Can I use Kinect V2? #54
Comments
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Hi,I run the dvo_slam according to https://github.com/songuke/dvo_slam in ROS Indigo on Ubuntu 14.04. |
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It is unclear what causes this error. Please upload the content of the log
file.
2016-12-13 20:28 GMT+08:00 wudanhxh <notifications@github.com>:
… Hi,I run the dvo_slam according to https://github.com/songuke/dvo_slam in
ROS Indigo on Ubuntu 14.04.
However,when I execute:
roslaunch launch/benchmark.launch dataset:=/home/wll/dvo_slam-
jade-devel/example/launch/rgbd_dataset_freiburg1_xyz
the following errors occurred:
[benchmark-2] process has died [pid 28029, exit code -11, cmd
/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark
__name:=benchmark __log:=/home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b-
74e54347b077/benchmark-2.log].
log file: /home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b-74e54347b077/
benchmark-2*.log
Could you help me out?Thanks！
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@songuke I did not find the benchmark-2*.log in the folder.Only the following four log files: The detail of the roslaunch-wll-Lenovo-G480-27987.log is as follows: As a beginner,I'm sorry to trouble you.Thanks! |
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I'm not sure what happens after seeing this log.
But there's something you can try
- Check the other three log files. Any useful log message there?
- Check trajectory.txt in example/output. Is it empty or are there some
poses estimated?
- Check your input data.
2016-12-13 23:10 GMT+08:00 wudanhxh <notifications@github.com>:
… @songuke <https://github.com/songuke>
Thank you for your reply.
I did not find the benchmark-2*.log in the folder.Only the following four
log files:
master.log rosout-1-stdout.log
roslaunch-wll-Lenovo-G480-27987.log rosout.log
The detail of the roslaunch-wll-Lenovo-G480-27987.log is as follows:
[roslaunch][INFO] 2016-12-13 22:32:01,765: Checking log directory for disk
usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2016-12-13 22:32:01,777: Done checking log file disk
usage. Usage is <1GB.
[roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch starting with args
['/opt/ros/indigo/bin/roslaunch', 'launch/benchmark.launch',
'dataset:=/home/wll/data/rgbd_dataset_freiburg1_xyz/']
[roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch env is
{'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path',
'ROS_DISTRO': 'indigo', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-
c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log',
'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll',
'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS':
'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s',
'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig',
'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-
devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-
devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER':
'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/
usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR':
'7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n',
'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo',
'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib',
'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash',
'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0',
'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh',
'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'SHLVL': '1', 'LESSCLOSE':
'/usr/bin/lesspipe %s %s', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'JOB':
'gnome-session', 'TEXTDOMAIN': 'im-config', 'UPSTART_INSTANCE': '',
'CLUTTER_IM_MODULE': 'xim', 'WINDOWID': '71303180', 'SESSIONTYPE':
'gnome-session', 'XMODIFIERS': ***@***.*** <https://github.com/im>=fcitx',
'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'GPG_AGENT_INFO':
'/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll',
'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'XDG_RUNTIME_DIR':
'/run/user/1000', 'INSTANCE': 'Unity', 'PYTHONPATH':
'/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/
dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages',
'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'VTE_VERSION':
'3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu',
'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon',
'TEXTDOMAINDIR': '/usr/share/locale/', 'GNOME_KEYRING_PID': '1488',
'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0',
'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks',
'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2',
'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '
*': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH':
'/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx',
'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION':
'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'XDG_CONFIG_DIRS':
'/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'GTK_MODULES':
'overlay-scrollbar:unity-gtk-module', 'OLDPWD':
'/home/wll/dvo_slam-jade-devel', 'GDM_LANG': 'zh_CN', 'XDG_DATA_DIRS':
'/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PWD':
'/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim',
'ROS_MASTER_URI': 'http://localhost:11311 <http://localhost:11311>',
'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'LS_COLORS':
'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arj=01;31:.taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.axa=00;36:.oga=00;36:.spx=00;36:.xspf=00;36:',
'XDG_SEAT': 'seat0'} [roslaunch][INFO] 2016-12-13 22:32:01,778: starting in
server mode [roslaunch.parent][INFO] 2016-12-13 22:32:01,778: starting
roslaunch parent run [roslaunch][INFO] 2016-12-13 22:32:01,778: loading
roscore config file /opt/ros/indigo/etc/ros/roscore.xml [roslaunch][INFO]
2016-12-13 22:32:01,889: Added core node of type [rosout/rosout] in
namespace [/] [roslaunch.config][INFO] 2016-12-13 22:32:01,889: loading
config file launch/benchmark.launch [roslaunch][INFO] 2016-12-13
22:32:01,902: Added node of type [dvo_benchmark/benchmark] in namespace [/]
[roslaunch][INFO] 2016-12-13 22:32:01,902: ... selected machine [] for node
of type [dvo_benchmark/benchmark] [roslaunch.pmon][INFO] 2016-12-13
22:32:01,922: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: created process monitor
<ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO]
2016-12-13 22:32:01,922: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2016-12-13 22:32:01,922: starting parent XML-RPC
server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: starting roslaunch
XML-RPC server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: waiting
for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2016-12-13
22:32:01,923: XML-RPC server binding to 0.0.0.0:0 <http://0.0.0.0:0>
[xmlrpc][INFO] 2016-12-13 22:32:01,924: Started XML-RPC server
[http://wll-Lenovo-G480:35278/ <http://wll-Lenovo-G480:35278/>]
[xmlrpc][INFO] 2016-12-13 22:32:01,924: xml rpc node: starting XML-RPC
server [roslaunch][INFO] 2016-12-13 22:32:01,935: started roslaunch server
http://wll-Lenovo-G480:35278/ <http://wll-Lenovo-G480:35278/>
[roslaunch.parent][INFO] 2016-12-13 22:32:01,936: ... parent XML-RPC server
started [roslaunch][INFO] 2016-12-13 22:32:01,936:
master.is_running[http://localhost:11311 <http://localhost:11311>]
[roslaunch][INFO] 2016-12-13 22:32:01,937: auto-starting new master
[roslaunch][INFO] 2016-12-13 22:32:01,937: create_master_process:
rosmaster, /opt/ros/indigo/share/ros, 11311, 3, None [roslaunch][INFO]
2016-12-13 22:32:01,937: process[master]: launching with args
[['rosmaster', '--core', '-p', '11311', '-w', '3']] [roslaunch.pmon][INFO]
2016-12-13 22:32:01,937: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2016-12-13 22:32:01,937:
ProcessMonitor.register[master] complete [roslaunch][INFO] 2016-12-13
22:32:01,937: process[master]: starting os process [roslaunch][INFO]
2016-12-13 22:32:01,937: process[master]: start w/ args [['rosmaster',
'--core', '-p', '11311', '-w', '3',
'__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/master.log']]
[roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: cwd will be
[/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:01,940:
process[master]: started with pid [30482] [roslaunch][INFO] 2016-12-13
22:32:01,941: master.is_running[http://localhost:11311
<http://localhost:11311>] [roslaunch][INFO] 2016-12-13 22:32:02,042:
master.is_running[http://localhost:11311 <http://localhost:11311>]
[roslaunch][INFO] 2016-12-13 22:32:02,142:
master.is_running[http://localhost:11311 <http://localhost:11311>]
[roslaunch][INFO] 2016-12-13 22:32:02,146:
master.is_running[http://localhost:11311 <http://localhost:11311>]
[roslaunch][INFO] 2016-12-13 22:32:02,147:
ROS_MASTER_URI=http://localhost:11311 <http://localhost:11311>
[roslaunch][INFO] 2016-12-13 22:32:02,149: setting /run_id to
e947a01c-c140-11e6-8473-74e54347b077 [roslaunch][INFO] 2016-12-13
22:32:02,150: setting /roslaunch/uris/host_wll_lenovo_g480__35278' to
http://wll-Lenovo-G480:35278/ <http://wll-Lenovo-G480:35278/>
[roslaunch][INFO] 2016-12-13 22:32:02,152: ... preparing to launch node of
type [rosout/rosout] [roslaunch][INFO] 2016-12-13 22:32:02,152:
create_node_process: package[rosout] type[rosout] machine[Machine(name[]
env_loader[None] address[localhost] ssh_port[22] user[None]
assignable[True] timeout[10.0])] master_uri[http://localhost:11311
<http://localhost:11311>] [roslaunch][INFO] 2016-12-13 22:32:02,153:
process[rosout-1]: env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME':
'appmenu-qt5', 'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR':
'/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID':
'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '|
/usr/bin/lesspipe %s', 'XDG_SEAT_PATH':
'/org/freedesktop/DisplayManager/Seat0', 'ROSLISP_PACKAGE_DIRECTORIES':
'/home/wll/dvo_slam-jade-devel/devel/share/common-lisp', 'CPATH':
'/home/wll/dvo_slam-jade-devel/devel/include:/opt/ros/indigo/include',
'LOGNAME': 'wll', 'USER': 'wll', 'PATH':
'/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games',
'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n',
'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo',
'LD_LIBRARY_PATH':
'/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG':
'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH':
'/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY':
'/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL': '1',
'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB':
'gnome-session', 'ROS_LOG_FILENAME':
'/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log',
'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN':
'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': ***@***.***
<https://github.com/im>=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311
<http://localhost:11311>', 'GPG_AGENT_INFO':
'/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll',
'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'SSH_AUTH_SOCK':
'/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000',
'PYTHONPATH':
'/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages',
'SESSIONTYPE': 'gnome-session', 'VTE_VERSION': '3409', 'ROS_ROOT':
'/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE':
'1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR':
'/usr/share/locale/', 'XDG_DATA_DIRS':
'/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/',
'PKG_CONFIG_PATH':
'/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig',
'ROS_PACKAGE_PATH':
'/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks',
'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2',
'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '*':
'/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH':
'/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx',
'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491',
'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488',
'OLDPWD': '/home/wll/dvo_slam-jade-devel', 'LS_COLORS':
'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=
40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:
tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*
.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*
.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*
.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*
.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*
.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*
.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*
.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*
.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*
.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*
.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*
.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*
.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*
.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*
.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*
.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*
.oga=00;36:*.spx=00;36:*.xspf=00;36:', 'GDM_LANG': 'zh_CN',
'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity',
'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim',
'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal',
'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg',
'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]:
args[[u'/opt/ros/indigo/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2016-12-13 22:32:02,195: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[
rosout-1]
[roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[rosout-1]
complete
[roslaunch][INFO] 2016-12-13 22:32:02,195: ... registered process
[rosout-1]
[roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]: starting os
process
[roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: start w/
args [[u'/opt/ros/indigo/lib/rosout/rosout', u'__name:=rosout',
u'__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-
74e54347b077/rosout-1.log']]
[roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: cwd will be
[/home/wll/.ros]
[roslaunch][INFO] 2016-12-13 22:32:02,215: process[rosout-1]: started with
pid [30495]
[roslaunch][INFO] 2016-12-13 22:32:02,215: ... successfully launched
[rosout-1]
[roslaunch][INFO] 2016-12-13 22:32:02,216: load_parameters starting ...
[roslaunch][INFO] 2016-12-13 22:32:02,233: ... load_parameters complete
[roslaunch][INFO] 2016-12-13 22:32:02,233: launch_nodes: launching local
nodes ...
[roslaunch][INFO] 2016-12-13 22:32:02,233: ... preparing to launch node of
type [dvo_benchmark/benchmark]
[roslaunch][INFO] 2016-12-13 22:32:02,233: create_node_process:
package[dvo_benchmark] type[benchmark] machine[Machine(name[]
env_loader[None] address[localhost] ssh_port[22] user[None]
assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2016-12-13 22:32:02,233: process[benchmark-2]:
env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5',
'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR':
'/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID':
'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '|
/usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0',
'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-
devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-
devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER':
'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/
usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR':
'7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n',
'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo',
'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib',
'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash',
'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0',
'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL':
'1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB':
'gnome-session', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-
c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log',
'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN':
'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': ***@***.***
<https://github.com/im>=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311',
'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME':
'/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES',
'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR':
'/run/user/1000', 'PYTHONPATH': '/home/wll/dvo_slam-jade-
devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages',
'SESSIONTYPE': 'gnome-session', u'ROSCONSOLE_CONFIG_FILE':
u'/home/wll/dvo_slam-jade-devel/example/launch/benchmark_logging.config',
'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros',
'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB':
'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/',
'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/
gnome:/usr/local/share/:/usr/share/', 'PKG_CONFIG_PATH':
'/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig',
'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks',
u'ROSCONSOLE_FORMAT': u'${logger}: { ${message} }', 'XDG_CURRENT_DESKTOP':
'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS':
'unix:abstract=/tmp/dbus-eb3GWjT98U', '_': '/opt/ros/indigo/bin/roslaunch',
'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE':
'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION':
'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'LESSCLOSE':
'/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488', 'OLDPWD':
'/home/wll/dvo_slam-jade-devel', 'LS_COLORS':
'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=
40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:
tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*
.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*
.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*
.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*
.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*
.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*
.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*
.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*
.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*
.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*
.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*
.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*
.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*
.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*
.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*
.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*
.oga=00;36:*.spx=00;36:*.xspf=00;36:', 'GDM_LANG': 'zh_CN',
'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity',
'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim',
'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal',
'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg',
'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]:
args[[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark',
u'__name:=benchmark']]
[roslaunch][INFO] 2016-12-13 22:32:02,235: ... created process
[benchmark-2]
[roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[
benchmark-2]
[roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[benchmark-2]
complete
[roslaunch][INFO] 2016-12-13 22:32:02,235: ... registered process
[benchmark-2]
[roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: starting
os process
[roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: start w/
args [[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark',
u'__name:=benchmark', u'__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-
74e54347b077/benchmark-2.log']]
[roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: cwd will
be [/home/wll/.ros]
[roslaunch][INFO] 2016-12-13 22:32:02,241: process[benchmark-2]: started
with pid [30498]
[roslaunch][INFO] 2016-12-13 22:32:02,241: ... successfully launched
[benchmark-2]
[roslaunch][INFO] 2016-12-13 22:32:02,241: ... launch_nodes complete
[roslaunch.pmon][INFO] 2016-12-13 22:32:02,241: registrations completed
<ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>
[roslaunch.parent][INFO] 2016-12-13 22:32:02,242: ... roslaunch parent
running, waiting for process exit
[roslaunch][INFO] 2016-12-13 22:32:02,242: spin
[roslaunch][ERROR] 2016-12-13 22:32:03,626: [benchmark-2] process has died
[pid 30498, exit code -11, cmd /home/wll/dvo_slam-jade-devel/
devel/lib/dvo_benchmark/benchmark __name:=benchmark
__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-
74e54347b077/benchmark-2.log].
log file: /home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/
benchmark-2*.log
[roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2]
starting
[roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2]
complete
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,514: ProcessMonitor.shutdown
<ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,535: ProcessMonitor._post_run
<ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,536: ProcessMonitor._post_run
<ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>: remaining
procs are [<roslaunch.nodeprocess.LocalProcess object at 0xb6a0bb2c>,
<roslaunch.nodeprocess.LocalProcess object at 0xb69f750c>]
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,537: ProcessMonitor exit:
killing rosout-1
[roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] killing on exit
[roslaunch][INFO] 2016-12-13 22:32:06,537: process[rosout-1]: killing os
process with pid[30495] pgid[30495]
[roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] sending SIGINT to
pgid [30495]
[roslaunch][INFO] 2016-12-13 22:32:06,538: [rosout-1] sent SIGINT to pgid
[30495]
[roslaunch][INFO] 2016-12-13 22:32:06,738: process[rosout-1]: SIGINT
killed with return value 0
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,738: ProcessMonitor exit:
killing master
[roslaunch][INFO] 2016-12-13 22:32:06,739: [master] killing on exit
[roslaunch][INFO] 2016-12-13 22:32:06,739: process[master]: killing os
process with pid[30482] pgid[30482]
[roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sending SIGINT to pgid
[30482]
[roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sent SIGINT to pgid
[30482]
[roslaunch][INFO] 2016-12-13 22:32:06,939: process[master]: SIGINT killed
with return value 0
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit:
cleaning up data structures and signals
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit: pmon
has shutdown
[roslaunch][INFO] 2016-12-13 22:32:06,980: process monitor is done
spinning, initiating full shutdown
[roslaunch][INFO] 2016-12-13 22:32:06,980: runner.stop()
[roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing
monitor...
[roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing
monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)>
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,980: ProcessMonitor.shutdown
<ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)>
[roslaunch][INFO] 2016-12-13 22:32:06,980: ... shutting down processing
monitor complete
[roslaunch][INFO] 2016-12-13 22:32:06,981: done
[roslaunch.pmon][INFO] 2016-12-13 22:32:06,981: ProcessMonitor.shutdown
<ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)>
[rospy.core][INFO] 2016-12-13 22:32:06,981: signal_shutdown [atexit]
As a beginner,I'm sorry to trouble you.Thanks!
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1.The trajectory.txt is empty. rosout-1-stdout.log: master.log |
@christiankerl
I have tried dvo_slam from: https://github.com/songuke/dvo_slam. I compiled the dvo_slam package in ROS Indigo on Ubuntu 14.04 successfully.
Used TUM RGB-D benchmark, I can see right point clouds and camera positions in rviz.
I Installed Kinect v2 driver according to https://github.com/code-iai/iai_kinect2. I changed the code and then stored the 640*480 resolution of color and depth images, when connected to the hand-hold kinectv2. Used these pictures, I see wrong phenomenon in rviz after runing dvo_slam. In the rivz window, the point clouds is bad and very vague. I don't know why.
Is the picture that I use the hand-hold kinect v2 to create not compatible with dvo_slam?
When shooting objects,dose it have to follow a certain rule?
Can you help me?
thanks a lot~
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