다른 사용자의 것과는 다르게 알아서 시리얼을 확인하고 그냥 선택한다.
그때는 물려볼게 없어서 안 죽었나 싶긴한데.
요건 wayland 에서 한 거(우분투 기본 값이니)
$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-22-23-16-49-714642-minimonk-900X3N-4099
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [4102]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [4103]
[kinect2_bridge_node-1] [INFO] [1747923410.103073698] [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/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 1.20.0
[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_20
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [INFO] [1747923410.268596885] [kinect2_bridge_node]: Kinect2 devices found:
[kinect2_bridge_node-1] [INFO] [1747923410.268646704] [kinect2_bridge_node]: 0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1747923410.353586296] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1747923410.702466968] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1747923410.702527385] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1747923410.943823711] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1747923410.943872088] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1747923410.943884124] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1747923410.943893248] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1747923410.957002369] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1747923410.957063941] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1747923410.989757825] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1747923435.975438490] [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: 186
[kinect2_bridge_node-1] Current serial number in output stream: 186
[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:66, at ./src/rcl/publisher.c:284
[ERROR] [kinect2_bridge_node-1]: process has died [pid 4102, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_iwksxu1_ --params-file /tmp/launch_params_1kuvaz_1 --params-file /tmp/launch_params_01a053mv --params-file /tmp/launch_params_zdcsdjyg --params-file /tmp/launch_params_yuzabhyr --params-file /tmp/launch_params_19tmdd6j --params-file /tmp/launch_params_hba7y_ha --params-file /tmp/launch_params_cz5d_5a0 --params-file /tmp/launch_params_zdnm6_6f --params-file /tmp/launch_params_0c2pkcpz --params-file /tmp/launch_params_z9p0frw3 --params-file /tmp/launch_params_93jygjmd --params-file /tmp/launch_params_gbcl6pwo --params-file /tmp/launch_params_h2ixukh_'].
|
X 에러가 나서 혹시나 해 로그아웃했다가 wayland에서 x.org로 변경해서 했는데 흐음..
안되는건 여전하네. 모르겠다! ㅠㅠ
[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: 152 (GLX)
[kinect2_bridge_node-1] Minor opcode of failed request: 5 (X_GLXMakeCurrent)
[kinect2_bridge_node-1] Serial number of failed request: 189
[kinect2_bridge_node-1] Current serial number in output stream: 189
[kinect2_bridge_node-1] terminate called after throwing an instance of 'std::system_error'
[kinect2_bridge_node-1] what(): Invalid argument
[ERROR] [kinect2_bridge_node-1]: process has died [pid 7073, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_y5bvhzyw --params-file /tmp/launch_params_gxirdqdy --params-file /tmp/launch_params_hp4gbet8 --params-file /tmp/launch_params_08p1acor --params-file /tmp/launch_params_lmxr_tz6 --params-file /tmp/launch_params_t_ro1l1e --params-file /tmp/launch_params_lijjyb5p --params-file /tmp/launch_params_kyd4zb0u --params-file /tmp/launch_params_4apk49ym --params-file /tmp/launch_params_01ocg_zs --params-file /tmp/launch_params_bz6p08h0 --params-file /tmp/launch_params_htcp1tsf --params-file /tmp/launch_params_7qjvyjg0 --params-file /tmp/launch_params_nqmk926s'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1747923700.776770005] [rclcpp]: signal_handler(signum=2)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 7074] |
흐음.. --params-file이 많은걸 제외하면 별 특별한건 없어 보이는데..
[pid 7073,
exit code -6,
cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node
--ros-args
-r __node:=kinect2_bridge_node
--params-file /tmp/launch_params_y5bvhzyw
--params-file /tmp/launch_params_gxirdqdy
--params-file /tmp/launch_params_hp4gbet8
--params-file /tmp/launch_params_08p1acor
--params-file /tmp/launch_params_lmxr_tz6
--params-file /tmp/launch_params_t_ro1l1e
--params-file /tmp/launch_params_lijjyb5p
--params-file /tmp/launch_params_kyd4zb0u
--params-file /tmp/launch_params_4apk49ym
--params-file /tmp/launch_params_01ocg_zs
--params-file /tmp/launch_params_bz6p08h0
--params-file /tmp/launch_params_htcp1tsf
--params-file /tmp/launch_params_7qjvyjg0
--params-file /tmp/launch_params_nqmk926s']. |
혹시나 해서 VAAPI를 쓴 libfreenect2의 문제인가 해서 빌드도 해서 바꾸어 봤는데 차이가 없다
머가 문제일까...
