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Problems running openrave_sensors test launch

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Problems running openrave_sensors test launch

Murilo Marinho
Hello,

I have recently installed the openrave_planning stack in my system. I wish to add some cameras in the environment and publish their information in ROS topics.
From what I found, using the openrave_sensors ROSSensorPublisher would be the smartest way to do so.

After setting up the dependencies and compiling the openrave_sensors package, running:


-------------------------------------------------------------------------------------------------------------------------------------------------------------
murilo@eva2:~/ros_projects/openrave_planning/openrave_sensors/test$ roslaunch openrave_sensors wamscene.launch --screen
-------------------------------------------------------------------------------------------------------------------------------------------------------------

returns:

-------------------------------------------------------------------------------------------------------------------------------------------------------------
... logging to /home/murilo/.ros/log/5df44286-fdcb-11e2-bb25-a0f3c16f6896/roslaunch-eva2-3055.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://eva2:49838/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    image_view_eva2_3055_1131669660 (image_view/image_view)
    image_view_eva2_3055_684026533 (image_view/image_view)
    openrave_eva2_3055_1297204819 (openrave/openrave.py)

auto-starting new master
process[master]: started with pid [3071]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5df44286-fdcb-11e2-bb25-a0f3c16f6896
process[rosout-1]: started with pid [3084]
started core service [/rosout]
process[openrave_eva2_3055_1297204819-2]: started with pid [3096]
process[image_view_eva2_3055_1131669660-3]: started with pid [3097]
process[image_view_eva2_3055_684026533-4]: started with pid [3105]
[xmlreaders-core.cpp:3348] <camrotaxis> is deprecated, use <camrotationaxis> by rotating 180 around Z axis
[xmlreaders-core.cpp:532] xmlSAXUserParseFile: error parsing /home/murilo/ros_projects/openrave_planning/openrave_sensors/test/wamscene.env.xml: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:418] -> T* boost::shared_ptr<T>::operator->() const [with T = ros::NodeHandle], expr: px != 0
[environment-core.h:431] load failed on file /home/murilo/ros_projects/openrave_planning/openrave_sensors/test/wamscene.env.xml
[libopenrave.cpp:672] could not find file "__name:=openrave_eva2_3055_1297204819"
[environment-core.h:431] load failed on file __name:=openrave_eva2_3055_1297204819
[libopenrave.cpp:672] could not find file "__log:=/home/murilo/.ros/log/5df44286-fdcb-11e2-bb25-a0f3c16f6896/openrave_eva2_3055_1297204819-2.log"
[environment-core.h:431] load failed on file __log:=/home/murilo/.ros/log/5df44286-fdcb-11e2-bb25-a0f3c16f6896/openrave_eva2_3055_1297204819-2.log
Coin info in glglue_allow_newer_opengl():

Features of OpenGL version > 1.0 has been
disabled, due to the use of a remote display.

This is so because many common OpenGL drivers
have problems in this regard.

To force full OpenGL use, set the environment
variable COIN_FULL_INDIRECT_RENDERING=1 and re-run the application.

If you don't want this message displayed again,
set the environment variable COIN_DONT_INFORM_INDIRECT_RENDERING=1.
-------------------------------------------------------------------------------------------------------------------------------------------------------------


I believe that the only real problem is the bold part in the output, which I have no idea what to solve. Any thoughts?

I am running a Ubuntu 12.04.2 LTS i686 system with ROS Fuerte.

The version of the downloaded stack is:
URL: svn://svn.code.sf.net/p/jsk-ros-pkg/code/trunk/openrave_planning
Repository Root: svn://svn.code.sf.net/p/jsk-ros-pkg/code
Repository UUID: 5ead4b59-fa06-4a95-bf18-fe5daedcdaca
Revision: 4861
Node Kind: directory
Schedule: normal
Last Changed Author: k-okada
Last Changed Rev: 4224
Last Changed Date: 2013-04-30 22:14:00 -0300 (Tue, 30 Apr 2013)

Best regards,

Murilo
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Re: Problems running openrave_sensors test launch

Murilo Marinho
The demo still does not work but I got my own code to run OK.

This is how I did it, if someone ever needs to know:

(1) I used the openraverosserver.py from openraveros_tutorials
(2) loaded a scene with a secondary camera called "ceiling camera" (a copy from the wamscene.env.xml camera)
(3) called env_createmodule service with "ROSSensorPublisher" and no args
(4) called the module_sendcommand service with the received id from step (3) and the command "registersensor sensor ceilingcamera polltime 0.001" (a copy from the wamscene.env.xml command)
(5) opened the created topic with the image_view node

Thanks
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Re: Problems running openrave_sensors test launch

Rosen Diankov
Administrator
haven't look at this code for 2+ years, so not surprised it doesn't work with the latest ROS incarnation.
cool you got it working ;0)


2013/8/5 Murilo Marinho <[hidden email]>
The demo still does not work but I got my own code to run OK.

This is how I did it, if someone ever needs to know:

(1) I used the openraverosserver.py from openraveros_tutorials
(2) loaded a scene with a secondary camera called "ceiling camera" (a copy
from the wamscene.env.xml camera)
(3) called env_createmodule service with "ROSSensorPublisher" and no args
(4) called the module_sendcommand service with the received id from step (3)
and the command "registersensor sensor ceilingcamera polltime 0.001" (a copy
from the wamscene.env.xml command)
(5) opened the created topic with the image_view node

Thanks



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Re: Problems running openrave_sensors test launch

Murilo Marinho
Hi Rosen,

It sure took me a while!

Is the Openrave & ROS not supported anymore (I mean, you don't use it in your developments) or just this example was somewhat left out?

Thanks
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