name
>>> > openni1Server.CameraRGB.fps
>>> > openni1Server.Fps
>>> > openni1Server.Height
>>> > openni1Server.KinectLedsActive
>>> > openni1Server.NCameras
>>> > openni1Server.PlayerDetection
>>> > openni1Server.**Pose3DMotorsActive
>>> > openni1Server.Width
>>> > openni1Server.calibration
>>> > openni1Server.deviceId
>>> > openni1Server.pointCloud.Fps
>>> > openni1Server.pointCloudActive
>>> > Selected device: 0
>>> > NCAMERAS = 2
>>> > Found device: vendor PrimeSense name SensorKinect
>>> > Number of detected devices: 1
>>> > [Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
>>> > Creating camera cameraA
>>> > openni1Server.CameraRGB.**PlayerDetection
>>> > Starting thread for camera: cameraA
>>> > -------- openni1Server: Component: CameraRGB created
>>> > successfully --------
>>> > Creating camera cameraB
>>> > Starting thread for camera: cameraB
>>> > -------- openni1Server: Component: CameraDEPTH created
>>> > successfully --------
>>> > Creating pointcloud1 pointcloud1
>>> > -------- openni1Server: Component: PointCloud created
>>> > successfully --------
>>> > CREADO
>>> > FPS: 10
>>> > ------------------------------**------------------------
>>> > Camera
>>> >
>>> > Position: (X,Y,Z,H)=(1895.0,4983.0,857.**0,1.0)
>>> > Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.**0,1.0)
>>> >
>>> > Focus DistanceX(vertical): 515.0 mm
>>> > Focus DistanceY(horizontal): 515.0 mm
>>> > Skew: 0.00000
>>> > Optical Center: (x,y)=(219.0,323.0)
>>> >
>>> > K Matrix: | 515.0 0.0 219.0 0.0 |
>>> > | 0.0 515.0 323.0 0.0 |
>>> > | 0.0 0.0 1.0 0.0 |
>>> >
>>> > R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
>>> > | -0.8 -0.5 0.0 4261.1 |
>>> > | 0.5 -0.8 0.0 3162.0 |
>>> > | 0.0 0.0 0.0 1.0 |
>>> >
>>> > ------------------------------**------------------------
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > -------- openni1Server: WARNING- POINTCLOUD timeout-
>>> > -------- openni1Server: WARNING- DEPTH timeout-
>>> > -------- openni1Server: WARNING- RGB timeout-
>>> > ^C
>>> > jnbosgos en teleko
>>> :~/pfc/jderobot/trunk/src/**stable/components/**openni1Server$
>>> >
>>> >
>>> > Con violaci贸n de segmento:
>>> >
>>> > jnbosgos en teleko
>>> :~/pfc/jderobot/trunk/src/**stable/components/**openni1Server$
>>> > ./openni1Server --Ice.Config=openni1Server.cfg
>>> > -! 10/28/13 17:31:16.425 warning: found unknown properties for object
>>> > adapter `openni1Server':
>>> > openni1Server.CameraDEPTH
>>> > openni1Server.CameraDEPTH.**Format
>>> > openni1Server.CameraDEPTH.Name
>>> > openni1Server.CameraDEPTH.fps
>>> > openni1Server.CameraRGB
>>> > openni1Server.CameraRGB.Format
>>> > openni1Server.CameraRGB.Name
>>> > openni1Server.CameraRGB.fps
>>> > openni1Server.Fps
>>> > openni1Server.Height
>>> > openni1Server.KinectLedsActive
>>> > openni1Server.NCameras
>>> > openni1Server.PlayerDetection
>>> > openni1Server.**Pose3DMotorsActive
>>> > openni1Server.Width
>>> > openni1Server.calibration
>>> > openni1Server.deviceId
>>> > openni1Server.pointCloud.Fps
>>> > openni1Server.pointCloudActive
>>> > Selected device: 0
>>> > NCAMERAS = 2
>>> > Found device: vendor PrimeSense name SensorKinect
>>> > Number of detected devices: 1
>>> > [Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
>>> > Creating camera cameraA
>>> > openni1Server.CameraRGB.**PlayerDetection
>>> > Starting thread for camera: cameraA
>>> > -------- openni1Server: Component: CameraRGB created
>>> > successfully --------
>>> > Creating camera cameraB
>>> > Starting thread for camera: cameraB
>>> > -------- openni1Server: Component: CameraDEPTH created
>>> > successfully --------
>>> > Creating pointcloud1 pointcloud1
>>> > -------- openni1Server: Component: PointCloud created
>>> > successfully --------
>>> > FPS: 10
>>> > CREADO
>>> > ------------------------------**------------------------
>>> > Camera
>>> >
>>> > Position: (X,Y,Z,H)=(1895.0,4983.0,857.**0,1.0)
>>> > Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.**0,1.0)
>>> >
>>> > Focus DistanceX(vertical): 515.0 mm
>>> > Focus DistanceY(horizontal): 515.0 mm
>>> > Skew: 0.00000
>>> > Optical Center: (x,y)=(219.0,323.0)
>>> >
>>> > K Matrix: | 515.0 0.0 219.0 0.0 |
>>> > | 0.0 515.0 323.0 0.0 |
>>> > | 0.0 0.0 1.0 0.0 |
>>> >
>>> > R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
>>> > | -0.8 -0.5 0.0 4261.1 |
>>> > | 0.5 -0.8 0.0 3162.0 |
>>> > | 0.0 0.0 0.0 1.0 |
>>> >
>>> > ------------------------------**------------------------
>>> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting
>>> for
>>> > new data!
>>> > Violaci贸n de segmento (`core' generado)
>>> > jnbosgos en teleko
>>> :~/pfc/jderobot/trunk/src/**stable/components/**openni1Server$
>>> >
>>> >
>>> >
>>> > Si alguno sab茅is como solucionar alguno de los 2 problemas, o por d贸nde
>>> > puede estar el fallo, os lo agradecer铆a.
>>> >
>>> > Saludos,
>>> > Juan
>>> >
>>> >
>>> > 2013/10/8 Juan Navarro Bosgos <jnbosgos en gmail.com>
>>> >
>>> >> Hola,
>>> >>
>>> >> tras el problema con basic_component al compilar todo jderobot [1], he
>>> >> utilizado el m茅todo de compilaci贸n 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 configuraci贸n, la wiki y
>>> mirar
>>> >> los c贸digos de los componentes, he decidido comentarlo a ver si
>>> alguien
>>> >> sabe por d贸nde puede estar el problema.
>>> >> El 煤nico 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 modific谩ndolos obtengo los mismos
>>> >> resultados):
>>> >>
>>> >> cameraserver probado conectado a la webcam del portatil (tambi茅n he
>>> >> probado con un video d谩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
>>> >> Violaci贸n 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 ????1: DeviceOpen: Couldn't open device
>>> '????1'
>>> >>
>>> >> Violaci贸n 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
>>> >>
>>> >>
>>> >>
>>> >> 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 ejecuci贸n 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 configuraci贸n 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<http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Problema-con-openniServer-al-hacer-el-make-tp4641664.html>
>>> >
>>> >>
>>> >
>>>
>>>
>>>
>>> ------------------------------**------------------------------**------
>>> Laboratorio de An谩lisis del Movimiento, Biomec谩nica, Ergonom铆a y
>>> Control Motor (LAMBECOM).
>>> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci贸n y
>>> Medicina F铆sica.
>>> Universidad Rey Juan Carlos (URJC).
>>> ______________________________**_________________
>>> Jde-developers mailing list
>>> Jde-developers en gsyc.es
>>> http://gsyc.escet.urjc.es/cgi-**bin/mailman/listinfo/jde-**developers<http://gsyc.escet.urjc.es/cgi-bin/mailman/listinfo/jde-developers>
>>>
>>>
>>
>
>
> ------------------------------**------------------------------**------
> Laboratorio de An谩lisis del Movimiento, Biomec谩nica, Ergonom铆a y Control
> Motor (LAMBECOM).
> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci贸n y
> Medicina F铆sica.
> Universidad Rey Juan Carlos (URJC).
>
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