'2026/07 글 목록

'2026/07'에 해당되는 글 40건

2026.07.12 니어 오토마타 - 무기 수집 / 엔딩 수집
2026.07.12 지상용 선풍기?
2026.07.12 bpy 설치 + 간단 테스트
2026.07.11 니어 오토마타 - 에밀의 추억
2026.07.10 blender armature ik (각도 제한 등)
2026.07.10 bpy - Blender as a Python module
2026.07.10 ubuntu 22.04 / libfreenect2 / ros / 2760p(i5-2520m) 실패
2026.07.09 니어 오토마타 엔딩 수집 중
2026.07.09 RSTP - Rapid Spanning Tree Protocol
2026.07.09 Micro XRCE-DDS

니어 오토마타 - 에밀의 추억 (0)	2026.07.11
니어 오토마타 엔딩 수집 중 (0)	2026.07.09
닌텐도 카트리지 슬롯 수리 (0)	2026.07.08
니어 오토마타 - D/E 엔딩 (0)	2026.07.07
니어 오토마타 3회차 끝 (0)	2026.07.05

타이어 손상 (3)	2026.06.29
베란다 문 잠금장치 수리 (2)	2026.06.23
바쁜주말 (2)	2026.05.31
밀크티 타블렛(s6 lite) 초기화 하기 (0)	2026.05.23
고향 (0)	2026.05.03

$ pip3 install bpy
Defaulting to user installation because normal site-packages is not writeable
ERROR: Could not find a version that satisfies the requirement bpy (from versions: none)
ERROR: No matching distribution found for bpy

$ pip install bpy==3.6.0 --extra-index-url https://download.blender.org/pypi/
Defaulting to user installation because normal site-packages is not writeable
Looking in indexes: https://pypi.org/simple, https://download.blender.org/pypi/
Collecting bpy==3.6.0
  Downloading bpy-3.6.0-cp310-cp310-manylinux_2_28_x86_64.whl (371.4 MB)
     ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 371.4/371.4 MB 10.2 MB/s  0:00:36
Collecting cython (from bpy==3.6.0)
  Downloading cython-3.2.8-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl.metadata (4.2 kB)
Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (from bpy==3.6.0) (1.21.5)
Requirement already satisfied: requests in /usr/lib/python3/dist-packages (from bpy==3.6.0) (2.25.1)
Collecting zstandard (from bpy==3.6.0)
  Downloading zstandard-0.25.0-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (3.3 kB)
Downloading cython-3.2.8-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl (3.5 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5/3.5 MB 9.6 MB/s  0:00:00
Downloading zstandard-0.25.0-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (5.6 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 5.6/5.6 MB 10.0 MB/s  0:00:00
Installing collected packages: zstandard, cython, bpy
   ━━━━━━━━━━━━━╺━━━━━━━━━━━━━━━━━━━━━━━━━━ 1/3 [cython]  WARNING: The scripts cygdb, cython and cythonize are installed in '/home/minimonk/.local/bin' which is not on PATH.
  Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
Successfully installed bpy-3.6.0 cython-3.2.8 zstandard-0.25.0

[링크 : https://pypi.org/project/bpy/]

구글 ai 개요에 의한 추천

$ python3
Python 3.10.12 (main, Jun 22 2026, 18:55:27) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import bpy
>>>
>>> # 1. 기존 큐브 삭제 및 새로운 큐브 생성
>>> bpy.ops.object.select_all(action='DESELECT')
{'FINISHED'}
>>> if "Cube" in bpy.data.objects:
... bpy.data.objects["Cube"].select_set(True)
... bpy.ops.object.delete()
...
{'FINISHED'}
>>> bpy.ops.mesh.primitive_cube_add(size=2, location=(0, 0, 0))
{'FINISHED'}
>>> cube = bpy.context.active_object
>>>
>>> # 2. 카메라 설정
>>> bpy.ops.object.camera_add(location=(7, -7, 5))
{'FINISHED'}
>>> camera = bpy.context.active_object
>>> camera.rotation_euler = (0.785, 0, 0.785) # 약 45도 회전
>>> bpy.context.scene.camera = camera
>>>
>>> # 3. 조명(Light) 설정
>>> bpy.ops.object.light_add(type='SUN', location=(5, -5, 10))
{'FINISHED'}
>>> light = bpy.context.active_object
>>> light.data.energy = 1000
>>>
>>> # 4. 렌더링 설정 및 실행
>>> scene = bpy.context.scene
>>> scene.render.image_settings.file_format = 'PNG'
>>> scene.render.filepath = "/tmp/render_output.png"
>>>
>>> # 렌더링 시작
>>> bpy.ops.render.render(write_still=True)
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Light
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Camera
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Cube
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.32 | Syncing Camera.001
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.32 | Syncing Sun
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.35 | Rendering 1 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:03.47 | Rendering 26 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:03.89 | Rendering 51 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:04.10 | Rendering 64 / 64 samples
Saved: '/tmp/render_output.png'
Time: 00:04.73 (Saving: 00:00.53)

{'FINISHED'}
>>>
>>> print("렌더링 완료! 저장 경로:", scene.render.filepath)
렌더링 완료! 저장 경로: /tmp/render_output.png
>>> bpy.ops.wm.save_as_mainfile(filepath="test.blend")
Info: Total files 0 | Changed 0 | Failed 0
Info: Saved "test.blend"
{'FINISHED'}

카메라가 위치 잘못 조정되었는지 이상하게 나오긴 했는데

아무튼 이렇게 렌더도 가능하다.

특이한건.. gui 로는 보이지도 않고 수행된다는 점.

test.blend 열어보니 기본 카메라가 있는데 또 추가해서 이상하게 보이는 느낌

blend 파일을 읽어서

저장할 경로를 지정하고

import bpy
import mathutils

# .blend 파일 로드
bpy.ops.wm.open_mainfile(filepath="test.blend")

camera = bpy.data.objects.get("Camera")
if camera is None:
    raise RuntimeError("Camera not found")

scene = bpy.context.scene

scene.render.image_settings.file_format = 'PNG'

camera_locations = [
    (5.0, -5.0, 3.0),
    (0.0, -7.0, 3.0),
    (-5.0, -5.0, 3.0),
]

for i, loc in enumerate(camera_locations):
    camera.location = mathutils.Vector(loc)
    # Blender 2.80+
    bpy.context.view_layer.update()
    scene.render.filepath = f"frame_{i:03d}.png"
    bpy.ops.render.render(write_still=True)
    print(f"Render {i} complete")

EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
Fra:1 Mem:42.72M (Peak 43.80M) | Time:00:00.17 | Syncing Cube
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.25 | Syncing Light
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.25 | Syncing Camera
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.27 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:01.50 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:02.48 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:03.02 | Rendering 64 / 64 samples
Saved: 'frame_000.png'
Time: 00:03.44 (Saving: 00:00.31)

{'FINISHED'}
Render 0 complete
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Cube
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Light
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Camera
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.06 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.66 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.02 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.21 | Rendering 64 / 64 samples
Saved: 'frame_001.png'
Time: 00:01.53 (Saving: 00:00.23)

{'FINISHED'}
Render 1 complete
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Cube
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Light
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Camera
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.56 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.93 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.12 | Rendering 64 / 64 samples
Saved: 'frame_002.png'
Time: 00:01.43 (Saving: 00:00.24)

{'FINISHED'}
Render 2 complete

좌표 문제겠지만 아무튼 렌더가 된다!

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender armature ik (각도 제한 등) (0)	2026.07.10
bpy - Blender as a Python module (0)	2026.07.10
blender 텍스쳐 입히고 그리기 (0)	2026.07.09
blender rigging (0)	2026.07.06
blender 폴리곤 줄이기 (0)	2026.07.06

Posted by 구차니

니어 오토마타 - 에밀의 추억

와 이쁘다

그나저나 엔딩 2개 남았는데 언제 하지?

사실상(?) Y 엔딩은 포기해야하나 ㅠㅠ

그나저나 사막헤매다가 발견한 거대 에밀들.. 머냐??

저작자표시 (새창열림)

'게임 > 닌텐도 스위치' 카테고리의 다른 글

니어 오토마타 - 무기 수집 / 엔딩 수집 (0)	2026.07.12
니어 오토마타 엔딩 수집 중 (0)	2026.07.09
닌텐도 카트리지 슬롯 수리 (0)	2026.07.08
니어 오토마타 - D/E 엔딩 (0)	2026.07.07
니어 오토마타 3회차 끝 (0)	2026.07.05

Posted by 구차니

blender armature ik (각도 제한 등)

사람을 예를 들어 무릎은 앞쪽으로 구부러지지 않는데

그러한 제약조건을 걸어주려고 찾는 중.

스샷은 요즘껀데. 동영상은 옛날꺼. 그럼 변한게 별로 없으려나?

[링크 : https://docs.blender.org/manual/en/latest/animation/constraints/tracking/ik_solver.html]

[링크 : https://m.blog.naver.com/empty_wagon/20162423657]

[링크 : https://kauree.tistory.com/7] 피스톤 리깅

[링크 : https://m.blog.naver.com/nocsurim/222183115415]

+

2026.07.11

pose mode 에서 shift-i 혹은 pose - inverse kinematics - add ik to bone을 해준다.

일단 pose mode로 오면 프로퍼티에 bone이 생기긴 한다.

여기서 하는거랑 차이가 있는진 모르겠다.

[링크 : https://docs.blender.org/manual/en/latest/animation/armatures/posing/editing/inverse_kinematics.html#bpy-ops-pose-ik-add]

저작자표시 (새창열림)

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Posted by 구차니

bpy - Blender as a Python module

파이썬용 블렌더 API(공식)

[링크 : https://docs.blender.org/api/current/]

[링크 : https://docs.blender.org/api/current/info_advanced_blender_as_bpy.html]

[링크 : https://pypi.org/project/bpy/]

저작자표시 (새창열림)

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Posted by 구차니

ubuntu 22.04 / libfreenect2 / ros / 2760p(i5-2520m) 실패

노트북에 expresscard to USB3.0도 안가져왔고. 일단 빌드는 했으니 다음에 가져와서 해봐야지

* 한거

// libfreenect2 for kinect v2
$ sudo apt-get install libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev libva-dev libjpeg-dev libopenni2-dev
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2/
$ mkdir build
$ cd build/
$ cmake .. -DENABLE_CUDA=OFF
$ sudo make install
$ sudo ldconfig

// install kinect2 bridge for ros2
$ sudo apt-get install python3-colcon-core python3-colcon-common-extensions python3-colcon-ros
$ sudo apt install libeigen3-dev
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone https://github.com/krepa098/kinect2_ros2.git
$ cd ..
$ source /opt/ros/humble/setup.bash
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon list
kinect2_bridge src/kinect2_ros2/kinect2_bridge (ros.ament_cmake)
kinect2_calibration src/kinect2_ros2/kinect2_calibration (ros.ament_cmake)
kinect2_registration src/kinect2_ros2/kinect2_registration (ros.ament_cmake)
$ colcon build --symlink-install
Starting >>> kinect2_registration
$ source install/setup.bash
$ ros2 pkg list | grep kinect
kinect2_bridge
kinect2_calibration
kinect2_registration
$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml

// install rtabmap
$ sudo apt install ros-humble-rtabmap-ros

$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-41-52-174164-minimonk-HP-EliteBook-2760p-5964
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [5965]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [5967]
[kinect2_bridge_node-1] [INFO] [1783770112.669497149] [kinect2_bridge_node]: parameter:
[kinect2_bridge_node-1]         base_name: kinect2
[kinect2_bridge_node-1]            sensor: default
[kinect2_bridge_node-1]         fps_limit: 30
[kinect2_bridge_node-1]        calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge_node-1]           use_png: false
[kinect2_bridge_node-1]      jpeg_quality: 90
[kinect2_bridge_node-1]         png_level: 1
[kinect2_bridge_node-1]      depth_method: default
[kinect2_bridge_node-1]      depth_device: -1
[kinect2_bridge_node-1]        reg_method: default
[kinect2_bridge_node-1]        reg_device: -1
[kinect2_bridge_node-1]         max_depth: 12
[kinect2_bridge_node-1]         min_depth: 0.1
[kinect2_bridge_node-1]        queue_size: 5
[kinect2_bridge_node-1]  bilateral_filter: true
[kinect2_bridge_node-1] edge_aware_filter: true
[kinect2_bridge_node-1]        publish_tf: true
[kinect2_bridge_node-1]      base_name_tf: kinect2
[kinect2_bridge_node-1]    worker_threads: 4
[kinect2_bridge_node-1] libva info: VA-API version 1.14.0
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14
[kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed
[kinect2_bridge_node-1] libva info: va_openDriver() returns 1
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported
[kinect2_bridge_node-1] [INFO] [1783770112.809519223] [kinect2_bridge_node]: Kinect2 devices found:
[kinect2_bridge_node-1] [INFO] [1783770112.809575855] [kinect2_bridge_node]:   0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1783770112.916667344] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1783770113.292294443] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1783770113.292485519] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1783770113.594443755] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770113.594539640] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770113.594581612] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1783770113.594619248] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1783770113.623323777] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770113.623425516] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770113.667011548] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1783770114.653201749] [kinect2_bridge_node]: client connected. starting device...
[kinect2_bridge_node-1] X Error of failed request:  BadAccess (attempt to access private resource denied)
[kinect2_bridge_node-1]   Major opcode of failed request:  149 (GLX)
[kinect2_bridge_node-1]   Minor opcode of failed request:  5 (X_GLXMakeCurrent)
[kinect2_bridge_node-1]   Serial number of failed request:  179
[kinect2_bridge_node-1]   Current serial number in output stream:  179
[kinect2_bridge_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[kinect2_bridge_node-1]   what():  failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:62, at ./src/rcl/publisher.c:250
[ERROR] [kinect2_bridge_node-1]: process has died [pid 5965, exit code -6, cmd '/home/minimonk/ros2_ws/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_1tuxpdc2 --params-file /tmp/launch_params_o70wj41n --params-file /tmp/launch_params_mx2wb0bm --params-file /tmp/launch_params_inj7yjrz --params-file /tmp/launch_params_s8nw_wo7 --params-file /tmp/launch_params_d5_82p0q --params-file /tmp/launch_params_x6_8qj8q --params-file /tmp/launch_params_ganv8ba7 --params-file /tmp/launch_params_agwupcu2 --params-file /tmp/launch_params_d1hxewmf --params-file /tmp/launch_params_7jj5knby --params-file /tmp/launch_params_rx6ige18 --params-file /tmp/launch_params_xyw011zg --params-file /tmp/launch_params_1uetu4cb'].

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1783770702.367083434] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 5967]

// default 를 cpu로 변경. i5-2520m / intel HD3000 이라 default cuda를 못해서 그런것 같음
$ vi ~/ros2_ws/src/kinect2_ros2/kinect2_bridge/launch/kinect2_bridge_launch.yaml
30         - name: "depth_method"
31           value: "cpu"

$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml

[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-52-56-290912-minimonk-HP-EliteBook-2760p-6475
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [6476]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [6478]
[kinect2_bridge_node-1] [INFO] [1783770776.613633301] [kinect2_bridge_node]: parameter:
[kinect2_bridge_node-1]         base_name: kinect2
[kinect2_bridge_node-1]            sensor: default
[kinect2_bridge_node-1]         fps_limit: 30
[kinect2_bridge_node-1]        calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge_node-1]           use_png: false
[kinect2_bridge_node-1]      jpeg_quality: 90
[kinect2_bridge_node-1]         png_level: 1
[kinect2_bridge_node-1]      depth_method: cpu
[kinect2_bridge_node-1]      depth_device: -1
[kinect2_bridge_node-1]        reg_method: default
[kinect2_bridge_node-1]        reg_device: -1
[kinect2_bridge_node-1]         max_depth: 12
[kinect2_bridge_node-1]         min_depth: 0.1
[kinect2_bridge_node-1]        queue_size: 5
[kinect2_bridge_node-1]  bilateral_filter: true
[kinect2_bridge_node-1] edge_aware_filter: true
[kinect2_bridge_node-1]        publish_tf: true
[kinect2_bridge_node-1]      base_name_tf: kinect2
[kinect2_bridge_node-1]    worker_threads: 4
[kinect2_bridge_node-1] libva info: VA-API version 1.14.0
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14
[kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed
[kinect2_bridge_node-1] libva info: va_openDriver() returns 1
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported
[kinect2_bridge_node-1] [INFO] [1783770776.630651736] [kinect2_bridge_node]: Kinect2 devices found:
[kinect2_bridge_node-1] [INFO] [1783770776.630722791] [kinect2_bridge_node]:   0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1783770776.733462241] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1783770777.156867396] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1783770777.156988330] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1783770777.428281283] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770777.428342033] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770777.428357102] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1783770777.428370269] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1783770777.457480023] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770777.457549605] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770777.508456495] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1783770778.496139475] [kinect2_bridge_node]: client connected. starting device...
[kinect2_bridge_node-1] [INFO] [1783770781.952362253] [kinect2_bridge_node]: depth processing: ~454.726ms (~2.19912Hz) publishing rate: ~2.99997Hz
[kinect2_bridge_node-1] [INFO] [1783770781.952462142] [kinect2_bridge_node]: color processing: ~13.8091ms (~72.4159Hz) publishing rate: ~11.9999Hz
[kinect2_bridge_node-1] [INFO] [1783770784.961367722] [kinect2_bridge_node]: depth processing: ~1429.33ms (~0.69963Hz) publishing rate: ~2.65869Hz
[kinect2_bridge_node-1] [INFO] [1783770784.961457981] [kinect2_bridge_node]: color processing: ~18.3239ms (~54.5735Hz) publishing rate: ~2.65869Hz
[kinect2_bridge_node-1] [INFO] [1783770787.965423923] [kinect2_bridge_node]: depth processing: ~1607.29ms (~0.622166Hz) publishing rate: ~2.33019Hz
[kinect2_bridge_node-1] [INFO] [1783770787.965502488] [kinect2_bridge_node]: color processing: ~14.5605ms (~68.6788Hz) publishing rate: ~2.33019Hz
[kinect2_bridge_node-1] [INFO] [1783770790.970785392] [kinect2_bridge_node]: depth processing: ~1747ms (~0.572411Hz) publishing rate: ~1.99643Hz
[kinect2_bridge_node-1] [INFO] [1783770790.971731954] [kinect2_bridge_node]: color processing: ~17.1032ms (~58.4687Hz) publishing rate: ~1.99643Hz
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1783770792.809586338] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[kinect2_bridge_node-1] [INFO] [1783770792.811250097] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 6478]
[INFO] [kinect2_bridge_node-1]: process has finished cleanly [pid 6476]

$ ros2 topic list
/kinect2/qhd/camera_info
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_depth_rect
/kinect2/qhd/points
/parameter_events
/rosout

$ ros2 topic list
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/parameter_events
/rosout
/tf_static

$ ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame
[INFO] [1783772121.176615605] [tf2_echo]: Waiting for transform kinect2_link ->  kinect2_rgb_optical_frame: Invalid frame ID "kinect2_link" passed to canTransform argument target_frame - frame does not exist
At time 0.0
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion (xyzw) [0.000, 0.000, 0.000, 1.000]
- Rotation: in RPY (radian) [0.000, -0.000, 0.000]
- Rotation: in RPY (degree) [0.000, -0.000, 0.000]
- Matrix:
  1.000  0.000  0.000  0.000
  0.000  1.000  0.000  0.000
  0.000  0.000  1.000  0.000
  0.000  0.000  0.000  1.000

$ ros2 topic hz /kinect2/sd/image_depth
WARNING: topic [/kinect2/sd/image_depth] does not appear to be published yet
average rate: 1.358
min: 0.555s max: 1.017s std dev: 0.20108s window: 3
average rate: 1.535
min: 0.472s max: 1.017s std dev: 0.19011s window: 5
average rate: 1.630
min: 0.472s max: 1.017s std dev: 0.17155s window: 7
average rate: 1.681
min: 0.472s max: 1.017s std dev: 0.15538s window: 9

$ ros2 topic echo /kinect2/sd/image_depth
header:
  stamp:
    sec: 1783772639
    nanosec: 100324833
  frame_id: kinect2_ir_optical_frame
height: 424
width: 512
encoding: 16UC1
is_bigendian: 0
step: 1024
data:
- 0
- 0
- 0
- 0
- 59
- 11
- 166
- 35
- 160
- 8
- 0
- 0
- 221
- 8
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 63
- 36
- 13
- 9
- 230
- 36
- 85
- 37
- 223
- 36
- 43
- 10
- 176
- 36
- 164
- 36
- 231
- 11
- 65
- 37
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 151
- 9
- 253
- 37
- 233
- 37
- 119
- 9
- 54
- 11
- 0
- 0
- 0
- 0
- 37
- 11
- 118
- 38
- 0
- 0
- 139
- 38
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 149
- 11
- 0
- 0
- 0
- 0
- 126
- 10
- 0
- 0
- 0
- 0
- 0
- 0
- 157
- 11
- 118
- 38
- 0
- 0
- 0
- 0
- 0
- 0
- 52
- 11
- 36
- 40
- 133
- 40
- 81
- 11
- 0
- 0
- 184
- 11
- 0
- 0
- 0
- 0
- 171
- 11
- '...'
---

$ ros2 topic echo /tf_static --once
transforms:
- header:
    stamp:
      sec: 1783772796
      nanosec: 755398531
    frame_id: kinect2_link
  child_frame_id: kinect2_rgb_optical_frame
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 1783772796
      nanosec: 744797076
    frame_id: kinect2_rgb_optical_frame
  child_frame_id: kinect2_ir_optical_frame
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
---

$ ros2 topic hz /kinect2/qhd/points
average rate: 0.092
min: 10.424s max: 11.263s std dev: 0.41953s window: 2
average rate: 0.127
min: 1.987s max: 11.263s std dev: 4.18908s window: 3
average rate: 0.149
min: 1.987s max: 11.263s std dev: 4.16241s window: 4
average rate: 0.148
min: 1.987s max: 11.263s std dev: 3.72348s window: 5

display - Add

rviz+default_plugins 에서 추가

그리고 topic 연결해주면 되는데

솔찍히 두번째 탭인 by topic이 더 편하게 고를수 있다.

* 할거

아래부턴 먼가 잘 안되서 일단 나중에..

rviz2
ros2 run tf2_tools view_frames
ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame

ros2 launch rtabmap_launch rtabmap.launch.py \
    rgb_topic:=/kinect2/color/image \
    depth_topic:=/kinect2/depth/image \
    camera_info_topic:=/kinect2/color/camera_info

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