[Jderobot] Problema con NAO y con rgbdViewer
franciscomiguel.rivas en urjc.es
franciscomiguel.rivas en urjc.es
Jue Ene 23 14:38:55 CET 2014
Buenas,
no se si alguien te ha contestado ya a la parte de rgbdViewer, supongo
que lo estás utilizando con gazebo.
Los interfaces que soporta este componente son:
- Cámaras.
- Nube de puntos.
Para comprobar que las imágenes de gazebo se están sirviendo bien y
que te estás conectado al proxy correcto. Para comprobar que las
imágenes son correctas puedes lanzar cameraViewer, primero con la
dirección de la cámara de color y luego con la cámara de profundidad.
Con esto podemos descartar problemas que vengan de otras partes.
un saludo,
Fran.
jgandia <jaimerodriguezgandia en gmail.com> escribió:
> *Jugando con Nao, he intentado usar el componente naoviewer, que al parecer
> se llama naooperator y a la hora de lanzar el componente con gazebo en el
> mundo naoworld.world , me encuentro con que falta el pluging de left hip
> motors,
> No puedo lanzar el componente naooperator sin este plugin:*
>
> #> ./naooperator --Ice.Config=naooperator.cfg
>
> /Head motors connected
> Head speed connected
> Left shoulder motors connected
> Right shoulder motors connected
> Left elbow motors connected
> Right elbow motors connected
> Could not create proxy with left hip motors ( )/
>
>
> /jaime en jaimepc:~/trunk/src/stable/components/gazeboserver/plugins/nao$
> gazebo naoworld.world
> Gazebo multi-robot simulator, version 1.8.2
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
>
> Gazebo multi-robot simulator, version 1.8.2
> 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/jaime/trunk/src/stable/components/gazeboserver/plugins/nao/naoworld.world].
> Warning [Converter.cc:58] Version[1.3] 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/jaime/.gazebo/models/nao_robot/model.sdf].
> Warning [Converter.cc:58] Version[1.3] 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/jaime/.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: 192.168.1.12
> Load: 1868586328 default::cam_sensor_top(0)
> Load: -543615712 default::cam_sensor_bottom(1)
> CameraGazebo cam_sensor_top Endpoints > default -h 0.0.0.0 -p 9990
> -! 01/20/14 23:07:19.601 warning: found unknown properties for object
> adapter `CameraGazebo':
> CameraGazebo.Camera.0.Format
> CameraGazebo.Camera.0.ImageHeight
> CameraGazebo.Camera.0.ImageWidth
> CameraGazebo.Camera.0.Name
> Constructor CameraI
> safeThread
> CameraGazebo cam_sensor_bottom Endpoints > default -h 0.0.0.0 -p 9991
> -! 01/20/14 23:07:19.606 warning: found unknown properties for object
> adapter `CameraGazebo':
> CameraGazebo.Camera.0.Format
> CameraGazebo.Camera.0.ImageHeight
> CameraGazebo.Camera.0.ImageWidth
> CameraGazebo.Camera.0.Name
> Constructor CameraI
> safeThread
> Constructor PoseNeck
> Constructor PoseRightShoulder
> Constructor PoseLeftShoulder
> Constructor PoseRightElbow
> Constructor PoseLeftElbow
> PoseNeckEncoders Endpoints > default -h localhost -p 9995
> PoseNeckMotors Endpoints > default -h localhost -p 9994
> PoseRightShoulderEncoders Endpoints > default -h localhost -p 9996
> PoseRightShoulderMotors Endpoints > default -h localhost -p 9997
> PoseLeftShoulderEncoders Endpoints > default -h localhost -p 7996
> PoseRightElbowEncoders Endpoints > default -h localhost -p 9998
> PoseRightElbowMotors Endpoints > default -h localhost -p 9999
> PoseNeckEncoders Endpoints > default -h localhost -p 5998
> PoseNeckMotors Endpoints > default -h localhost -p 5999
> PoseLeftShoulderMotors Endpoints > default -h localhost -p 7997
>
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.12
> Warning [InsertModelWidget.cc:244] The manifest.xml for a Gazebo model is
> deprecated. Please rename manifest.xml to model.config for model
> "/home/jaime/.gazebo/models/kinect"
> Warning [InsertModelWidget.cc:244] The manifest.xml for a Gazebo model is
> deprecated. Please rename manifest.xml to model.config for model
> "/home/jaime/.gazebo/models/mapaSimple"/
>
>
>
>
>
>
> *por otro lado he trazado con valgrind la ejecucion del boton de camera
> DEPTH de rgbdViewer y me sale lo siguiente:*
>
> ==9873== Invalid write of size 4
> ==9873== at 0x438B49: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
> cv::Mat, std::vector<jderobot::RGBPoint,
> std::allocator<jderobot::RGBPoint> >) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x42BC88: gui_thread(void*) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
> ==9873== by 0x94D53FC: clone (clone.S:112)
> ==9873== Address 0x1b9926f0 is not stack'd, malloc'd or (recently) free'd
> ==9873==
> ==9873== Invalid read of size 4
> ==9873== at 0x21FBDD00: ??? (in
> /usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
> ==9873== by 0x21FBE3D2: _mesa_DrawBuffer (in
> /usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
> ==9873== by 0x4316CF: rgbdViewer::DrawArea::my_expose_event() (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x438D73: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
> cv::Mat, std::vector<jderobot::RGBPoint,
> std::allocator<jderobot::RGBPoint> >) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x42BC88: gui_thread(void*) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
> ==9873== by 0x94D53FC: clone (clone.S:112)
> ==9873== Address 0x28 is not stack'd, malloc'd or (recently) free'd
> ==9873==
> ==9873==
> ==9873== Process terminating with default action of signal 11 (SIGSEGV)
> ==9873== Access not within mapped region at address 0x28
> ==9873== at 0x21FBDD00: ??? (in
> /usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
> ==9873== by 0x21FBE3D2: _mesa_DrawBuffer (in
> /usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
> ==9873== by 0x4316CF: rgbdViewer::DrawArea::my_expose_event() (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x438D73: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
> cv::Mat, std::vector<jderobot::RGBPoint,
> std::allocator<jderobot::RGBPoint> >) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x42BC88: gui_thread(void*) (in
> /home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
> ==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
> ==9873== by 0x94D53FC: clone (clone.S:112)
> ==9873== If you believe this happened as a result of a stack
> ==9873== overflow in your program's main thread (unlikely but
> ==9873== possible), you can try to increase the size of the
> ==9873== main thread stack using the --main-stacksize= flag.
> ==9873== The main thread stack size used in this run was 8388608.
> ==9873==
> ==9873== HEAP SUMMARY:
> ==9873== in use at exit: 50,296,582 bytes in 32,229 blocks
> ==9873== total heap usage: 117,223 allocs, 84,994 frees, 1,918,741,686
> bytes allocated
> ==9873==
> ==9873== LEAK SUMMARY:
> ==9873== definitely lost: 182,332 bytes in 137 blocks
> ==9873== indirectly lost: 5,233,553 bytes in 4,593 blocks
> ==9873== possibly lost: 19,794,929 bytes in 12,214 blocks
> ==9873== still reachable: 25,085,768 bytes in 15,285 blocks
> ==9873== suppressed: 0 bytes in 0 blocks
> ==9873== Rerun with --leak-check=full to see details of leaked memory
> ==9873==
> ==9873== For counts of detected and suppressed errors, rerun with: -v
> ==9873== Use --track-origins=yes to see where uninitialised values come from
> ==9873== ERROR SUMMARY: 34536 errors from 28 contexts (suppressed: 2 from 2)
> Terminado (killed)
>
>
> *Alguien puede ayudarme con estos dos problemas? Un saludo y gracias!*
>
>
>
> --
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> http://jderobot-developer-list.2315034.n4.nabble.com/Problema-con-NAO-y-con-rgbdViewer-tp4642034.html
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Laboratorio de Análisis del Movimiento, Biomecánica, Ergonomía y
Control Motor (LAMBECOM).
Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitación y
Medicina Física.
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