아놔... 어떻게 보면 그 쪽에서는 중요할지도 모르지만
컴퓨터 쪽 까지도 PC가 침범하게 될 줄이야.. -_-
| git local branch, merge master (0) | 2025.01.16 |
|---|---|
| git switch (0) | 2025.01.16 |
| git stash drop , clear (0) | 2024.09.19 |
| git submodule ... 2? (0) | 2024.06.19 |
| git diff --staged (0) | 2022.09.05 |
이전 같으면 그러려니 하고 그냥 재시작 했을텐데 시국이 시국인지라 수상하다.
공급망에서 재시작 하라고 했으니까
사용자들이 재시작하면
해커들이 usim 복제해서 가로채는거 아냐? 라고 막 의심중..
[링크 : https://r1.community.samsung.com/t5/갤럭시-s/s10-업데이트후-시간대-업데이트-되었다고-재시작-요구/td-p/19383276]
| 아니 이게 머야?!? (국민카드인증 종료) (0) | 2025.07.03 |
|---|---|
| 핸드폰 요금 폭탄 + usim 구매 (0) | 2025.06.29 |
| 다이소 블루투스 리시버 (0) | 2025.02.17 |
| 삼성 dex 4k로 출력하기 (6) | 2025.02.03 |
| 핸드폰 공기계 구매, 교체 (2) | 2025.02.02 |
다시 제대로 된(?) 녀석을 받고
[링크 : https://github.com/krepa098/kinect2_ros2]
어떻게 설치해서 빌드하는데
| $ colcon build |
kinect2_calibration에서 에러가 발생한다.
| Starting >>> kinect2_calibration --- stderr: kinect2_calibration /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:37:10: fatal error: cv_bridge/cv_bridge.h: No such file or directory 37 | #include "cv_bridge/cv_bridge.h" | ^~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. |
이리저리 찾아보다가 안되서 cv_bridge로 검색하니 include에 있는데.. 어? h가 아니라 hpp?
| /opt/ros/jazzy/include/cv_bridge/cv_bridge$ ls -al total 52 drwxr-xr-x 2 root root 4096 May 17 22:02 . drwxr-xr-x 3 root root 4096 May 17 22:02 .. -rw-r--r-- 1 root root 1079 Apr 30 09:03 cv_bridge_export.h -rw-r--r-- 1 root root 12336 Jun 25 2024 cv_bridge.hpp -rw-r--r-- 1 root root 9541 Jun 25 2024 cv_mat_sensor_msgs_image_type_adapter.hpp -rw-r--r-- 1 root root 4160 Jun 25 2024 rgb_colors.hpp -rw-r--r-- 1 root root 1814 Jun 25 2024 visibility_control.h |
그래서 cv_bridge.h를 cv_bridge.hpp 로 바꾸어주고
| $ git diff diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp index 8e90a54..f4ce85c 100644 --- a/kinect2_calibration/src/kinect2_calibration.cpp +++ b/kinect2_calibration/src/kinect2_calibration.cpp @@ -34,7 +34,7 @@ #include "sensor_msgs/msg/camera_info.hpp" #include "sensor_msgs/msg/image.hpp" -#include "cv_bridge/cv_bridge.h" +#include "cv_bridge/cv_bridge.hpp" #include "image_transport/image_transport.hpp" #include "image_transport/subscriber_filter.hpp" |
빌드하니 성공!
| $ colcon build Starting >>> kinect2_registration Finished <<< kinect2_registration [0.17s] Starting >>> kinect2_bridge Finished <<< kinect2_bridge [0.15s] Starting >>> kinect2_calibration --- stderr: kinect2_calibration /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:195: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 195 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:658: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 658 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:663: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 663 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:669: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 669 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1162: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 1162 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1167: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 1167 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1173: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 1173 | #pragma omp critical | --- Finished <<< kinect2_calibration [12.1s] Summary: 3 packages finished [12.5s] 1 package had stderr output: kinect2_calibration |
[링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h_source.html]
[링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h.html]
그래서 뭔가를 실행하려고 하니 에러가 나서
| ~/src/kinect2_ros2/install$ source setup.bash ~/src/kinect2_ros2/install$ ros2 launch kinect2_bridge rtabmap.launch.py |
패키지 잔뜩 깔아주니
| $ sudo apt-get install ros-jazzy-rtabmap-odom $ sudo apt-get install ros-jazzy-rtabmap-slam $ sudo apt-get install ros-jazzy-rtabmap-viz |
실행에 성공. 키넥트는 나중에 붙여서 slam 되나 봐야겠다.
---
이것저것 해보는데 되는게 없다.
| ament_target_dependencies(${PROJECT_NAME} cv_bridge) |
[링크 : https://www.reddit.com/r/ROS/comments/1f8bupf/cv_bridgeh_not_found_ros2/]
| Something like this usually works for me: ament_target_dependencies(synchronize_wo cv_bridge) When using ament_target_dependencies you should not have to explicitly list the include and library files. Also not when you use target_link_libraries(synchronize_wo cv_bridge::cv_bridge) |
[링크 : https://robotics.stackexchange.com/questions/112861/cv-bridge-h-not-found-ros2]
| sudo apt-get install ros-dashing-cv-bridge |
[링크 : https://answers.ros.org/question/308043/]
| sudo apt-get install ros-kinetic-cv-bridge |
[링크 : https://docs.ros.org/en/rolling/Releases/Release-Rolling-Ridley.html]
| ros2 with kinect v2 시도... 3회차 (0) | 2025.05.22 |
|---|---|
| ros2 with kinect v2 일단 실패 (0) | 2025.05.21 |
| ros2 uses concol (0) | 2025.05.20 |
| ros 2 install on ubuntu 24.04, rviz (2) | 2025.05.17 |
| ros...? (0) | 2025.04.08 |
부족한건 아니지만 그냥 샀으니(!)
산김에 일단 달아봄 ㅋ
| 레노버 E15 fan error (0) | 2025.06.04 |
|---|---|
| 마우스 휠 (0) | 2025.05.26 |
| 지름 도착 (0) | 2025.05.17 |
| 지름 (0) | 2025.05.16 |
| 꼼지락 꼼지락 업(?)그레이드 (0) | 2025.03.29 |
다시 보니 이상한(?) 저장소 걸 받아놓고 고생중.. -_-
[링크 : https://github.com/YuLiHN/kinect2_ros2] << 요걸로 고생중
[링크 : https://github.com/krepa098/kinect2_ros2]
[링크 : https://github.com/paul-shuvo/iai_kinect2_opencv4/tree/master]
[링크 : https://github.com/code-iai/iai_kinect2]
---
시도중..
[링크 : https://github.com/krepa098/kinect2_ros2]
step 1. colcon을 설치한다.
| $ sudo apt-get install colcon |
step 2. 프로젝트를 다운로드 한다.
| $ git clone https://github.com/krepa098/kinect2_ros2.git $ cd kinect2_ros2 |
step3. 빌드한다.
| $ colcon build |
step 4. 런쳐 스크립트 명을 찾고
| /opt/ros/jazzy$ find . -name *launch.py | grep kinect ./share/kinect2_bridge/launch/kinect2_bridge.launch.py ./src/kinect2_bridge/launch/kinect2_bridge.launch.py |
step 5. 실행한다
| $ ros2 launch kinect2_bridge kinect2_bridge.launch.py [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-46-49-643834-minimonk-900X3N-7825 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge-1]: process started with pid [7842] [INFO] [component_container-2]: process started with pid [7843] [kinect2_bridge-1] [INFO] [1747752410.192080072] [kinect2_bridge]: parameter: [kinect2_bridge-1] base_name: kinect2 [kinect2_bridge-1] sensor: 004436460547 [kinect2_bridge-1] fps_limit: -1 [kinect2_bridge-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge-1] use_png: false [kinect2_bridge-1] jpeg_quality: 90 [kinect2_bridge-1] png_level: 1 [kinect2_bridge-1] depth_method: default [kinect2_bridge-1] depth_device: -1 [kinect2_bridge-1] reg_method: default [kinect2_bridge-1] reg_device: -1 [kinect2_bridge-1] max_depth: 12 [kinect2_bridge-1] min_depth: 0.1 [kinect2_bridge-1] queue_size: 5 [kinect2_bridge-1] bilateral_filter: true [kinect2_bridge-1] edge_aware_filter: true [kinect2_bridge-1] publish_tf: true [kinect2_bridge-1] base_name_tf: kinect2 [kinect2_bridge-1] worker_threads: 4 [component_container-2] [INFO] [1747752410.226624281] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so [component_container-2] [INFO] [1747752410.334243907] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1747752410.334300468] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> [component_container-2] [INFO] [1747752410.334307756] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> [component_container-2] [INFO] [1747752410.334312374] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> [component_container-2] [INFO] [1747752410.334318127] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> [component_container-2] [INFO] [1747752410.334323834] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> [component_container-2] [INFO] [1747752410.334329282] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> [component_container-2] [INFO] [1747752410.334334605] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [component_container-2] [INFO] [1747752410.334340889] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container' [kinect2_bridge-1] libva info: VA-API version 1.20.0 [kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20 [kinect2_bridge-1] libva info: va_openDriver() returns 0 [kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 6 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found 0 devices [kinect2_bridge-1] [ERROR] [1747752410.372478119] [kinect2_bridge]: no Kinect2 devices found! [INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7842] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container-2] [INFO] [1747752410.727331969] [rclcpp]: signal_handler(signum=2) [INFO] [component_container-2]: process has finished cleanly [pid 7843] ^[[Aminimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch file 'kinect2_bridge.launch' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge' |
| $ ros2 launch kinect2_bridge kinect2_bridge.launch.py - malformed launch argument '-', expected format ':=' minimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch.py [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-47-06-104462-minimonk-900X3N-7896 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge-1]: process started with pid [7913] [INFO] [component_container-2]: process started with pid [7914] [kinect2_bridge-1] [INFO] [1747752426.554975848] [kinect2_bridge]: parameter: [kinect2_bridge-1] base_name: kinect2 [kinect2_bridge-1] sensor: 004436460547 [kinect2_bridge-1] fps_limit: -1 [kinect2_bridge-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge-1] use_png: false [kinect2_bridge-1] jpeg_quality: 90 [kinect2_bridge-1] png_level: 1 [kinect2_bridge-1] depth_method: default [kinect2_bridge-1] depth_device: -1 [kinect2_bridge-1] reg_method: default [kinect2_bridge-1] reg_device: -1 [kinect2_bridge-1] max_depth: 12 [kinect2_bridge-1] min_depth: 0.1 [kinect2_bridge-1] queue_size: 5 [kinect2_bridge-1] bilateral_filter: true [kinect2_bridge-1] edge_aware_filter: true [kinect2_bridge-1] publish_tf: true [kinect2_bridge-1] base_name_tf: kinect2 [kinect2_bridge-1] worker_threads: 4 [component_container-2] [INFO] [1747752426.621145906] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so [component_container-2] [INFO] [1747752426.706050975] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706103036] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706109780] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706114307] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706119654] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706124832] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706130184] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706135440] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752426.706140757] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [kinect2_bridge-1] libva info: VA-API version 1.20.0 [kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container' [kinect2_bridge-1] libva info: va_openDriver() returns 0 [kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 6 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found 0 devices [kinect2_bridge-1] [ERROR] [1747752426.730865489] [kinect2_bridge]: no Kinect2 devices found! [INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7913] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container-2] [INFO] [1747752437.540751727] [rclcpp]: signal_handler(signum=2) [INFO] [component_container-2]: process has finished cleanly [pid 7914] minimonk@minimonk-900X3N:~/src/kinect2_ros2$ ros2 launch kinect2_bridge kinect2_bridge.launch.py [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-47-37-594228-minimonk-900X3N-7960 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge-1]: process started with pid [7982] [INFO] [component_container-2]: process started with pid [7983] [component_container-2] [INFO] [1747752458.147532554] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so [component_container-2] [INFO] [1747752458.226638107] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226688745] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226695944] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226700120] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226705339] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226710495] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226715741] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226720836] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752458.226726217] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container' [kinect2_bridge-1] [INFO] [1747752461.903116963] [kinect2_bridge]: parameter: [kinect2_bridge-1] base_name: kinect2 [kinect2_bridge-1] sensor: 004436460547 [kinect2_bridge-1] fps_limit: -1 [kinect2_bridge-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge-1] use_png: false [kinect2_bridge-1] jpeg_quality: 90 [kinect2_bridge-1] png_level: 1 [kinect2_bridge-1] depth_method: default [kinect2_bridge-1] depth_device: -1 [kinect2_bridge-1] reg_method: default [kinect2_bridge-1] reg_device: -1 [kinect2_bridge-1] max_depth: 12 [kinect2_bridge-1] min_depth: 0.1 [kinect2_bridge-1] queue_size: 5 [kinect2_bridge-1] bilateral_filter: true [kinect2_bridge-1] edge_aware_filter: true [kinect2_bridge-1] publish_tf: true [kinect2_bridge-1] base_name_tf: kinect2 [kinect2_bridge-1] worker_threads: 4 [kinect2_bridge-1] libva info: VA-API version 1.20.0 [kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20 [kinect2_bridge-1] libva info: va_openDriver() returns 0 [kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042 [kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices [kinect2_bridge-1] [INFO] [1747752462.073844064] [kinect2_bridge]: Kinect2 devices found: [kinect2_bridge-1] [INFO] [1747752462.073923803] [kinect2_bridge]: 0: 501441643042 [kinect2_bridge-1] [ERROR] [1747752462.073942832] [kinect2_bridge]: Device with serial '004436460547' not found! [INFO] [kinect2_bridge-1]: process has finished cleanly [pid 7982] |
step 6. 파일을 수정한다. (둘다)
| $ sudo vi ./src/kinect2_bridge/launch/kinect2_bridge.launch.py $ sudo vi ./share/kinect2_bridge/launch/kinect2_bridge.launch.py import os from ament_index_python import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node, LoadComposableNodes, ComposableNodeContainer from launch_ros.descriptions import ComposableNode parameters=[ {'base_name': 'kinect2', 'sensor': '004436460547', 'fps_limit': -1.0, 'use_png': False, 'jpeg_quality': 90, 'png_level': 1, 'depth_method': 'default', 'depth_device': -1, 'reg_method': 'default', 'reg_device': -1, 'max_depth': 12.0, 'min_depth': 0.1, 'queue_size': 5, 'bilateral_filter': True, 'edge_aware_filter': True, 'worker_threads': 4, 'publish_tf': True}] |
Step 7. 다시 실행한다.
src 쪽만 수정하였을 경우
| $ ros2 launch kinect2_bridge kinect2_bridge.launch.py [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-56-08-038469-minimonk-900X3N-8222 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge-1]: process started with pid [8239] [INFO] [component_container-2]: process started with pid [8240] [kinect2_bridge-1] [INFO] [1747752968.497895081] [kinect2_bridge]: parameter: [kinect2_bridge-1] base_name: kinect2 [kinect2_bridge-1] sensor: 004436460547 [kinect2_bridge-1] fps_limit: -1 [kinect2_bridge-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge-1] use_png: false [kinect2_bridge-1] jpeg_quality: 90 [kinect2_bridge-1] png_level: 1 [kinect2_bridge-1] depth_method: default [kinect2_bridge-1] depth_device: -1 [kinect2_bridge-1] reg_method: default [kinect2_bridge-1] reg_device: -1 [kinect2_bridge-1] max_depth: 12 [kinect2_bridge-1] min_depth: 0.1 [kinect2_bridge-1] queue_size: 5 [kinect2_bridge-1] bilateral_filter: true [kinect2_bridge-1] edge_aware_filter: true [kinect2_bridge-1] publish_tf: true [kinect2_bridge-1] base_name_tf: kinect2 [kinect2_bridge-1] worker_threads: 4 [component_container-2] [INFO] [1747752968.582669845] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so [kinect2_bridge-1] libva info: VA-API version 1.20.0 [kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20 [kinect2_bridge-1] libva info: va_openDriver() returns 0 [kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042 [kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices [kinect2_bridge-1] [INFO] [1747752968.679076989] [kinect2_bridge]: Kinect2 devices found: [kinect2_bridge-1] [INFO] [1747752968.679151068] [kinect2_bridge]: 0: 501441643042 [kinect2_bridge-1] [ERROR] [1747752968.679166289] [kinect2_bridge]: Device with serial '004436460547' not found! [component_container-2] [INFO] [1747752968.707510234] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1747752968.707583082] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> [component_container-2] [INFO] [1747752968.707598835] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> [component_container-2] [INFO] [1747752968.707605559] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> [component_container-2] [INFO] [1747752968.707613423] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> [component_container-2] [INFO] [1747752968.707620795] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> [component_container-2] [INFO] [1747752968.707628710] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> [component_container-2] [INFO] [1747752968.707636427] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [component_container-2] [INFO] [1747752968.707644371] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container' [INFO] [kinect2_bridge-1]: process has finished cleanly [pid 8239] |
둘다 수정하였을 경우
| $ ros2 launch kinect2_bridge kinect2_bridge.launch.py [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-20-23-56-39-190964-minimonk-900X3N-8308 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge-1]: process started with pid [8325] [INFO] [component_container-2]: process started with pid [8326] [kinect2_bridge-1] [INFO] [1747752999.650865409] [kinect2_bridge]: parameter: [kinect2_bridge-1] base_name: kinect2 [kinect2_bridge-1] sensor: 501441643042 [kinect2_bridge-1] fps_limit: -1 [kinect2_bridge-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge-1] use_png: false [kinect2_bridge-1] jpeg_quality: 90 [kinect2_bridge-1] png_level: 1 [kinect2_bridge-1] depth_method: default [kinect2_bridge-1] depth_device: -1 [kinect2_bridge-1] reg_method: default [kinect2_bridge-1] reg_device: -1 [kinect2_bridge-1] max_depth: 12 [kinect2_bridge-1] min_depth: 0.1 [kinect2_bridge-1] queue_size: 5 [kinect2_bridge-1] bilateral_filter: true [kinect2_bridge-1] edge_aware_filter: true [kinect2_bridge-1] publish_tf: true [kinect2_bridge-1] base_name_tf: kinect2 [kinect2_bridge-1] worker_threads: 4 [component_container-2] [INFO] [1747752999.717016720] [container]: Load Library: /opt/ros/jazzy/lib/libdepth_image_proc.so [kinect2_bridge-1] libva info: VA-API version 1.20.0 [kinect2_bridge-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge-1] libva info: Found init function __vaDriverInit_1_20 [kinect2_bridge-1] libva info: va_openDriver() returns 0 [kinect2_bridge-1] [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @1:7 with serial 501441643042 [kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices [kinect2_bridge-1] [INFO] [1747752999.802972778] [kinect2_bridge]: Kinect2 devices found: [kinect2_bridge-1] [INFO] [1747752999.803048663] [kinect2_bridge]: 0: 501441643042 (selected) [component_container-2] [INFO] [1747752999.817716799] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817762782] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817772723] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817781495] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817789789] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817798000] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817806268] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817814680] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1747752999.817823560] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pointcloud' in container '/container' [kinect2_bridge-1] [Info] [Freenect2Impl] re-enumerating devices after reset [kinect2_bridge-1] [Info] [Freenect2Impl] enumerating devices... [kinect2_bridge-1] [Info] [Freenect2Impl] 9 usb devices connected [kinect2_bridge-1] [Info] [Freenect2Impl] found valid Kinect v2 @2:10 with serial 501441643042 [kinect2_bridge-1] [Info] [Freenect2Impl] found 1 devices [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] opening... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792 [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] opened [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] starting... [kinect2_bridge-1] [INFO] [1747753001.475900709] [kinect2_bridge]: starting kinect2 [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] submitting rgb transfers... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] submitting depth transfers... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] started [kinect2_bridge-1] [INFO] [1747753002.096109296] [kinect2_bridge]: device serial: 501441643042 [kinect2_bridge-1] [INFO] [1747753002.096174412] [kinect2_bridge]: device firmware: 4.0.3911.0 [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] stopping... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] canceling rgb transfers... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] canceling depth transfers... [kinect2_bridge-1] [Info] [Freenect2DeviceImpl] stopped [kinect2_bridge-1] [INFO] [1747753002.311498664] [kinect2_bridge]: default ir camera parameters: [kinect2_bridge-1] [INFO] [1747753002.311621920] [kinect2_bridge]: fx: 365.719, fy: 365.719, cx: 259.505, cy: 210.078 [kinect2_bridge-1] [INFO] [1747753002.311683407] [kinect2_bridge]: k1: 0.0949663, k2: -0.274613, p1: 0, p2: 0, k3: 0.093757 [kinect2_bridge-1] [INFO] [1747753002.311724585] [kinect2_bridge]: default color camera parameters: [kinect2_bridge-1] [INFO] [1747753002.311769717] [kinect2_bridge]: fx: 1081.37, fy: 1081.37, cx: 959.5, cy: 539.5 [kinect2_bridge-1] [WARN] [1747753002.314247853] [kinect2_bridge]: using sensor defaults for color intrinsic parameters. [kinect2_bridge-1] [WARN] [1747753002.314319452] [kinect2_bridge]: using sensor defaults for ir intrinsic parameters. [kinect2_bridge-1] [WARN] [1747753002.314351830] [kinect2_bridge]: using defaults for rotation and translation. [kinect2_bridge-1] [WARN] [1747753002.314370819] [kinect2_bridge]: using defaults for depth shift. [kinect2_bridge-1] Using CPU registration method! [kinect2_bridge-1] Using CPU registration method! [kinect2_bridge-1] [INFO] [1747753002.374909053] [kinect2_bridge]: waiting for clients to connect |
step 8. 먼가 실행해본다. (실패)
| $ ros2 launch kinect2_bridge rtabmap.launch.py file 'rtabmap.launch.py' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge' |
step 9. 깔아본다.
| $ apt-cache search rtabmap ros-jazzy-rtabmap - RTAB-Map's standalone library. ros-jazzy-rtabmap-conversions - RTAB-Map's conversions package. ros-jazzy-rtabmap-conversions-dbgsym - debug symbols for ros-jazzy-rtabmap-conversions ros-jazzy-rtabmap-dbgsym - debug symbols for ros-jazzy-rtabmap ros-jazzy-rtabmap-demos - RTAB-Map's demo launch files. ros-jazzy-rtabmap-examples - RTAB-Map's example launch files. ros-jazzy-rtabmap-launch - RTAB-Map's main launch files. ros-jazzy-rtabmap-msgs - RTAB-Map's msgs package. ros-jazzy-rtabmap-msgs-dbgsym - debug symbols for ros-jazzy-rtabmap-msgs ros-jazzy-rtabmap-odom - RTAB-Map's odometry package. ros-jazzy-rtabmap-odom-dbgsym - debug symbols for ros-jazzy-rtabmap-odom ros-jazzy-rtabmap-python - RTAB-Map's python package. ros-jazzy-rtabmap-ros - RTAB-Map Stack ros-jazzy-rtabmap-rviz-plugins - RTAB-Map's rviz plugins. ros-jazzy-rtabmap-rviz-plugins-dbgsym - debug symbols for ros-jazzy-rtabmap-rviz-plugins ros-jazzy-rtabmap-slam - RTAB-Map's SLAM package. ros-jazzy-rtabmap-slam-dbgsym - debug symbols for ros-jazzy-rtabmap-slam ros-jazzy-rtabmap-sync - RTAB-Map's synchronization package. ros-jazzy-rtabmap-sync-dbgsym - debug symbols for ros-jazzy-rtabmap-sync ros-jazzy-rtabmap-util - RTAB-Map's various useful nodes and nodelets. ros-jazzy-rtabmap-util-dbgsym - debug symbols for ros-jazzy-rtabmap-util ros-jazzy-rtabmap-viz - RTAB-Map's visualization package. ros-jazzy-rtabmap-viz-dbgsym - debug symbols for ros-jazzy-rtabmap-viz $ sudo apt-get install ros-jazzy-rtabmap Reading package lists... Done Building dependency tree... Done Reading state information... Done The following additional packages will be installed: libamd3 libbtf2 libcamd3 libccolamd3 libcholmod5 libcolamd3 libcxsparse4 libgraphblas-dev libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2 libspqr4 libsuitesparse-dev libsuitesparse-mongoose3 libsuitesparseconfig7 libumfpack6 ros-jazzy-gtsam ros-jazzy-libg2o ros-jazzy-libnabo ros-jazzy-libpointmatcher The following NEW packages will be installed: libamd3 libbtf2 libcamd3 libccolamd3 libcholmod5 libcolamd3 libcxsparse4 libgraphblas-dev libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2 libspqr4 libsuitesparse-dev libsuitesparse-mongoose3 libsuitesparseconfig7 libumfpack6 ros-jazzy-gtsam ros-jazzy-libg2o ros-jazzy-libnabo ros-jazzy-libpointmatcher ros-jazzy-rtabmap 0 upgraded, 24 newly installed, 0 to remove and 1 not upgraded. Need to get 40.6 MB of archives. After this operation, 258 MB of additional disk space will be used. Do you want to continue? [Y/n] |
[링크 : https://index.ros.org/p/rtabmap_launch/]
step 10. 안된다!! 젠장!
| $ ros2 launch kinect2_bridge rtabmap.launch.py file 'rtabmap.launch.py' was not found in the share directory of package 'kinect2_bridge' which is at '/opt/ros/jazzy/share/kinect2_bridge' |
---
실행시 필요한 launch.py 파일명 참조
| ros2 with kinect v2 시도... 3회차 (0) | 2025.05.22 |
|---|---|
| ros2 with kinect v2 시도... 2회차 (0) | 2025.05.22 |
| ros2 uses concol (0) | 2025.05.20 |
| ros 2 install on ubuntu 24.04, rviz (2) | 2025.05.17 |
| ros...? (0) | 2025.04.08 |
문서를 찾아보는데 catkin_make 라는걸 쓴다고 해서 해보는데 영 안되서
혹시나 해서 찾아보니.. catkin_make는 ros용
ros2는 concol 이라는걸 쓴다고 한다.
[링크 : https://changun516.tistory.com/203]
[링크 : https://github.com/ros/catkin/issues/1178]
+
그러니까 얘네는 ros 1이란거
[링크 : https://hoonney.tistory.com/20]
[링크 : https://wiki.ros.org/catkin/Tutorials/create_a_workspace]
+
어우. 되면 좋겠네
| $ colcon Command 'colcon' not found, but can be installed with: sudo apt install colcon $ sudo apt install colcon [sudo] password for minimonk: Reading package lists... Done Building dependency tree... Done Reading state information... Done The following additional packages will be installed: libjs-jquery-hotkeys libjs-jquery-isonscreen libjs-jquery-metadata libjs-jquery-tablesorter libjs-jquery-throttle-debounce python3-colcon-argcomplete python3-colcon-bash python3-colcon-cd python3-colcon-cmake python3-colcon-core python3-colcon-defaults python3-colcon-devtools python3-colcon-library-path python3-colcon-metadata python3-colcon-notification python3-colcon-output python3-colcon-package-information python3-colcon-package-selection python3-colcon-parallel-executor python3-colcon-pkg-config python3-colcon-python-setup-py python3-colcon-recursive-crawl python3-colcon-ros python3-colcon-test-result python3-colcon-zsh python3-coverage python3-distlib python3-notify2 python3-pytest-cov Suggested packages: python3-pytest-repeat python3-pytest-rerunfailures python-coverage-doc The following NEW packages will be installed: colcon libjs-jquery-hotkeys libjs-jquery-isonscreen libjs-jquery-metadata libjs-jquery-tablesorter libjs-jquery-throttle-debounce python3-colcon-argcomplete python3-colcon-bash python3-colcon-cd python3-colcon-cmake python3-colcon-core python3-colcon-defaults python3-colcon-devtools python3-colcon-library-path python3-colcon-metadata python3-colcon-notification python3-colcon-output python3-colcon-package-information python3-colcon-package-selection python3-colcon-parallel-executor python3-colcon-pkg-config python3-colcon-python-setup-py python3-colcon-recursive-crawl python3-colcon-ros python3-colcon-test-result python3-colcon-zsh python3-coverage python3-distlib python3-notify2 python3-pytest-cov 0 upgraded, 30 newly installed, 0 to remove and 1 not upgraded. Need to get 932 kB of archives. After this operation, 4,939 kB of additional disk space will be used. Do you want to continue? [Y/n] |
| $ colcon build |
[링크 : https://velog.io/@hwang-chaewon/ROS2035]
[링크 : https://velog.io/@i_robo_u/개발자와-함께하는-ROS2-Humble에서-colcon으로-ROS2-workspace작업공간-구성하기]
| ros2 with kinect v2 시도... 2회차 (0) | 2025.05.22 |
|---|---|
| ros2 with kinect v2 일단 실패 (0) | 2025.05.21 |
| ros 2 install on ubuntu 24.04, rviz (2) | 2025.05.17 |
| ros...? (0) | 2025.04.08 |
| ros urdf (0) | 2025.04.07 |
유튜브 보다가 책 리뷰를 보는데 끌려서 희망도서 신청해서 1달 걸려 기다렸다 읽음
[링크 : https://www.youtube.com/watch?v=OEitN5nl-N8]
유튜브 리뷰가 워낙 책 내용을 알차게 잘 정리해놔서 딱히 적을게 없지만
난 비관론자, 극단주의자라고 생각하고 있었는데
시간이 지날수록 점점 회의론자로 바뀌고 있다는 생각이 이 책을 읽고 문득 들었다.
이런이런 이유로 안될거야. 그러니까 회피를 하던가 극복을 하던가
그 포인트를 중점적으로 전략을 세워야 해 라는게 기본 관점이었는데
살면서 경험치가 쌓였기 때문일까 점점 "잘하면 망하겠는데" 혹은 "이건 거의 안되는거야" 라고
조금은 더 확언에 가까운 예측으로 포기하곤 한다.
아무튼 책을 읽으면서 든 생각은
SNS와 코로나 시대의 여파로 인해서
이름하여 쿨병이 퍼져나가고 그게 극단으로 치닫게 되어
알면 다냐? 난 모른다! 라는 이상한 방향의 사회변화가 보이는 느낌이다.
뉴스도 유튜브도 점점
회의적인 제목들과 썸네일이 조회수를 끌며 점점 음의 피드백으로
사람들을 확증에 빠트르게 되고, 편향된 선택지가 점점 세상을 좋지 않게 만들어 가는 것 같다.
누군가가 시작하기에는 힘들지만 상호 믿음으로 더 나은 세상으로 나아갈수도 있겠지만
이야기가 더 필요하고 더 큰 용기가 필요한 상황에서
어쩌면 선을 넘어서 이제는 돌이킬수 없지 않았나.. 라는 생각을 하면
비관론자가 되어버린 걸까?
아무튼. 사회의 복잡도가 이상하리 만치 올라가면서
예측 자체가 불가능해지고 정보를 수집하고 가능한 해를 내려고 하다가 불가능해 지면서
점점 모르겠다라는 말만 늘어가고 있는데
그래도 조금은 일단 부딛혀 보자는 생각으로 세상을 대해봐야 하나 싶기도 하다.
개인적으로 챕터 10, 11 정도가 마음에 와닫는 부분.
| 책 - 부서지는 아이들 (0) | 2025.07.03 |
|---|---|
| 데미안 (0) | 2025.05.13 |
| 스태프 엔지니어 (0) | 2025.05.12 |
| 플레인 센스 (0) | 2025.02.10 |
| AWS로 시작하는 인프라 구축의 정석 (0) | 2024.04.24 |
예전에 검색해서 쓴거 같은데 왜 안보이지...
환경설정에서
입력 - 마우스 - 3버튼 마우스 에뮬레이션 에서
alt를 해주면 alt를 누르고 있으면 휠 클릭으로 작동한다.
| gemini + blender (0) | 2025.09.01 |
|---|---|
| blender로 stl 구멍 메우기 (0) | 2025.08.20 |
| blender + kinect (0) | 2025.04.16 |
| blender 강좌 (0) | 2025.01.01 |
| blender render - cycle, eevee (0) | 2024.08.30 |
|
