depthai-ros [BUG] {Cant launch nodelet stereo_inertial

[BUG] {Cant launch nodelet stereo_inertial_node}

Open an99990 opened this issue 2 years ago • 1 comments

Hi I am having issues launching the stereo_inertial_node on ros melodic. Here is the entire log. I dont seem to be able to paste it in a single block so I separeted them in three blocks.

During the build i did notice

CMake Warning at depthai-ros/depthai_examples/CMakeLists.txt:157 (add_executable): Cannot generate a safe runtime search path for target crop_control_service because files in some directories may conflict with libraries in implicit directories:


    runtime library [libopencv_calib3d.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_dnn.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_features2d.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_flann.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_highgui.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_ml.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_objdetect.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_photo.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_stitching.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_video.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_videoio.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_aruco.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_bgsegm.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_bioinspired.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_ccalib.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_datasets.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_dnn_objdetect.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_dnn_superres.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_dpm.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_face.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_freetype.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_fuzzy.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_hdf.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_hfs.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_img_hash.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_line_descriptor.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_optflow.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_phase_unwrapping.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_plot.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_quality.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_reg.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_rgbd.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_saliency.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_shape.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_stereo.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_structured_light.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_superres.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_surface_matching.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_text.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_tracking.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_videostab.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_viz.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_ximgproc.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_xobjdetect.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_xphoto.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_core.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_imgproc.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib
    runtime library [libopencv_imgcodecs.so.4.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib

Please help

[ERROR] [1666383265.032561754]: Failed to load nodelet [/depth_image_convertion_nodelet] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  depthai_examples/StereoNodelet nodelet_tutorial_math/Plus
[ERROR] [1666383265.033289039]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  depthai_examples/StereoNodelet nodelet_tutorial_math/Plus
[FATAL] [1666383265.046504892]: Failed to load nodelet '/depth_image_convertion_nodelet` of type `depth_image_proc/convert_metric` to manager `nodelet_manager'

[ERROR] [1666383265.067927922]: Failed to load nodelet [/depth_image_to_rgb_pointcloud] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  depthai_examples/StereoNodelet nodelet_tutorial_math/Plus
[ERROR] [1666383265.068057318]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  depthai_examples/StereoNodelet nodelet_tutorial_math/Plus
[FATAL] [1666383265.080998531]: Failed to load nodelet '/depth_image_to_rgb_pointcloud` of type `depth_image_proc/point_cloud_xyzrgb` to manager `nodelet_manager'
[depth_image_convertion_nodelet-5] process has died [pid 29416, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depth_image_proc/convert_metric nodelet_manager image_raw:=/stereo_inertial_publisher/stereo/depth image:=/stereo_inertial_publisher/stereo/image __name:=depth_image_convertion_nodelet __log:=/home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/depth_image_convertion_nodelet-5.log].
log file: /home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/depth_image_convertion_nodelet-5*.log
[depth_image_to_rgb_pointcloud-6] process has died [pid 29417, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb nodelet_manager rgb/camera_info:=/stereo_inertial_publisher/color/camera_info rgb/image_rect_color:=/stereo_inertial_publisher/color/image depth_registered/image_rect:=/stereo_inertial_publisher/stereo/image depth_registered/points:=/stereo_inertial_publisher/stereo/points __name:=depth_image_to_rgb_pointcloud __log:=/home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/depth_image_to_rgb_pointcloud-6.log].
log file: /home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/depth_image_to_rgb_pointcloud-6*.log
[ERROR] [1666383266.559411132]: PluginlibFactory: The plugin for class 'rviz_imu_plugin/Imu' failed to load.  Error: According to the loaded plugin descriptions the class rviz_imu_plugin/Imu with base class type rviz::Display does not exist. Declared types are  rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu

================================================================================REQUIRED process [stereo_inertial_publisher-3] has died!
process has died [pid 29414, exit code -6, cmd /home/huynh-anh/dai_ws/devel/lib/depthai_examples/stereo_inertial_node __name:=stereo_inertial_publisher __log:=/home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/stereo_inertial_publisher-3.log].
log file: /home/huynh-anh/.ros/log/f43c736c-517c-11ed-9883-633b53c117c8/stereo_inertial_publisher-3*.log
Initiating shutdown!
================================================================================

Minimal Reproducible Example git clone the repo catkin_make

Expected behavior normal launch without issue

Screenshots If applicable, add screenshots to help explain your problem.

Pipeline Graph

Please also provide a screenshot of your pipeline using the DepthAI Pipeline Graph.

Attach system log

Linux 20.04
Melodic

{
    "architecture": "64bit ELF",
    "machine": "x86_64",
    "platform": "Linux-5.4.0-131-generic-x86_64-with-glibc2.29",
    "processor": "x86_64",
    "python_build": "default Jun 22 2022 20:18:18",
    "python_compiler": "GCC 9.4.0",
    "python_implementation": "CPython",
    "python_version": "3.8.10",
    "release": "5.4.0-131-generic",
    "system": "Linux",
    "version": "#147-Ubuntu SMP Fri Oct 14 17:07:22 UTC 2022",
    "win32_ver": "",
    "packages": [
        "actionlib==1.13.2",
        "angles==1.9.13",
        "bondpy==1.8.6",
        "camera-calibration-parsers==1.12.0",
        "catkin==0.8.10",
        "cv-bridge==1.16.2",
        "diagnostic-analysis==1.11.0",
        "diagnostic-common-diagnostics==1.11.0",
        "diagnostic-updater==1.11.0",
        "dynamic-reconfigure==1.7.3",
        "gencpp==0.7.0",
        "geneus==3.0.0",
        "genlisp==0.4.18",
        "genmsg==0.6.0",
        "gennodejs==2.0.2",
        "genpy==0.6.15",
        "interactive-markers==1.12.0",
        "joint-state-publisher==1.15.1",
        "joint-state-publisher-gui==1.15.1",
        "laser-geometry==1.6.7",
        "message-filters==1.15.14",
        "python-qt-binding==0.4.4",
        "qt-dotgraph==0.4.2",
        "qt-gui==0.4.2",
        "qt-gui-cpp==0.4.2",
        "qt-gui-py-common==0.4.2",
        "resource-retriever==1.12.7",
        "rosbag==1.15.14",
        "rosboost-cfg==1.15.8",
        "rosclean==1.15.8",
        "roscreate==1.15.8",
        "rosgraph==1.15.14",
        "roslaunch==1.15.14",
        "roslib==1.15.8",
        "roslint==0.12.0",
        "roslz4==1.15.14",
        "rosmake==1.15.8",
        "rosmaster==1.15.14",
        "rosmsg==1.15.14",
        "rosnode==1.15.14",
        "rosparam==1.15.14",
        "rospy==1.15.14",
        "rosservice==1.15.14",
        "rostest==1.15.14",
        "rostopic==1.15.14",
        "rosunit==1.15.8",
        "roswtf==1.15.14",
        "rqt-action==0.4.9",
        "rqt-bag==0.5.1",
        "rqt-bag-plugins==0.5.1",
        "rqt-console==0.4.11",
        "rqt-dep==0.4.12",
        "rqt-graph==0.4.14",
        "rqt-gui==0.5.3",
        "rqt-gui-py==0.5.3",
        "rqt-image-view==0.4.16",
        "rqt-launch==0.4.9",
        "rqt-logger-level==0.4.11",
        "rqt-moveit==0.5.10",
        "rqt-msg==0.4.10",
        "rqt-nav-view==0.5.7",
        "rqt-plot==0.4.13",
        "rqt-pose-view==0.5.11",
        "rqt-publisher==0.4.10",
        "rqt-py-common==0.5.3",
        "rqt-py-console==0.4.10",
        "rqt-reconfigure==0.5.5",
        "rqt-robot-dashboard==0.5.8",
        "rqt-robot-monitor==0.5.14",
        "rqt-robot-steering==0.5.12",
        "rqt-runtime-monitor==0.5.9",
        "rqt-rviz==0.7.0",
        "rqt-service-caller==0.4.10",
        "rqt-shell==0.4.11",
        "rqt-srv==0.4.9",
        "rqt-tf-tree==0.6.3",
        "rqt-top==0.4.10",
        "rqt-topic==0.4.13",
        "rqt-web==0.4.10",
        "rviz==1.14.19",
        "sensor-msgs==1.13.1",
        "smach==2.5.0",
        "smach-ros==2.5.0",
        "smclib==1.8.6",
        "tf==1.13.2",
        "tf-conversions==1.13.2",
        "tf2-geometry-msgs==0.7.5",
        "tf2-kdl==0.7.5",
        "tf2-py==0.7.5",
        "tf2-ros==0.7.5",
        "topic-tools==1.15.14",
        "xacro==1.14.13"
    ],
    "usb": [
        "NoLib"
    ],
    "uname": [
        "Linux huynhanh-XPS-13-9350 5.4.0-131-generic #147-Ubuntu SMP Fri Oct 14 17:07:22 UTC 2022 x86_64 x86_64"
    ]
}

Oct 21 '22 20:10 an99990

@an99990

When you say Linux 20.04 do you mean ubuntu 20.04 ?
If 1 is yes. then why melodic ?
Did you source the devel folder after building?
can you do rospack list and share those ?

If the above is melodic. you have multiple OpenCV versions. remove the one that is not part of Melodic. that might help

Oct 24 '22 05:10 saching13

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[BUG] {Cant launch nodelet stereo_inertial_node}

Attach system log

depthai-ros
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