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Example nodes dies on startup #128

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arsimone opened this issue Jun 10, 2023 · 0 comments
Open

Example nodes dies on startup #128

arsimone opened this issue Jun 10, 2023 · 0 comments

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@arsimone
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Hi, I was trying to try the examples in the Readme but I cannot make them run as the processes die after initial startup.
Setup is the following:
Thinkpad T14 Gen 3 AMD
Ubuntu 22.04 LTS
ROS Humble
Visp installed with apt

Terminal output from before building the packages:

(coll-venv) sarreghini@jarvis:~/sermas/projects_ws/collaborative_task_ws$ sudo apt-get install libvisp-dev
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
libvisp-dev is already the newest version (3.5.0-2).
0 upgraded, 0 newly installed, 0 to remove and 13 not upgraded.
(coll-venv) sarreghini@jarvis:~/sermas/projects_ws/collaborative_task_ws$ colcon build --symlink-install
[0.304s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/vision_visp' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_auto_tracker' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_tracker' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_hand2eye_calibration' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_camera_calibration' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_bridge' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/vision_visp' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_auto_tracker' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_tracker' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_hand2eye_calibration' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_camera_calibration' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.305s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_bridge' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> visp_bridge
Starting >>> visp_tracker
Finished <<< visp_bridge [4.75s]                                                                
Starting >>> visp_camera_calibration
Starting >>> visp_hand2eye_calibration
Finished <<< visp_hand2eye_calibration [24.6s]                         
Finished <<< visp_camera_calibration [26.7s]                           
--- stderr: visp_tracker                                
Bagfile installed in /home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_tracker/share/bag/tutorial-static-box
---
Finished <<< visp_tracker [51.6s]
Starting >>> visp_auto_tracker
--- stderr: visp_auto_tracker                                     
Bagfile installed in /home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_auto_tracker/share/bag/tutorial-qrcode
---
Finished <<< visp_auto_tracker [27.6s]
Starting >>> vision_visp
Finished <<< vision_visp [0.82s]                        

Summary: 6 packages finished [1min 20s]
  2 packages had stderr output: visp_auto_tracker visp_tracker
(coll-venv) sarreghini@jarvis:~/sermas/projects_ws/collaborative_task_ws$ source install/setup.bash 
(coll-venv) sarreghini@jarvis:~/sermas/projects_ws/collaborative_task_ws$ ros2 launch visp_auto_tracker tutorial_launch.xml
[INFO] [launch]: All log files can be found below /home/sarreghini/.ros/log/2023-06-10-12-37-33-771023-jarvis-117345
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2-1]: process started with pid [117347]
[INFO] [visp_auto_tracker_main-2]: process started with pid [117349]
[visp_auto_tracker_main-2] [WARN] [1686393454.033112537] [rclcpp]: li: verbose= 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033199849] [rclcpp]: li: data-directory= /home/dt/data/
[visp_auto_tracker_main-2] [WARN] [1686393454.033210745] [rclcpp]: li: #single-image= QRPattern.png
[visp_auto_tracker_main-2] [WARN] [1686393454.033217381] [rclcpp]: li: video-input-path=images/%010d.ppm
[visp_auto_tracker_main-2] [WARN] [1686393454.033223667] [rclcpp]: li: detector-type= zbar 
[visp_auto_tracker_main-2] [WARN] [1686393454.033229465] [rclcpp]: li: ad-hoc-recovery= 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033235542] [rclcpp]: li: mbt-convergence-steps= 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033243155] [rclcpp]: li: log-pose= 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033255588] [rclcpp]: li: 
[visp_auto_tracker_main-2] [WARN] [1686393454.033261386] [rclcpp]: li: #point 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033267044] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033327463] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033334448] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033341503] [rclcpp]: li: #point 2
[visp_auto_tracker_main-2] [WARN] [1686393454.033347230] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033353447] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033359733] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033365391] [rclcpp]: li: #point 3
[visp_auto_tracker_main-2] [WARN] [1686393454.033371538] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033377685] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033382993] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033403948] [rclcpp]: li: #point 4
[visp_auto_tracker_main-2] [WARN] [1686393454.033411073] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033417848] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-2] [WARN] [1686393454.033423576] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033427906] [rclcpp]: li: 
[visp_auto_tracker_main-2] [WARN] [1686393454.033435031] [rclcpp]: li: #point 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033440689] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033449350] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033457033] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033464088] [rclcpp]: li: #point 2
[visp_auto_tracker_main-2] [WARN] [1686393454.033469746] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033475963] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033482319] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033487977] [rclcpp]: li: #point 3
[visp_auto_tracker_main-2] [WARN] [1686393454.033493634] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033499362] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033505579] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033511795] [rclcpp]: li: #point 4
[visp_auto_tracker_main-2] [WARN] [1686393454.033517104] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033523250] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-2] [WARN] [1686393454.033529397] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033535125] [rclcpp]: li: 
[visp_auto_tracker_main-2] [WARN] [1686393454.033540852] [rclcpp]: li: #point 1
[visp_auto_tracker_main-2] [WARN] [1686393454.033546231] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033552866] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033559432] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033565579] [rclcpp]: li: #point 2
[visp_auto_tracker_main-2] [WARN] [1686393454.033570888] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033577244] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033583880] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033590026] [rclcpp]: li: #point 3
[visp_auto_tracker_main-2] [WARN] [1686393454.033595614] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033601761] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033607978] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033613775] [rclcpp]: li: #point 4
[visp_auto_tracker_main-2] [WARN] [1686393454.033619992] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033626138] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-2] [WARN] [1686393454.033632285] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-2] [WARN] [1686393454.033638013] [rclcpp]: li: 
[visp_auto_tracker_main-2] [WARN] [1686393454.033644299] [rclcpp]: li: #variance-file=var.txt
[visp_auto_tracker_main-2] [WARN] [1686393454.033650027] [rclcpp]: li: #variance-limit=0.03
[visp_auto_tracker_main-2] [INFO] [1686393454.033776943] [rclcpp]: Loaded 4 flashcode extremity points, 4 inner contour points and 4 outer contour points.
[visp_auto_tracker_main-2] [INFO] [1686393454.033837013] [rclcpp]: Tracker set to:hybrid (mbt+klt)
[visp_auto_tracker_main-2] [INFO] [1686393454.033844557] [rclcpp]: Detector set to:QR code
[visp_auto_tracker_main-2] [INFO] [1686393454.034186259] [rclcpp]: Model content=V1
[visp_auto_tracker_main-2] # 3D Points
[visp_auto_tracker_main-2] 8                  # Number of points
[visp_auto_tracker_main-2] -0.0765  -0.0765	0.000  # Point 0: X Y Z
[visp_auto_tracker_main-2]  0.0765  -0.0765	0.000
[visp_auto_tracker_main-2]  0.0765   0.0765	0.000
[visp_auto_tracker_main-2] -0.0765   0.0765	0.000
[visp_auto_tracker_main-2] -0.03825 -0.03825	0.000	
[visp_auto_tracker_main-2]  0.03825 -0.03825	0.000
[visp_auto_tracker_main-2]  0.03825  0.03825	0.000
[visp_auto_tracker_main-2] -0.03825  0.03825 0.000  # Point 7
[visp_auto_tracker_main-2] # 3D Lines
[visp_auto_tracker_main-2] 0                  # Number of lines
[visp_auto_tracker_main-2] # Faces from 3D lines
[visp_auto_tracker_main-2] 0                  # Number of faces
[visp_auto_tracker_main-2] # Faces from 3D points
[visp_auto_tracker_main-2] 2                  # Number of faces
[visp_auto_tracker_main-2] 4 0 1 2 3          # Face 0: [number of points] [index of the 3D points]...
[visp_auto_tracker_main-2] 4 4 5 6 7
[visp_auto_tracker_main-2] # 3D cylinders
[visp_auto_tracker_main-2] 0                  # Number of cylinders
[visp_auto_tracker_main-2] # 3D circles
[visp_auto_tracker_main-2] 0                  # Number of circles
[visp_auto_tracker_main-2] 
[visp_auto_tracker_main-2] terminate called after throwing an instance of 'vpException'
[visp_auto_tracker_main-2]   what():  QRCode detector not available. libzbar support is missing
[ros2-1] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1686393454.094126018] [rosbag2_storage]: Opened database 'install/visp_auto_tracker/share/bag/tutorial-qrcode/tutorial-qrcode.db3' for READ_ONLY.
[ros2-1] [INFO] [1686393454.094188464] [rosbag2_player]: Set rate to 1
[ros2-1] [INFO] [1686393454.097770959] [rosbag2_player]: Adding keyboard callbacks.
[ros2-1] [INFO] [1686393454.097797711] [rosbag2_player]: Press SPACE for Pause/Resume
[ros2-1] [INFO] [1686393454.097809655] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[ros2-1] [INFO] [1686393454.097818736] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[ros2-1] [INFO] [1686393454.097830121] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[ros2-1] [INFO] [1686393454.098206259] [rosbag2_storage]: Opened database 'install/visp_auto_tracker/share/bag/tutorial-qrcode/tutorial-qrcode.db3' for READ_ONLY.
[ERROR] [visp_auto_tracker_main-2]: process has died [pid 117349, exit code -6, cmd '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_auto_tracker/lib/visp_auto_tracker/visp_auto_tracker_main --ros-args -r __node:=visp_auto_tracker --params-file /tmp/launch_params_hc2myyzr --params-file /tmp/launch_params_5u13jnou --params-file /tmp/launch_params_zfxq3pbo --params-file /tmp/launch_params_e5tu347n'].
[ros2-1] [INFO] [1686393465.232557536] [rosbag2_storage]: Opened database 'install/visp_auto_tracker/share/bag/tutorial-qrcode/tutorial-qrcode.db3' for READ_ONLY.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2-1] [INFO] [1686393468.544461999] [rclcpp]: signal_handler(signum=2)
[INFO] [ros2-1]: process has finished cleanly [pid 117347]
(coll-venv) sarreghini@jarvis:~/sermas/projects_ws/collaborative_task_ws$ ros2 launch visp_tracker tutorial_launch.xml
[INFO] [launch]: All log files can be found below /home/sarreghini/.ros/log/2023-06-10-12-38-06-401921-jarvis-117399
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2-1]: process started with pid [117400]
[INFO] [visp_tracker_client-2]: process started with pid [117402]
[INFO] [visp_tracker_mbt-3]: process started with pid [117404]
[INFO] [visp_tracker_viewer-4]: process started with pid [117406]
[visp_tracker_client-2] [INFO] [1686393486.705616852] [visp_tracker_client]: Subscribe to image and camera_info topic
[visp_tracker_client-2] [INFO] [1686393486.712260139] [visp_tracker_client]: Model file: "package://visp_tracker/models/laas-box/laas-box"
[visp_tracker_client-2] [INFO] [1686393486.712311478] [visp_tracker_client]: Init file: "package://visp_tracker/models/laas-box/laas-box.init"
[visp_tracker_mbt-3] [INFO] [1686393486.712422399] [visp_tracker_mbt]: Subscribe to image and camera_info topic
[visp_tracker_client-2] [INFO] [1686393486.712662820] [visp_tracker_client]: Use CAD model: package://visp_tracker/models/laas-box/laas-box.cao
[visp_tracker_client-2] [ERROR] [1686393486.712835347] [rclcpp]: Failed to create the temporary directory
[visp_tracker_client-2] terminate called after throwing an instance of 'std::runtime_error'
[visp_tracker_client-2]   what():  Failed to load the model: package://visp_tracker/models/laas-box/laas-box
[visp_tracker_client-2] Do you use resource_retriever syntax?
[visp_tracker_client-2] I.e. replace /my/model/path by file:///my/model/path
[visp_tracker_viewer-4] [INFO] [1686393486.720965375] [rclcpp]: Waiting for a rectified image...
[visp_tracker_mbt-3] [INFO] [1686393486.722573024] [rclcpp]: Waiting for a rectified image...
[ros2-1] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1686393486.799188580] [rosbag2_storage]: Opened database 'install/visp_tracker/share/bag/tutorial-static-box/tutorial-static-box.db3' for READ_ONLY.
[ros2-1] [INFO] [1686393486.799278057] [rosbag2_player]: Set rate to 1
[ros2-1] [INFO] [1686393486.804149759] [rosbag2_player]: Adding keyboard callbacks.
[ros2-1] [INFO] [1686393486.804202914] [rosbag2_player]: Press SPACE for Pause/Resume
[ros2-1] [INFO] [1686393486.804220516] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[ros2-1] [INFO] [1686393486.804236092] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[ros2-1] [INFO] [1686393486.804250481] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[ros2-1] [INFO] [1686393486.804800055] [rosbag2_storage]: Opened database 'install/visp_tracker/share/bag/tutorial-static-box/tutorial-static-box.db3' for READ_ONLY.
[ERROR] [visp_tracker_client-2]: process has died [pid 117402, exit code -6, cmd '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_tracker/lib/visp_tracker/visp_tracker_client --ros-args -r __node:=visp_tracker_client --params-file /tmp/launch_params_0q7oh88o --params-file /tmp/launch_params_g56l5njw --params-file /tmp/launch_params_286uanrt --params-file /tmp/launch_params_qi5supbh --params-file /tmp/launch_params_xdlx1mui'].
[visp_tracker_mbt-3] [INFO] [1686393486.923771324] [rclcpp]: dst is 0x0 but src size is 640x480, resizing.
[visp_tracker_mbt-3] [INFO] [1686393487.023297486] [rclcpp]: Rectified image received 
[visp_tracker_mbt-3] [INFO] [1686393487.023587640] [visp_tracker_mbt]: Camera parameters for perspective projection without distortion:
[visp_tracker_mbt-3]   px = 391.181	 py = 390.983
[visp_tracker_mbt-3]   u0 = 248.988	 v0 = 245.235
[visp_tracker_mbt-3] 
[ros2-1] [INFO] [1686393489.188505389] [rosbag2_storage]: Opened database 'install/visp_tracker/share/bag/tutorial-static-box/tutorial-static-box.db3' for READ_ONLY.
[visp_tracker_viewer-4] [WARN] [1686393489.421720954] []: Messages of type 0 arrived out of order (will print only once)
[visp_tracker_viewer-4] [WARN] [1686393489.422051481] []: Messages of type 1 arrived out of order (will print only once)
[ros2-1] [INFO] [1686393491.572746887] [rosbag2_storage]: Opened database 'install/visp_tracker/share/bag/tutorial-static-box/tutorial-static-box.db3' for READ_ONLY.
[ros2-1] [INFO] [1686393493.957053693] [rosbag2_storage]: Opened database 'install/visp_tracker/share/bag/tutorial-static-box/tutorial-static-box.db3' for READ_ONLY.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2-1] [INFO] [1686393494.571773616] [rclcpp]: signal_handler(signum=2)
[visp_tracker_mbt-3] [INFO] [1686393494.571766002] [rclcpp]: signal_handler(signum=2)
[visp_tracker_viewer-4] [INFO] [1686393494.571768307] [rclcpp]: signal_handler(signum=2)
[visp_tracker_viewer-4] [INFO] [1686393494.572170569] [rclcpp]: Rectified image received 
[visp_tracker_viewer-4] terminate called after throwing an instance of 'vpDisplayException'
[visp_tracker_viewer-4]   what():  Image not initialized
[ERROR] [visp_tracker_viewer-4]: process has died [pid 117406, exit code -6, cmd '/home/sarreghini/sermas/projects_ws/collaborative_task_ws/install/visp_tracker/lib/visp_tracker/visp_tracker_viewer --ros-args -r __node:=visp_tracker_viewer --params-file /tmp/launch_params_hw3hsru7 --params-file /tmp/launch_params_wnaippc_'].
[INFO] [visp_tracker_mbt-3]: process has finished cleanly [pid 117404]
[INFO] [ros2-1]: process has finished cleanly [pid 117400]
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