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Published 20 hours ago • verified publisher icon code-iai

Kinect2 has stopping publishing messages

Open GutlapalliNikhil opened this issue 6 years ago • 0 comments

hello guys, I was trying to 3D mapping with Rtabmap. At first i am launching Kinect2_bridge and then Rtabmap. When i launch Rtabmap, after sometime Kinect2_bridge was stopping messages to be published. Please help me.

  1. Running Kinect2_bridge

nikhil@nikhil-HP-Notebook-15:~/kinetic_ws$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true ... logging to /home/nikhil/.ros/log/6f8dbdb6-f941-11e8-8810-e2d0d0aa1efe/roslaunch-nikhil-HP-Notebook-15-16600.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://nikhil-HP-Notebook-15:42185/

SUMMARY

PARAMETERS

  • /kinect2_bridge/base_name: kinect2
  • /kinect2_bridge/base_name_tf: kinect2
  • /kinect2_bridge/bilateral_filter: True
  • /kinect2_bridge/calib_path: /home/nikhil/kine...
  • /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_device: -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: kinetic
  • /rosversion: 1.12.14

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)

auto-starting new master process[master]: started with pid [16610] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6f8dbdb6-f941-11e8-8810-e2d0d0aa1efe process[rosout-1]: started with pid [16623] started core service [/rosout] process[kinect2-2]: started with pid [16640] process[kinect2_bridge-3]: started with pid [16641] process[kinect2_points_xyzrgb_sd-4]: started with pid [16642] process[kinect2_points_xyzrgb_qhd-5]: started with pid [16648] [ INFO] [1544092008.183076143]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_hd-6]: started with pid [16653] [ INFO] [1544092008.191213318]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1544092008.198356053]: Initializing nodelet with 4 worker threads. [ INFO] [1544092008.212309276]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1544092008.253095788]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/nikhil/kinetic_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_device: -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 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 6 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 001409763847 [Info] [Freenect2Impl] found 1 devices [ INFO] [1544092008.459679974]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1544092008.459730984]: [Kinect2Bridge::initDevice] 0: 001409763847 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1544092008.612894710]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1544092009.299382956]: [Kinect2Bridge::initDevice] device serial: 001409763847 [ INFO] [1544092009.299494682]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1544092009.511014797]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1544092009.511114122]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1544092009.511200270]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1544092009.511267645]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1544092009.551790434]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1544092009.551855682]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1544092009.612810464]: [Kinect2Bridge::main] waiting for clients to connect

  1. After that, running Rtabmap

nikhil@nikhil-HP-Notebook-15:~/catkin_ws$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch resolution:=qhd ... logging to /home/nikhil/.ros/log/6f8dbdb6-f941-11e8-8810-e2d0d0aa1efe/roslaunch-nikhil-HP-Notebook-15-16876.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://nikhil-HP-Notebook-15:45991/

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /rtabmap/rtabmap/GFTT/BlockSize: 5
  • /rtabmap/rtabmap/GFTT/MinDistance: 5
  • /rtabmap/rtabmap/approx_sync: False
  • /rtabmap/rtabmap/frame_id: kinect2_base_link
  • /rtabmap/rtabmap/subscribe_depth: True
  • /rtabmap/rtabmapviz/approx_sync: False
  • /rtabmap/rtabmapviz/frame_id: kinect2_base_link
  • /rtabmap/rtabmapviz/subscribe_depth: True
  • /rtabmap/rtabmapviz/subscribe_odom_info: True
  • /rtabmap/visual_odometry/GFTT/BlockSize: 5
  • /rtabmap/visual_odometry/GFTT/MinDistance: 5
  • /rtabmap/visual_odometry/approx_sync: False
  • /rtabmap/visual_odometry/frame_id: kinect2_base_link

NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) visual_odometry (rtabmap_ros/rgbd_odometry) / kinect2_base_link (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[kinect2_base_link-1]: started with pid [16893] process[rtabmap/visual_odometry-2]: started with pid [16894] process[rtabmap/rtabmap-3]: started with pid [16905] process[rtabmap/rtabmapviz-4]: started with pid [16906] [ INFO] [1544092014.610807508]: Starting node... [ INFO] [1544092014.635958000]: Initializing nodelet with 4 worker threads. [ INFO] [1544092014.676137874]: Initializing nodelet with 4 worker threads. [ INFO] [1544092014.707262562]: Starting node... [ INFO] [1544092014.857802554]: rtabmapviz: Using configuration from "/home/nikhil/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1544092014.914749490]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1544092014.914794814]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1544092014.914815044]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1544092014.914830253]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true [ INFO] [1544092014.914849531]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true [ INFO] [1544092014.914863813]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1544092014.914879559]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1544092014.914901156]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1544092014.917802687]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1544092014.970881855]: Odometry: frame_id = kinect2_base_link [ INFO] [1544092014.970926860]: Odometry: odom_frame_id = odom [ INFO] [1544092014.970952137]: Odometry: publish_tf = true [ INFO] [1544092014.970973309]: Odometry: wait_for_transform = true [ INFO] [1544092014.971004827]: Odometry: wait_for_transform_duration = 0.100000 [ INFO] [1544092014.971053148]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1544092014.971075886]: Odometry: ground_truth_frame_id = [ INFO] [1544092014.971095344]: Odometry: ground_truth_base_frame_id = kinect2_base_link [ INFO] [1544092014.971116371]: Odometry: config_path = [ INFO] [1544092014.971131183]: Odometry: publish_null_when_lost = true [ INFO] [1544092014.971148485]: Odometry: guess_frame_id = [ INFO] [1544092014.971163573]: Odometry: guess_min_translation = 0.000000 [ INFO] [1544092014.971178756]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1544092014.971194007]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1544092014.978902743]: rtabmap: frame_id = kinect2_base_link [ INFO] [1544092014.978940261]: rtabmap: map_frame_id = map [ INFO] [1544092014.978955869]: rtabmap: use_action_for_goal = false [ INFO] [1544092014.978979793]: rtabmap: tf_delay = 0.050000 [ INFO] [1544092014.978996912]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1544092014.979016538]: rtabmap: odom_sensor_sync = false [ INFO] [1544092015.043266257]: Setting odometry parameter "GFTT/BlockSize"="5" [ INFO] [1544092015.048404647]: Setting odometry parameter "GFTT/MinDistance"="5" [ INFO] [1544092015.125394528]: Setting RTAB-Map parameter "GFTT/BlockSize"="5" [ INFO] [1544092015.129944251]: Setting RTAB-Map parameter "GFTT/MinDistance"="5" [ INFO] [1544092016.284305970]: RGBDOdometry: approx_sync = false [ INFO] [1544092016.284352465]: RGBDOdometry: queue_size = 5 [ INFO] [1544092016.284370816]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1544092016.284394620]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1544092016.305662588]: Reading parameters from the ROS server... [ INFO] [1544092016.338741381]: /rtabmap/visual_odometry subscribed to (exact sync): /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info [ INFO] [1544092016.640603180]: Parameters read = 0 [ INFO] [1544092017.164408142]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1544092017.168739528]: rtabmap: Deleted database "/home/nikhil/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1544092017.168806857]: rtabmap: Using database from "/home/nikhil/.ros/rtabmap.db" (0 MB). [ INFO] [1544092017.811736432]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1544092017.811778818]: /rtabmap/rtabmapviz: rgbd_cameras = 1 [ INFO] [1544092017.811797262]: /rtabmap/rtabmapviz: approx_sync = false [ INFO] [1544092017.811818178]: Setup depth callback [ INFO] [1544092017.892652868]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.043838s [ INFO] [1544092017.906363762]: /rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/odom, /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info, /rtabmap/odom_info [ INFO] [1544092017.906484660]: rtabmapviz started. [ INFO] [1544092018.013296167]: Odom: quality=116, std dev=0.008042m|0.068066rad, update time=0.082161s [ INFO] [1544092018.100379196]: Odom: quality=153, std dev=0.004024m|0.059562rad, update time=0.068655s [ INFO] [1544092018.154430141]: Odom: quality=155, std dev=0.004694m|0.055948rad, update time=0.052029s [ INFO] [1544092018.213717510]: Odom: quality=149, std dev=0.003088m|0.051063rad, update time=0.056841s [ INFO] [1544092018.315036907]: Odom: quality=171, std dev=0.004283m|0.052821rad, update time=0.072047s [ INFO] [1544092018.406292793]: Odom: quality=161, std dev=0.003869m|0.061315rad, update time=0.075314s [ INFO] [1544092018.471442095]: Odom: quality=154, std dev=0.005148m|0.050899rad, update time=0.060781s [ INFO] [1544092018.542184628]: Odom: quality=164, std dev=0.003880m|0.064026rad, update time=0.067009s [ INFO] [1544092018.632440762]: Odom: quality=162, std dev=0.011829m|0.058132rad, update time=0.064026s [ INFO] [1544092018.713471444]: Odom: quality=150, std dev=0.007288m|0.051602rad, update time=0.065752s [ INFO] [1544092018.798314048]: Odom: quality=193, std dev=0.003589m|0.054107rad, update time=0.066324s [ INFO] [1544092018.885344931]: Odom: quality=169, std dev=0.009198m|0.057266rad, update time=0.082473s [ INFO] [1544092018.964905735]: Odom: quality=194, std dev=0.003160m|0.046765rad, update time=0.076027s [ INFO] [1544092019.047431291]: Odom: quality=171, std dev=0.003155m|0.054490rad, update time=0.080347s [ INFO] [1544092019.147603230]: Odom: quality=173, std dev=0.002969m|0.048925rad, update time=0.074302s [ INFO] [1544092019.232145417]: rtabmap: Database version = "0.18.2". [ INFO] [1544092019.235051102]: Odom: quality=166, std dev=0.004507m|0.051138rad, update time=0.082794s [ INFO] [1544092019.305755683]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1544092019.305802610]: /rtabmap/rtabmap: rgbd_cameras = 1 [ INFO] [1544092019.305821852]: /rtabmap/rtabmap: approx_sync = false [ INFO] [1544092019.305900997]: Setup depth callback [ INFO] [1544092019.325134142]: Odom: quality=144, std dev=0.004159m|0.064210rad, update time=0.078389s [ INFO] [1544092019.363561435]: /rtabmap/rtabmap subscribed to (exact sync): /rtabmap/odom, /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info [ INFO] [1544092019.390493787]: rtabmap 0.18.2 started... [ INFO] [1544092019.432014042]: Odom: quality=178, std dev=0.002929m|0.052331rad, update time=0.092940s [ INFO] [1544092019.551396903]: Odom: quality=188, std dev=0.008280m|0.056295rad, update time=0.083355s [ INFO] [1544092019.677876944]: Odom: quality=176, std dev=0.005059m|0.048326rad, update time=0.086261s [ INFO] [1544092019.777461031]: Odom: quality=164, std dev=0.003961m|0.065436rad, update time=0.092055s [ INFO] [1544092019.801870765]: rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0912s, Maps update=0.0237s pub=0.0003s (local map=1, WM=1) [ INFO] [1544092019.911060645]: Odom: quality=183, std dev=0.014404m|0.052932rad, update time=0.091619s [ INFO] [1544092020.011113868]: Odom: quality=177, std dev=0.005432m|0.071297rad, update time=0.091330s [ INFO] [1544092020.115474640]: Odom: quality=185, std dev=0.004477m|0.061845rad, update time=0.084092s [ INFO] [1544092020.220824480]: Odom: quality=164, std dev=0.003427m|0.052825rad, update time=0.086676s [ INFO] [1544092020.341186880]: Odom: quality=166, std dev=0.004231m|0.069344rad, update time=0.088362s [ INFO] [1544092020.435387564]: Odom: quality=179, std dev=0.003316m|0.049758rad, update time=0.092085s [ INFO] [1544092020.541495927]: Odom: quality=168, std dev=0.009810m|0.052880rad, update time=0.083449s [ INFO] [1544092020.632557794]: Odom: quality=158, std dev=0.006619m|0.059987rad, update time=0.089154s [ INFO] [1544092020.717674187]: Odom: quality=181, std dev=0.004510m|0.063819rad, update time=0.082877s [ INFO] [1544092020.809520935]: rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0876s, Maps update=0.0032s pub=0.0001s (local map=1, WM=1) [ INFO] [1544092020.843477403]: Odom: quality=160, std dev=0.003741m|0.057760rad, update time=0.092641s [ INFO] [1544092020.963180263]: Odom: quality=164, std dev=0.006118m|0.049692rad, update time=0.088155s [ INFO] [1544092021.049611149]: Odom: quality=155, std dev=0.008563m|0.067133rad, update time=0.084744s [ INFO] [1544092021.143436932]: Odom: quality=165, std dev=0.005210m|0.060340rad, update time=0.090997s [ INFO] [1544092021.240472549]: Odom: quality=156, std dev=0.010363m|0.063271rad, update time=0.085260s [ INFO] [1544092021.329485582]: Odom: quality=177, std dev=0.003474m|0.048282rad, update time=0.079350s [ INFO] [1544092021.420879918]: Odom: quality=167, std dev=0.003461m|0.062018rad, update time=0.085746s [ INFO] [1544092021.527878173]: Odom: quality=177, std dev=0.003616m|0.061689rad, update time=0.077428s [ INFO] [1544092021.650387362]: Odom: quality=155, std dev=0.004121m|0.066997rad, update time=0.082824s [ INFO] [1544092021.782214889]: Odom: quality=165, std dev=0.003391m|0.052879rad, update time=0.087163s [ INFO] [1544092021.846424198]: rtabmap (3): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0632s, Maps update=0.0020s pub=0.0001s (local map=1, WM=1) [ INFO] [1544092021.888702210]: Odom: quality=180, std dev=0.004279m|0.071934rad, update time=0.087554s [ INFO] [1544092022.025084410]: Odom: quality=162, std dev=0.010102m|0.054608rad, update time=0.080366s [ INFO] [1544092022.117691157]: Odom: quality=151, std dev=0.015142m|0.060754rad, update time=0.088935s [ INFO] [1544092022.207853539]: Odom: quality=155, std dev=0.003138m|0.055160rad, update time=0.078926s [ INFO] [1544092022.311767838]: Odom: quality=190, std dev=0.003355m|0.050643rad, update time=0.080513s [ INFO] [1544092022.424526769]: Odom: quality=169, std dev=0.004090m|0.053729rad, update time=0.090172s [ INFO] [1544092022.544028928]: Odom: quality=146, std dev=0.010556m|0.053652rad, update time=0.092424s [ INFO] [1544092022.647220604]: Odom: quality=169, std dev=0.003953m|0.069371rad, update time=0.100142s [ INFO] [1544092022.747511109]: Odom: quality=159, std dev=0.003409m|0.055628rad, update time=0.096247s [ INFO] [1544092022.879715064]: Odom: quality=166, std dev=0.011355m|0.057353rad, update time=0.097200s [ INFO] [1544092022.975520454]: Odom: quality=170, std dev=0.004881m|0.062245rad, update time=0.093656s

  1. After sometime, Kinetic2_bridge has stopped publishing messages

nikhil@nikhil-HP-Notebook-15:~/kinetic_ws$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true ... logging to /home/nikhil/.ros/log/6f8dbdb6-f941-11e8-8810-e2d0d0aa1efe/roslaunch-nikhil-HP-Notebook-15-16600.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://nikhil-HP-Notebook-15:42185/

SUMMARY

PARAMETERS

  • /kinect2_bridge/base_name: kinect2
  • /kinect2_bridge/base_name_tf: kinect2
  • /kinect2_bridge/bilateral_filter: True
  • /kinect2_bridge/calib_path: /home/nikhil/kine...
  • /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_device: -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: kinetic
  • /rosversion: 1.12.14

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)

auto-starting new master process[master]: started with pid [16610] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6f8dbdb6-f941-11e8-8810-e2d0d0aa1efe process[rosout-1]: started with pid [16623] started core service [/rosout] process[kinect2-2]: started with pid [16640] process[kinect2_bridge-3]: started with pid [16641] process[kinect2_points_xyzrgb_sd-4]: started with pid [16642] process[kinect2_points_xyzrgb_qhd-5]: started with pid [16648] [ INFO] [1544092008.183076143]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_hd-6]: started with pid [16653] [ INFO] [1544092008.191213318]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1544092008.198356053]: Initializing nodelet with 4 worker threads. [ INFO] [1544092008.212309276]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1544092008.253095788]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/nikhil/kinetic_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_device: -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 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 6 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 001409763847 [Info] [Freenect2Impl] found 1 devices [ INFO] [1544092008.459679974]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1544092008.459730984]: [Kinect2Bridge::initDevice] 0: 001409763847 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1544092008.612894710]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1544092009.299382956]: [Kinect2Bridge::initDevice] device serial: 001409763847 [ INFO] [1544092009.299494682]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1544092009.511014797]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1544092009.511114122]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1544092009.511200270]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1544092009.511267645]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1544092009.551790434]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1544092009.551855682]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1544092009.612810464]: [Kinect2Bridge::main] waiting for clients to connect [ INFO] [1544092016.472267639]: [Kinect2Bridge::callbackStatus] client connected. starting device... [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] started [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [DepthPacketStreamParser] -11 packets were lost [Info] [RgbPacketStreamParser] packetsize or sequence doesn't match! [ INFO] [1544092019.818700757]: [Kinect2Bridge::main] depth processing: ~44.3871ms (~22.5291Hz) publishing rate: ~27.9775Hz [ INFO] [1544092019.826725655]: [Kinect2Bridge::main] color processing: ~23.7987ms (~42.0191Hz) publishing rate: ~15.321Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 11.2613ms -> ~88.8Hz [Info] [DepthPacketStreamParser] 1 packets were lost [Info] [TurboJpegRgbPacketProcessor] avg. time: 33.1453ms -> ~30.1702Hz [ INFO] [1544092022.827677602]: [Kinect2Bridge::main] depth processing: ~45.373ms (~22.0395Hz) publishing rate: ~29.5786Hz [ INFO] [1544092022.827869017]: [Kinect2Bridge::main] color processing: ~16.0815ms (~62.1832Hz) publishing rate: ~18.9436Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 11.5684ms -> ~86.442Hz [ INFO] [1544092025.836113646]: [Kinect2Bridge::main] depth processing: ~47.699ms (~20.9648Hz) publishing rate: ~29.9162Hz [ INFO] [1544092025.836321498]: [Kinect2Bridge::main] color processing: ~26.5836ms (~37.6171Hz) publishing rate: ~21.2737Hz [Info] [DepthPacketStreamParser] 1 packets were lost [Info] [OpenGLDepthPacketProcessor] avg. time: 10.9949ms -> ~90.9515Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 33.1194ms -> ~30.1937Hz [ INFO] [1544092028.842619211]: [Kinect2Bridge::main] depth processing: ~60.0672ms (~16.648Hz) publishing rate: ~29.6017Hz [ INFO] [1544092028.842673200]: [Kinect2Bridge::main] color processing: ~24.9268ms (~40.1175Hz) publishing rate: ~20.954Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 10.9091ms -> ~91.6663Hz [ INFO] [1544092031.851997433]: [Kinect2Bridge::main] depth processing: ~60.4848ms (~16.5331Hz) publishing rate: ~16.6149Hz [ INFO] [1544092031.852109090]: [Kinect2Bridge::main] color processing: ~27.244ms (~36.7053Hz) publishing rate: ~12.295Hz [ INFO] [1544092034.857859650]: [Kinect2Bridge::main] depth processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092034.857971762]: [Kinect2Bridge::main] color processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092037.860285848]: [Kinect2Bridge::main] depth processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092037.860424918]: [Kinect2Bridge::main] color processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092040.869911563]: [Kinect2Bridge::main] depth processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092040.870044708]: [Kinect2Bridge::main] color processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092043.876087679]: [Kinect2Bridge::main] depth processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092043.876222699]: [Kinect2Bridge::main] color processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092046.881331743]: [Kinect2Bridge::main] depth processing: ~-nanms (~-nanHz) publishing rate: ~0Hz [ INFO] [1544092046.881442481]: [Kinect2Bridge::main] color processing: ~-nanms (~-nanHz) publishing rate: ~0Hz ^C[kinect2_points_xyzrgb_hd-6] killing on exit [kinect2_points_xyzrgb_qhd-5] killing on exit [kinect2_points_xyzrgb_sd-4] killing on exit [kinect2_bridge-3] killing on exit [kinect2-2] killing on exit [ INFO] [1544092046.997095674]: Unloading nodelet /kinect2_bridge from manager kinect2 ^C[kinect2-2] escalating to SIGTERM ^C[rosout-1] killing on exit ^C[master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

Please help me in this.

GutlapalliNikhil avatar Dec 06 '18 11:12 GutlapalliNikhil