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小强ROS机器人教程(10)___使用kinect进行自主移动避障



  • @frank 想问下大家在用Intel RealSense深度摄像头作避障时有遇到深度数据缺失、数据误差以及测量环境要求高的问题吗?是怎么解决的?谢谢!



  • @weijiz 想问下大家在用Intel RealSense深度摄像头作避障时有遇到深度数据缺失、数据误差以及测量环境要求高的问题吗?是怎么解决的?谢谢!



  • 请问为啥我的kinect2_bridge包里没有kinect2-xyz.launch这个执行文件



  • @柠檬蔚 需要安装蓝鲸版本才有: http://git.bwbot.org/publish/iai_kinect2.git



  • @weijiafeng 第四代之后的RealSense模块,在室内无阳光下使用没有遇到这些情况,比较稳定



  • 为什么我在工控机上直接启动kinect2_bridge.launch就能正常启动kinect2,但三用SSH连接到工控机后无法启动kinect2,会报以下错误:
    [ INFO] [1566907799.390059214]: [Kinect2Bridge::initialize] parameter:
    base_name: kinect2
    sensor: default
    fps_limit: -1
    calib_path: /home/user/catkin_ws/src/iai_kinect2/kinect2_bridge/data/
    use_png: false
    jpeg_quality: 90
    png_level: 1
    depth_method: opengl
    depth_device: -1
    reg_method: cpu
    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
    [Error] [OpenGLDepthPacketProcessorImpl] GLFW error 65544 X11: The DISPLAY environment variable is missing
    [Error] [OpenGLDepthPacketProcessor] Failed to initialize GLFW.
    [FATAL] [1566907799.393948046]: Failed to load nodelet ‘/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2’
    [FATAL] [1566907799.393980129]: Failed to load nodelet ‘/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2’
    [kinect2_bridge-3] process has died [pid 2949, exit code 255, cmd /home/user/catkin_ws/devel/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/user/.ros/log/963b5b74-c8c3-11e9-8415-008ef26ef65c/kinect2_bridge-3.log].
    log file: /home/user/.ros/log/963b5b74-c8c3-11e9-8415-008ef26ef65c/kinect2_bridge-3
    .log
    [kinect2_points_xyzrgb_qhd-5] process has died [pid 2951, exit code 255, cmd /home/user/catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/qhd/camera_info rgb/image_rect_color:=kinect2/qhd/image_color_rect depth_registered/image_rect:=kinect2/qhd/image_depth_rect depth_registered/points:=kinect2/qhd/points __name:=kinect2_points_xyzrgb_qhd __log:=/home/user/.ros/log/963b5b74-c8c3-11e9-8415-008ef26ef65c/kinect2_points_xyzrgb_qhd-5.log].
    log file: /home/user/.ros/log/963b5b74-c8c3-11e9-8415-008ef26ef65c/kinect2_points_xyzrgb_qhd-5
    .log**
    这个是什么问题吖?怎么解决?谢谢谢谢



  • @柠檬蔚小强ROS机器人教程(10)___使用kinect进行自主移动避障 中说:

    为什么我在工控机上直接启动kinect2_bridge.launch就能正常启动kinect2,但三用SSH连接到工控机后无法启动kinect2,会报以下错误:

    因为ssh没有图形界面821bff23-f654-4f94-9020-103dcb4a1ef4-image.png



  • @weijiz那这个kinect是只能从工控机打开吗?可以通过远程打开工控机的图像界面然后再打开Kinect吗?



  • @柠檬蔚 可以用vnc试试,或者ssh的时候加上-X参数



  • This post is deleted!


  • @weijiz -X不行,vnc就可以了,谢谢大佬


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