makeShared, make_shared, and Eigen/PCL [Was Re: [Ros-kinect] about about Kinect Compatibility & install a demo]

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makeShared, make_shared, and Eigen/PCL [Was Re: [Ros-kinect] about about Kinect Compatibility & install a demo]

Radu B. Rusu
Administrator
Just to add to what Daniel said...

  * We are using Eigen for all SSE vectorizations, and Eigen needs to overwrite the operator new for any object that
contains vectorizable Eigen types. See http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html for more information

  * The boost::make_shared allocator does not seem to be affected by the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro (they use
::new ()), and it is a known limitation (http://lists.boost.org/boost-users/2010/03/57713.php)

  * Everytime we use boost::make_shared instead of EIGEN_MAKE_ALIGNED_OPERATOR_NEW+new, we get alignment errors on 32bit
architectures. Note that 64bit architecture do not suffer from this.

  * cloud.makeShared () basically replaced boost::make_shared with:
inline Ptr makeShared () const { return Ptr (new PointCloud<PointT> (*this)); }

  * Note that in both makeShared, and make_shared cases, you are creating a copy of the data! We recently changed the
tutorials and most of the code in the unit tests to account for this. If you care about efficiency, try to do something
like:

PointCloud<T>::Ptr foo (new PointCloud<T> ());
PointCloud<T>::Ptr bar (new PointCloud<T> ());

pcl_object.setInputCloud (foo);
pcl_object.compute (*bar);
pcl_object2.setInputCloud (bar);

instead of:

PointCloud<T> foo;
PointCloud<T> bar;

pcl_object.setInputCloud (foo.makeShared ());
pcl_object.compute (bar);
pcl_object2.setInputCloud (bar.makeShared ());




Cheers,
Radu.
--
http://pointclouds.org

On 01/28/2011 12:21 AM, Daniel Stonier wrote:

> I was just playing around with the hand demo as well. I'm using ros
> unstable though, not cturtle, and the hand demo bombs out with an
> eigen3 alignment error. Getting a backtrace points to here:
>
> pcl_tools/src/pcl_utils.cpp:225
>
>     extract.setInputCloud (boost::make_shared<pcl::PointCloud<PointT>  >
> (cloudin));
>
> Switch to using radu's *enhanced* shared pointer maker!
>
>     extract.setInputCloud (cloudin.makeShared());
>
> And everything is sweet. Well, on the surface with about 5 mins of
> digging - I don't know what secret sauce radu used, so there might be
> some addendums, ahems and whatnots associated with this but I'm
> deciding to put my faith in Radu since I've got less than 1hr to
> finish everything today so I can leave on a skiing trip!
>
> Cheers,
> Daniel.
>
> On 28 January 2011 13:59, Garratt<[hidden email]>  wrote:
>> Hi Shuangqing,
>>
>>
>> On Fri, 2011-01-28 at 12:30 +0800, Shuangqing WU wrote:
>>> Hi ros-kinect mailing list,
>>>     Thanks for your help, but i still have some problems to run the
>>> demo, the log is as follows.
>>>     The demos about hand and finger detection are  really impressive,  ^_^.
>>>
>>> ss@ubuntu:~$ rostopic hz /camera/depth/points2
>>> ERROR: Unable to communicate with master!
>>>
>>>
>>>
>>> ss@ubuntu:~$ rosrun rviz rviz
>>> Could not contact ROS master at [http://localhost:11311],retrying...
>>>
>> For the both of the above situations: you need to run these commands at
>> the same time as you are running the roslaunch command.  If you are
>> doing that, make sure your other terminal has the environmental variable
>> ROS_MASTER_URI set
>>
>>
>>>
>>>
>>>
>>> ss@ubuntu:~$ roslaunch hand_interaction hand_detector.launch
>>> ... logging to /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/roslaunch-ubuntu-23572.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://ubuntu:40862/
>>>
>>>
>>> SUMMARY
>>> ========
>>>
>>> PARAMETERS
>>>   * /openni_camera/image_input_format
>>>   * /openni_camera/shift_offset
>>>   * /openni_camera/projector_depth_baseline
>>>   * /openni_camera/depth_rgb_rotation
>>>   * /openni_camera/depth_rgb_translation
>>>   * /openni_camera/registration_type
>>>
>>> NODES
>>>   /
>>>     openni_camera (openni_camera/openni_node)
>>>     kinect_base_link (tf/static_transform_publisher)
>>>     kinect_base_link1 (tf/static_transform_publisher)
>>>     kinect_base_link2 (tf/static_transform_publisher)
>>>     kinect_base_link3 (tf/static_transform_publisher)
>>>
>>>     handdetector (hand_interaction/detectskelhands)
>>>     ressetter (dynamic_reconfigure/dynparam)
>>>     skel_tracker (nifun/tracker)
>>>
>>>
>>> starting new master (master configured for auto start)
>>>
>>> process[master]: started with pid [23586]
>>>
>>> ROS_MASTER_URI=http://ubuntu:11311/
>>>
>>>
>>> setting /run_id to f63e6ab6-29d0-11e0-9a92-001d92aaee61
>>> process[rosout-1]: started with pid [23599]
>>> started core service [/rosout]
>>> process[openni_camera-2]: started with pid [23602]
>>> process[kinect_base_link-3]: started with pid [23603]
>>> process[kinect_base_link1-4]: started with pid [23612]
>>> process[kinect_base_link2-5]: started with pid [23614]
>>> process[kinect_base_link3-6]: started with pid [23615]
>>> process[handdetector-7]: started with pid [23616]
>>> process[ressetter-8]: started with pid [23661]
>>> ERROR: cannot launch node of type [nifun/tracker]: Cannot locate node
>>> of type [tracker] in package [nifun]
>>> [ressetter-8] process has finished cleanly.
>>> log file: /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/ressetter-8*.log
>>>
>>
>> My bad.  The tracker was referring to an old version of the package
>> (which I never caught, because I still have it. doh!)
>>
>> I fixed it.  go to hand_interaction, and run svn up
>>
>> cheers
>> Garratt
>>
>>>
>>>
>>>
>>>
>>> On Wed, Jan 26, 2011 at 11:48 AM, Garratt<[hidden email]>  wrote:
>>>> Hi Shuangqing,
>>>>
>>>> The first problem is not a problem at all -  You don't expect to see any
>>>> output after the output you posted.
>>>>
>>>> If you want to verify that the sensor is on and working, you can run:
>>>> rostopic hz /camera/depth/points2
>>>>
>>>> and you should see output like:
>>>> subscribed to [/camera/depth/points2]
>>>> average rate: 30.942
>>>>         min: 0.018s max: 0.039s std dev: 0.00657s window: 10
>>>> average rate: 30.397
>>>>         min: 0.018s max: 0.039s std dev: 0.00364s window: 40
>>>> average rate: 30.190
>>>>         min: 0.018s max: 0.041s std dev: 0.00376s window: 70
>>>> average rate: 30.129
>>>> that keeps going....
>>>>
>>>>
>>>> The second problem was actually a bug in the manifest.xml file.
>>>> I fixed it, so you can do the following:
>>>> roscd hand_interaction
>>>> svn up
>>>>
>>>> and then run rosmake as you did before:
>>>> rosmake hand_interaction
>>>>
>>>> I'm glad you are interested in the hand detection demo, and thank you
>>>> for pointing out the bug!
>>>>
>>>> Garratt
>>>>
>>>>
>>>> On Wed, 2011-01-26 at 10:52 +0800, Shuangqing WU wrote:
>>>>> Hi ros-kinect mailing list,
>>>>>
>>>>> I'm pretty new to kinect, so please excuse my question.
>>>>> I'm trying to build the KinectDemos and following the steps as show in
>>>>> General_Installation,
>>>>>
>>>>> but encontour some problems in the step about Kinect Compatibility
>>>>> (http://www.ros.org/wiki/ni#USB_Setup)
>>>>> when i run the command "roslaunch openni_camera openni_kinect.launch",
>>>>>   (I use the XBOX 360 kinect, and have installed the usb driver
>>>>> libusb-1.0.8)
>>>>> My ubuntu 10.04 terminal shows as "problem-1", then stoped and can not move on,
>>>>>
>>>>> then i reopen the terminal and try to install a demo about "hand detection",
>>>>> and run the command "rosmake hand_interaction"
>>>>> My ubuntu 10.04 terminal shows as "problem-2", one error appears
>>>>>
>>>>> when i try to
>>>>>
>>>>> Thanks for your kindness and help.
>>>>> Best regards
>>>>>
>>>>>
>>>>> %===============================================================================================================
>>>>> problem-1:
>>>>>
>>>>> ss@ubuntu:~$ roslaunch openni_camera openni_kinect.launch
>>>>> ... logging to /home/ss/.ros/log/7ad61308-28f2-11e0-8a38-001d92aaee61/roslaunch-ubuntu-1705.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://ubuntu:55547/
>>>>>
>>>>> SUMMARY
>>>>> ========
>>>>>
>>>>> PARAMETERS
>>>>>   * /openni_camera/image_input_format
>>>>>   * /openni_camera/shift_offset
>>>>>   * /openni_camera/projector_depth_baseline
>>>>>   * /openni_camera/depth_rgb_rotation
>>>>>   * /openni_camera/depth_rgb_translation
>>>>>   * /openni_camera/registration_type
>>>>>
>>>>> NODES
>>>>>   /
>>>>>     openni_camera (openni_camera/openni_node)
>>>>>     kinect_base_link (tf/static_transform_publisher)
>>>>>     kinect_base_link1 (tf/static_transform_publisher)
>>>>>     kinect_base_link2 (tf/static_transform_publisher)
>>>>>     kinect_base_link3 (tf/static_transform_publisher)
>>>>>
>>>>> starting new master (master configured for auto start)
>>>>> process[master]: started with pid [1719]
>>>>> ROS_MASTER_URI=http://ubuntu:11311/
>>>>>
>>>>> setting /run_id to 7ad61308-28f2-11e0-8a38-001d92aaee61
>>>>> process[rosout-1]: started with pid [1732]
>>>>> started core service [/rosout]
>>>>> process[openni_camera-2]: started with pid [1735]
>>>>> process[kinect_base_link-3]: started with pid [1736]
>>>>> process[kinect_base_link1-4]: started with pid [1737]
>>>>> process[kinect_base_link2-5]: started with pid [1738]
>>>>> process[kinect_base_link3-6]: started with pid [1739]
>>>>>
>>>>> %===============================================================================================================
>>>>> problem-2:
>>>>> ss@ubuntu:~$  rosmake hand_interaction
>>>>> [ rosmake ] Packages requested are: ['hand_interaction']
>>>>> [ rosmake ] Logging to
>>>>> directory/home/ss/.ros/rosmake/rosmake_output-20110126-104026
>>>>> [ rosmake ] Expanded args ['hand_interaction'] to:
>>>>> ['hand_interaction']
>>>>> [ rosmake ] Checking rosdeps compliance for packages hand_interaction.
>>>>>   This may take a few seconds.
>>>>> Failed to find stack for package [ni]
>>>>> Failed to load rosdep.yaml for package [ni]:Cannot locate installation
>>>>> of package ni: [rospack] couldn't find package [ni].
>>>>> ROS_ROOT[/opt/ros/cturtle/ros]
>>>>> ROS_PACKAGE_PATH[/home/ss/kinect_demos/motion_planning_common:/home/ss/kinect_demos/geometry_experimental:/home/ss/kinect_demos/ros-geometry:/home/ss/kinect_demos/mit-ros-pkg:/home/ss/kinect_demos/point_cloud_perception:/home/ss/kinect_demos/perception_pcl:/home/ss/kinect_demos/perception_pcl_addons:/home/ss/kinect_demos/trunk_cturtle:/home/ss/kinect_demos/ros_experimental:/home/ss/kinect_demos/ni:/opt/ros/cturtle/stacks]
>>>>> [ rosmake ] rosdep check passed all system dependencies in packages
>>>>> [rosmake-0] Starting>>>  hand_interaction [ make ]
>>>>> [ rosmake ] All 22 linesand_interaction: 0.5 sec ]     [ 1 Active 2/9 Complete ]
>>>>> [rosmake-1] Starting>>>  roslang [ make ]
>>>>> {-------------------------------------------------------------------------------
>>>>>   mkdir -p bin
>>>>>   cd build&&  cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
>>>>> rosbuild`/rostoolchain.cmake  ..
>>>>>   [rosbuild] Building package hand_interaction
>>>>>   Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests
>>>>> hand_interaction
>>>>>   [rospack] couldn't find dependency [ni] of [hand_interaction]
>>>>>   [rospack] missing dependency
>>>>>
>>>>>
>>>>>   CMake Error at /opt/ros/cturtle/ros/core/rosbuild/public.cmake:113 (message):
>>>>>
>>>>>
>>>>>     Failed to invoke rospack to get compile flags for package
>>>>>     'hand_interaction'.  Look above for errors from rospack itself.  Aborting.
>>>>>     Please fix the broken dependency!
>>>>>
>>>>>   Call Stack (most recent call first):
>>>>>     /opt/ros/cturtle/ros/core/rosbuild/public.cmake:178
>>>>> (rosbuild_invoke_rospack)
>>>>>     CMakeLists.txt:12 (rosbuild_init)
>>>>>
>>>>>
>>>>>   -- Configuring incomplete, errors occurred!
>>>>> -------------------------------------------------------------------------------}
>>>>> [rosmake-1] Finished<<<  roslang ROS_NOBUILD in package roslang
>>>>>   No Makefile in package roslang
>>>>> [ rosmake ] Output from build of package hand_interaction written to:
>>>>> [ rosmake ]    /home/ss/.ros/rosmake/rosmake_output-20110126-104026/hand_interaction/build_output.log
>>>>> [rosmake-0] Finished<<<  hand_interaction [FAIL] [ 0.62 seconds ]
>>>>> [rosmake-1] Starting>>>  roslib [ make ]
>>>>> [rosmake-1] Finished<<<  roslib ROS_NOBUILD in package roslib
>>>>> [rosmake-1] Starting>>>  xmlrpcpp [ make ]
>>>>> [rosmake-1] Finished<<<  xmlrpcpp ROS_NOBUILD in package xmlrpcpp
>>>>> [rosmake-1] Starting>>>  rosconsole [ make ]
>>>>> [ rosmake ] Halting due to failure in package hand_interaction.
>>>>> [ rosmake ] Waiting for other threads to complete.
>>>>> [rosmake-1] Finished<<<  rosconsole ROS_NOBUILD in package rosconsole
>>>>> [ rosmake ] Results:
>>>>> [ rosmake ] Built 7 packages with 1 failures.
>>>>> [ rosmake ] Summary output to directory
>>>>> [ rosmake ] /home/ss/.ros/rosmake/rosmake_output-20110126-104026
>>>>> ss@ubuntu:~$
>>>>> _______________________________________________
>>>>> Ros-kinect mailing list
>>>>> [hidden email]
>>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>>
>>>>
>>>> _______________________________________________
>>>> Ros-kinect mailing list
>>>> [hidden email]
>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>>
>>> _______________________________________________
>>> Ros-kinect mailing list
>>> [hidden email]
>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>
>>
>> _______________________________________________
>> Ros-kinect mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-kinect
>>
>
>
>
_______________________________________________
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https://code.ros.org/mailman/listinfo/pcl-users
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Re: makeShared, make_shared, and Eigen/PCL [Was Re: [Ros-kinect] about about Kinect Compatibility & install a demo]

Daniel Stonier

Thanks for the secret sauce radu.

This might be good on the pcl faq since it breaks intuition a bit. I only managed to work out what happened so quickly because ive run into eigens unaligned messages so often in the last two years.

On Jan 30, 2011 10:10 AM, "Radu Bogdan Rusu" <[hidden email]> wrote:
> Just to add to what Daniel said...
>
> * We are using Eigen for all SSE vectorizations, and Eigen needs to overwrite the operator new for any object that
> contains vectorizable Eigen types. See http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html for more information
>
> * The boost::make_shared allocator does not seem to be affected by the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro (they use
> ::new ()), and it is a known limitation (http://lists.boost.org/boost-users/2010/03/57713.php)
>
> * Everytime we use boost::make_shared instead of EIGEN_MAKE_ALIGNED_OPERATOR_NEW+new, we get alignment errors on 32bit
> architectures. Note that 64bit architecture do not suffer from this.
>
> * cloud.makeShared () basically replaced boost::make_shared with:
> inline Ptr makeShared () const { return Ptr (new PointCloud<PointT> (*this)); }
>
> * Note that in both makeShared, and make_shared cases, you are creating a copy of the data! We recently changed the
> tutorials and most of the code in the unit tests to account for this. If you care about efficiency, try to do something
> like:
>
> PointCloud<T>::Ptr foo (new PointCloud<T> ());
> PointCloud<T>::Ptr bar (new PointCloud<T> ());
>
> pcl_object.setInputCloud (foo);
> pcl_object.compute (*bar);
> pcl_object2.setInputCloud (bar);
>
> instead of:
>
> PointCloud<T> foo;
> PointCloud<T> bar;
>

> pcl_object.setInputCloud (foo.makeShared ());
> pcl_object.compute (bar);
> pcl_object2.setInputCloud (bar.makeShared ());
>
>
>
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
>
> On 01/28/2011 12:21 AM, Daniel Stonier wrote:
>> I was just playing around with the hand demo as well. I'm using ros
>> unstable though, not cturtle, and the hand demo bombs out with an
>> eigen3 alignment error. Getting a backtrace points to here:
>>
>> pcl_tools/src/pcl_utils.cpp:225
>>
>> extract.setInputCloud (boost::make_shared<pcl::PointCloud<PointT> >
>> (cloudin));
>>
>> Switch to using radu's *enhanced* shared pointer maker!
>>
>> extract.setInputCloud (cloudin.makeShared());
>>
>> And everything is sweet. Well, on the surface with about 5 mins of
>> digging - I don't know what secret sauce radu used, so there might be
>> some addendums, ahems and whatnots associated with this but I'm
>> deciding to put my faith in Radu since I've got less than 1hr to
>> finish everything today so I can leave on a skiing trip!
>>
>> Cheers,
>> Daniel.
>>
>> On 28 January 2011 13:59, Garratt<[hidden email]> wrote:
>>> Hi Shuangqing,
>>>
>>>
>>> On Fri, 2011-01-28 at 12:30 +0800, Shuangqing WU wrote:
>>>> Hi ros-kinect mailing list,
>>>> Thanks for your help, but i still have some problems to run the
>>>> demo, the log is as follows.
>>>> The demos about hand and finger detection are really impressive, ^_^.
>>>>
>>>> ss@ubuntu:~$ rostopic hz /camera/depth/points2
>>>> ERROR: Unable to communicate with master!
>>>>
>>>>
>>>>
>>>> ss@ubuntu:~$ rosrun rviz rviz
>>>> Could not contact ROS master at [http://localhost:11311],retrying...
>>>>
>>> For the both of the above situations: you need to run these commands at
>>> the same time as you are running the roslaunch command. If you are
>>> doing that, make sure your other terminal has the environmental variable
>>> ROS_MASTER_URI set
>>>
>>>
>>>>
>>>>
>>>>
>>>> ss@ubuntu:~$ roslaunch hand_interaction hand_detector.launch
>>>> ... logging to /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/roslaunch-ubuntu-23572.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://ubuntu:40862/
>>>>
>>>>
>>>> SUMMARY
>>>> ========
>>>>
>>>> PARAMETERS
>>>> * /openni_camera/image_input_format
>>>> * /openni_camera/shift_offset
>>>> * /openni_camera/projector_depth_baseline
>>>> * /openni_camera/depth_rgb_rotation
>>>> * /openni_camera/depth_rgb_translation
>>>> * /openni_camera/registration_type
>>>>
>>>> NODES
>>>> /
>>>> openni_camera (openni_camera/openni_node)
>>>> kinect_base_link (tf/static_transform_publisher)
>>>> kinect_base_link1 (tf/static_transform_publisher)
>>>> kinect_base_link2 (tf/static_transform_publisher)
>>>> kinect_base_link3 (tf/static_transform_publisher)
>>>>
>>>> handdetector (hand_interaction/detectskelhands)
>>>> ressetter (dynamic_reconfigure/dynparam)
>>>> skel_tracker (nifun/tracker)
>>>>
>>>>
>>>> starting new master (master configured for auto start)
>>>>
>>>> process[master]: started with pid [23586]
>>>>
>>>> ROS_MASTER_URI=http://ubuntu:11311/
>>>>
>>>>
>>>> setting /run_id to f63e6ab6-29d0-11e0-9a92-001d92aaee61
>>>> process[rosout-1]: started with pid [23599]
>>>> started core service [/rosout]
>>>> process[openni_camera-2]: started with pid [23602]
>>>> process[kinect_base_link-3]: started with pid [23603]
>>>> process[kinect_base_link1-4]: started with pid [23612]
>>>> process[kinect_base_link2-5]: started with pid [23614]
>>>> process[kinect_base_link3-6]: started with pid [23615]
>>>> process[handdetector-7]: started with pid [23616]
>>>> process[ressetter-8]: started with pid [23661]
>>>> ERROR: cannot launch node of type [nifun/tracker]: Cannot locate node
>>>> of type [tracker] in package [nifun]
>>>> [ressetter-8] process has finished cleanly.
>>>> log file: /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/ressetter-8*.log
>>>>
>>>
>>> My bad. The tracker was referring to an old version of the package
>>> (which I never caught, because I still have it. doh!)
>>>
>>> I fixed it. go to hand_interaction, and run svn up
>>>
>>> cheers
>>> Garratt
>>>
>>>>
>>>>
>>>>
>>>>
>>>> On Wed, Jan 26, 2011 at 11:48 AM, Garratt<[hidden email]> wrote:
>>>>> Hi Shuangqing,
>>>>>
>>>>> The first problem is not a problem at all - You don't expect to see any
>>>>> output after the output you posted.
>>>>>
>>>>> If you want to verify that the sensor is on and working, you can run:
>>>>> rostopic hz /camera/depth/points2
>>>>>
>>>>> and you should see output like:
>>>>> subscribed to [/camera/depth/points2]
>>>>> average rate: 30.942
>>>>> min: 0.018s max: 0.039s std dev: 0.00657s window: 10
>>>>> average rate: 30.397
>>>>> min: 0.018s max: 0.039s std dev: 0.00364s window: 40
>>>>> average rate: 30.190
>>>>> min: 0.018s max: 0.041s std dev: 0.00376s window: 70
>>>>> average rate: 30.129
>>>>> that keeps going....
>>>>>
>>>>>
>>>>> The second problem was actually a bug in the manifest.xml file.
>>>>> I fixed it, so you can do the following:
>>>>> roscd hand_interaction
>>>>> svn up
>>>>>
>>>>> and then run rosmake as you did before:
>>>>> rosmake hand_interaction
>>>>>
>>>>> I'm glad you are interested in the hand detection demo, and thank you
>>>>> for pointing out the bug!
>>>>>
>>>>> Garratt
>>>>>
>>>>>
>>>>> On Wed, 2011-01-26 at 10:52 +0800, Shuangqing WU wrote:
>>>>>> Hi ros-kinect mailing list,
>>>>>>
>>>>>> I'm pretty new to kinect, so please excuse my question.
>>>>>> I'm trying to build the KinectDemos and following the steps as show in
>>>>>> General_Installation,
>>>>>>
>>>>>> but encontour some problems in the step about Kinect Compatibility
>>>>>> (http://www.ros.org/wiki/ni#USB_Setup)
>>>>>> when i run the command "roslaunch openni_camera openni_kinect.launch",
>>>>>> (I use the XBOX 360 kinect, and have installed the usb driver
>>>>>> libusb-1.0.8)
>>>>>> My ubuntu 10.04 terminal shows as "problem-1", then stoped and can not move on,
>>>>>>
>>>>>> then i reopen the terminal and try to install a demo about "hand detection",
>>>>>> and run the command "rosmake hand_interaction"
>>>>>> My ubuntu 10.04 terminal shows as "problem-2", one error appears
>>>>>>
>>>>>> when i try to
>>>>>>
>>>>>> Thanks for your kindness and help.
>>>>>> Best regards
>>>>>>
>>>>>>
>>>>>> %===============================================================================================================
>>>>>> problem-1:
>>>>>>
>>>>>> ss@ubuntu:~$ roslaunch openni_camera openni_kinect.launch
>>>>>> ... logging to /home/ss/.ros/log/7ad61308-28f2-11e0-8a38-001d92aaee61/roslaunch-ubuntu-1705.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://ubuntu:55547/
>>>>>>
>>>>>> SUMMARY
>>>>>> ========
>>>>>>
>>>>>> PARAMETERS
>>>>>> * /openni_camera/image_input_format
>>>>>> * /openni_camera/shift_offset
>>>>>> * /openni_camera/projector_depth_baseline
>>>>>> * /openni_camera/depth_rgb_rotation
>>>>>> * /openni_camera/depth_rgb_translation
>>>>>> * /openni_camera/registration_type
>>>>>>
>>>>>> NODES
>>>>>> /
>>>>>> openni_camera (openni_camera/openni_node)
>>>>>> kinect_base_link (tf/static_transform_publisher)
>>>>>> kinect_base_link1 (tf/static_transform_publisher)
>>>>>> kinect_base_link2 (tf/static_transform_publisher)
>>>>>> kinect_base_link3 (tf/static_transform_publisher)
>>>>>>
>>>>>> starting new master (master configured for auto start)
>>>>>> process[master]: started with pid [1719]
>>>>>> ROS_MASTER_URI=http://ubuntu:11311/
>>>>>>
>>>>>> setting /run_id to 7ad61308-28f2-11e0-8a38-001d92aaee61
>>>>>> process[rosout-1]: started with pid [1732]
>>>>>> started core service [/rosout]
>>>>>> process[openni_camera-2]: started with pid [1735]
>>>>>> process[kinect_base_link-3]: started with pid [1736]
>>>>>> process[kinect_base_link1-4]: started with pid [1737]
>>>>>> process[kinect_base_link2-5]: started with pid [1738]
>>>>>> process[kinect_base_link3-6]: started with pid [1739]
>>>>>>
>>>>>> %===============================================================================================================
>>>>>> problem-2:
>>>>>> ss@ubuntu:~$ rosmake hand_interaction
>>>>>> [ rosmake ] Packages requested are: ['hand_interaction']
>>>>>> [ rosmake ] Logging to
>>>>>> directory/home/ss/.ros/rosmake/rosmake_output-20110126-104026
>>>>>> [ rosmake ] Expanded args ['hand_interaction'] to:
>>>>>> ['hand_interaction']
>>>>>> [ rosmake ] Checking rosdeps compliance for packages hand_interaction.
>>>>>> This may take a few seconds.
>>>>>> Failed to find stack for package [ni]
>>>>>> Failed to load rosdep.yaml for package [ni]:Cannot locate installation
>>>>>> of package ni: [rospack] couldn't find package [ni].
>>>>>> ROS_ROOT[/opt/ros/cturtle/ros]
>>>>>> ROS_PACKAGE_PATH[/home/ss/kinect_demos/motion_planning_common:/home/ss/kinect_demos/geometry_experimental:/home/ss/kinect_demos/ros-geometry:/home/ss/kinect_demos/mit-ros-pkg:/home/ss/kinect_demos/point_cloud_perception:/home/ss/kinect_demos/perception_pcl:/home/ss/kinect_demos/perception_pcl_addons:/home/ss/kinect_demos/trunk_cturtle:/home/ss/kinect_demos/ros_experimental:/home/ss/kinect_demos/ni:/opt/ros/cturtle/stacks]
>>>>>> [ rosmake ] rosdep check passed all system dependencies in packages
>>>>>> [rosmake-0] Starting>>> hand_interaction [ make ]
>>>>>> [ rosmake ] All 22 linesand_interaction: 0.5 sec ] [ 1 Active 2/9 Complete ]
>>>>>> [rosmake-1] Starting>>> roslang [ make ]
>>>>>> {-------------------------------------------------------------------------------
>>>>>> mkdir -p bin
>>>>>> cd build&& cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
>>>>>> rosbuild`/rostoolchain.cmake ..
>>>>>> [rosbuild] Building package hand_interaction
>>>>>> Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests
>>>>>> hand_interaction
>>>>>> [rospack] couldn't find dependency [ni] of [hand_interaction]
>>>>>> [rospack] missing dependency
>>>>>>
>>>>>>
>>>>>> CMake Error at /opt/ros/cturtle/ros/core/rosbuild/public.cmake:113 (message):
>>>>>>
>>>>>>
>>>>>> Failed to invoke rospack to get compile flags for package
>>>>>> 'hand_interaction'. Look above for errors from rospack itself. Aborting.
>>>>>> Please fix the broken dependency!
>>>>>>
>>>>>> Call Stack (most recent call first):
>>>>>> /opt/ros/cturtle/ros/core/rosbuild/public.cmake:178
>>>>>> (rosbuild_invoke_rospack)
>>>>>> CMakeLists.txt:12 (rosbuild_init)
>>>>>>
>>>>>>
>>>>>> -- Configuring incomplete, errors occurred!
>>>>>> -------------------------------------------------------------------------------}
>>>>>> [rosmake-1] Finished<<< roslang ROS_NOBUILD in package roslang
>>>>>> No Makefile in package roslang
>>>>>> [ rosmake ] Output from build of package hand_interaction written to:
>>>>>> [ rosmake ] /home/ss/.ros/rosmake/rosmake_output-20110126-104026/hand_interaction/build_output.log
>>>>>> [rosmake-0] Finished<<< hand_interaction [FAIL] [ 0.62 seconds ]
>>>>>> [rosmake-1] Starting>>> roslib [ make ]
>>>>>> [rosmake-1] Finished<<< roslib ROS_NOBUILD in package roslib
>>>>>> [rosmake-1] Starting>>> xmlrpcpp [ make ]
>>>>>> [rosmake-1] Finished<<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
>>>>>> [rosmake-1] Starting>>> rosconsole [ make ]
>>>>>> [ rosmake ] Halting due to failure in package hand_interaction.
>>>>>> [ rosmake ] Waiting for other threads to complete.
>>>>>> [rosmake-1] Finished<<< rosconsole ROS_NOBUILD in package rosconsole
>>>>>> [ rosmake ] Results:
>>>>>> [ rosmake ] Built 7 packages with 1 failures.
>>>>>> [ rosmake ] Summary output to directory
>>>>>> [ rosmake ] /home/ss/.ros/rosmake/rosmake_output-20110126-104026
>>>>>> ss@ubuntu:~$
>>>>>> _______________________________________________
>>>>>> Ros-kinect mailing list
>>>>>> [hidden email]
>>>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> Ros-kinect mailing list
>>>>> [hidden email]
>>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>>>
>>>> _______________________________________________
>>>> Ros-kinect mailing list
>>>> [hidden email]
>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>
>>>
>>> _______________________________________________
>>> Ros-kinect mailing list
>>> [hidden email]
>>> https://code.ros.org/mailman/listinfo/ros-kinect
>>>
>>
>>
>>

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Re: makeShared, make_shared, and Eigen/PCL [Was Re: [Ros-kinect] about about Kinect Compatibility & install a demo]

Radu B. Rusu
Administrator
Daniel,

I added this to http://www.ros.org/wiki/pcl/Troubleshooting

Thanks,
Radu.
--
http://pointclouds.org

On 01/31/2011 04:11 PM, Daniel Stonier wrote:

> Thanks for the secret sauce radu.
>
> This might be good on the pcl faq since it breaks intuition a bit. I only managed to work out what happened so quickly
> because ive run into eigens unaligned messages so often in the last two years.
>
> On Jan 30, 2011 10:10 AM, "Radu Bogdan Rusu" <[hidden email] <mailto:[hidden email]>> wrote:
>  > Just to add to what Daniel said...
>  >
>  > * We are using Eigen for all SSE vectorizations, and Eigen needs to overwrite the operator new for any object that
>  > contains vectorizable Eigen types. See http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html for more information
>  >
>  > * The boost::make_shared allocator does not seem to be affected by the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro (they use
>  > ::new ()), and it is a known limitation (http://lists.boost.org/boost-users/2010/03/57713.php)
>  >
>  > * Everytime we use boost::make_shared instead of EIGEN_MAKE_ALIGNED_OPERATOR_NEW+new, we get alignment errors on 32bit
>  > architectures. Note that 64bit architecture do not suffer from this.
>  >
>  > * cloud.makeShared () basically replaced boost::make_shared with:
>  > inline Ptr makeShared () const { return Ptr (new PointCloud<PointT> (*this)); }
>  >
>  > * Note that in both makeShared, and make_shared cases, you are creating a copy of the data! We recently changed the
>  > tutorials and most of the code in the unit tests to account for this. If you care about efficiency, try to do something
>  > like:
>  >
>  > PointCloud<T>::Ptr foo (new PointCloud<T> ());
>  > PointCloud<T>::Ptr bar (new PointCloud<T> ());
>  >
>  > pcl_object.setInputCloud (foo);
>  > pcl_object.compute (*bar);
>  > pcl_object2.setInputCloud (bar);
>  >
>  > instead of:
>  >
>  > PointCloud<T> foo;
>  > PointCloud<T> bar;
>  >
>  > pcl_object.setInputCloud (foo.makeShared ());
>  > pcl_object.compute (bar);
>  > pcl_object2.setInputCloud (bar.makeShared ());
>  >
>  >
>  >
>  >
>  > Cheers,
>  > Radu.
>  > --
>  > http://pointclouds.org
>  >
>  > On 01/28/2011 12:21 AM, Daniel Stonier wrote:
>  >> I was just playing around with the hand demo as well. I'm using ros
>  >> unstable though, not cturtle, and the hand demo bombs out with an
>  >> eigen3 alignment error. Getting a backtrace points to here:
>  >>
>  >> pcl_tools/src/pcl_utils.cpp:225
>  >>
>  >> extract.setInputCloud (boost::make_shared<pcl::PointCloud<PointT> >
>  >> (cloudin));
>  >>
>  >> Switch to using radu's *enhanced* shared pointer maker!
>  >>
>  >> extract.setInputCloud (cloudin.makeShared());
>  >>
>  >> And everything is sweet. Well, on the surface with about 5 mins of
>  >> digging - I don't know what secret sauce radu used, so there might be
>  >> some addendums, ahems and whatnots associated with this but I'm
>  >> deciding to put my faith in Radu since I've got less than 1hr to
>  >> finish everything today so I can leave on a skiing trip!
>  >>
>  >> Cheers,
>  >> Daniel.
>  >>
>  >> On 28 January 2011 13:59, Garratt<[hidden email] <mailto:[hidden email]>> wrote:
>  >>> Hi Shuangqing,
>  >>>
>  >>>
>  >>> On Fri, 2011-01-28 at 12:30 +0800, Shuangqing WU wrote:
>  >>>> Hi ros-kinect mailing list,
>  >>>> Thanks for your help, but i still have some problems to run the
>  >>>> demo, the log is as follows.
>  >>>> The demos about hand and finger detection are really impressive, ^_^.
>  >>>>
>  >>>> ss@ubuntu:~$ rostopic hz /camera/depth/points2
>  >>>> ERROR: Unable to communicate with master!
>  >>>>
>  >>>>
>  >>>>
>  >>>> ss@ubuntu:~$ rosrun rviz rviz
>  >>>> Could not contact ROS master at [http://localhost:11311],retrying...
>  >>>>
>  >>> For the both of the above situations: you need to run these commands at
>  >>> the same time as you are running the roslaunch command. If you are
>  >>> doing that, make sure your other terminal has the environmental variable
>  >>> ROS_MASTER_URI set
>  >>>
>  >>>
>  >>>>
>  >>>>
>  >>>>
>  >>>> ss@ubuntu:~$ roslaunch hand_interaction hand_detector.launch
>  >>>> ... logging to /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/roslaunch-ubuntu-23572.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://ubuntu:40862/
>  >>>>
>  >>>>
>  >>>> SUMMARY
>  >>>> ========
>  >>>>
>  >>>> PARAMETERS
>  >>>> * /openni_camera/image_input_format
>  >>>> * /openni_camera/shift_offset
>  >>>> * /openni_camera/projector_depth_baseline
>  >>>> * /openni_camera/depth_rgb_rotation
>  >>>> * /openni_camera/depth_rgb_translation
>  >>>> * /openni_camera/registration_type
>  >>>>
>  >>>> NODES
>  >>>> /
>  >>>> openni_camera (openni_camera/openni_node)
>  >>>> kinect_base_link (tf/static_transform_publisher)
>  >>>> kinect_base_link1 (tf/static_transform_publisher)
>  >>>> kinect_base_link2 (tf/static_transform_publisher)
>  >>>> kinect_base_link3 (tf/static_transform_publisher)
>  >>>>
>  >>>> handdetector (hand_interaction/detectskelhands)
>  >>>> ressetter (dynamic_reconfigure/dynparam)
>  >>>> skel_tracker (nifun/tracker)
>  >>>>
>  >>>>
>  >>>> starting new master (master configured for auto start)
>  >>>>
>  >>>> process[master]: started with pid [23586]
>  >>>>
>  >>>> ROS_MASTER_URI=http://ubuntu:11311/
>  >>>>
>  >>>>
>  >>>> setting /run_id to f63e6ab6-29d0-11e0-9a92-001d92aaee61
>  >>>> process[rosout-1]: started with pid [23599]
>  >>>> started core service [/rosout]
>  >>>> process[openni_camera-2]: started with pid [23602]
>  >>>> process[kinect_base_link-3]: started with pid [23603]
>  >>>> process[kinect_base_link1-4]: started with pid [23612]
>  >>>> process[kinect_base_link2-5]: started with pid [23614]
>  >>>> process[kinect_base_link3-6]: started with pid [23615]
>  >>>> process[handdetector-7]: started with pid [23616]
>  >>>> process[ressetter-8]: started with pid [23661]
>  >>>> ERROR: cannot launch node of type [nifun/tracker]: Cannot locate node
>  >>>> of type [tracker] in package [nifun]
>  >>>> [ressetter-8] process has finished cleanly.
>  >>>> log file: /home/ss/.ros/log/f63e6ab6-29d0-11e0-9a92-001d92aaee61/ressetter-8*.log
>  >>>>
>  >>>
>  >>> My bad. The tracker was referring to an old version of the package
>  >>> (which I never caught, because I still have it. doh!)
>  >>>
>  >>> I fixed it. go to hand_interaction, and run svn up
>  >>>
>  >>> cheers
>  >>> Garratt
>  >>>
>  >>>>
>  >>>>
>  >>>>
>  >>>>
>  >>>> On Wed, Jan 26, 2011 at 11:48 AM, Garratt<[hidden email] <mailto:[hidden email]>> wrote:
>  >>>>> Hi Shuangqing,
>  >>>>>
>  >>>>> The first problem is not a problem at all - You don't expect to see any
>  >>>>> output after the output you posted.
>  >>>>>
>  >>>>> If you want to verify that the sensor is on and working, you can run:
>  >>>>> rostopic hz /camera/depth/points2
>  >>>>>
>  >>>>> and you should see output like:
>  >>>>> subscribed to [/camera/depth/points2]
>  >>>>> average rate: 30.942
>  >>>>> min: 0.018s max: 0.039s std dev: 0.00657s window: 10
>  >>>>> average rate: 30.397
>  >>>>> min: 0.018s max: 0.039s std dev: 0.00364s window: 40
>  >>>>> average rate: 30.190
>  >>>>> min: 0.018s max: 0.041s std dev: 0.00376s window: 70
>  >>>>> average rate: 30.129
>  >>>>> that keeps going....
>  >>>>>
>  >>>>>
>  >>>>> The second problem was actually a bug in the manifest.xml file.
>  >>>>> I fixed it, so you can do the following:
>  >>>>> roscd hand_interaction
>  >>>>> svn up
>  >>>>>
>  >>>>> and then run rosmake as you did before:
>  >>>>> rosmake hand_interaction
>  >>>>>
>  >>>>> I'm glad you are interested in the hand detection demo, and thank you
>  >>>>> for pointing out the bug!
>  >>>>>
>  >>>>> Garratt
>  >>>>>
>  >>>>>
>  >>>>> On Wed, 2011-01-26 at 10:52 +0800, Shuangqing WU wrote:
>  >>>>>> Hi ros-kinect mailing list,
>  >>>>>>
>  >>>>>> I'm pretty new to kinect, so please excuse my question.
>  >>>>>> I'm trying to build the KinectDemos and following the steps as show in
>  >>>>>> General_Installation,
>  >>>>>>
>  >>>>>> but encontour some problems in the step about Kinect Compatibility
>  >>>>>> (http://www.ros.org/wiki/ni#USB_Setup)
>  >>>>>> when i run the command "roslaunch openni_camera openni_kinect.launch",
>  >>>>>> (I use the XBOX 360 kinect, and have installed the usb driver
>  >>>>>> libusb-1.0.8)
>  >>>>>> My ubuntu 10.04 terminal shows as "problem-1", then stoped and can not move on,
>  >>>>>>
>  >>>>>> then i reopen the terminal and try to install a demo about "hand detection",
>  >>>>>> and run the command "rosmake hand_interaction"
>  >>>>>> My ubuntu 10.04 terminal shows as "problem-2", one error appears
>  >>>>>>
>  >>>>>> when i try to
>  >>>>>>
>  >>>>>> Thanks for your kindness and help.
>  >>>>>> Best regards
>  >>>>>>
>  >>>>>>
>  >>>>>> %===============================================================================================================
>  >>>>>> problem-1:
>  >>>>>>
>  >>>>>> ss@ubuntu:~$ roslaunch openni_camera openni_kinect.launch
>  >>>>>> ... logging to /home/ss/.ros/log/7ad61308-28f2-11e0-8a38-001d92aaee61/roslaunch-ubuntu-1705.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://ubuntu:55547/
>  >>>>>>
>  >>>>>> SUMMARY
>  >>>>>> ========
>  >>>>>>
>  >>>>>> PARAMETERS
>  >>>>>> * /openni_camera/image_input_format
>  >>>>>> * /openni_camera/shift_offset
>  >>>>>> * /openni_camera/projector_depth_baseline
>  >>>>>> * /openni_camera/depth_rgb_rotation
>  >>>>>> * /openni_camera/depth_rgb_translation
>  >>>>>> * /openni_camera/registration_type
>  >>>>>>
>  >>>>>> NODES
>  >>>>>> /
>  >>>>>> openni_camera (openni_camera/openni_node)
>  >>>>>> kinect_base_link (tf/static_transform_publisher)
>  >>>>>> kinect_base_link1 (tf/static_transform_publisher)
>  >>>>>> kinect_base_link2 (tf/static_transform_publisher)
>  >>>>>> kinect_base_link3 (tf/static_transform_publisher)
>  >>>>>>
>  >>>>>> starting new master (master configured for auto start)
>  >>>>>> process[master]: started with pid [1719]
>  >>>>>> ROS_MASTER_URI=http://ubuntu:11311/
>  >>>>>>
>  >>>>>> setting /run_id to 7ad61308-28f2-11e0-8a38-001d92aaee61
>  >>>>>> process[rosout-1]: started with pid [1732]
>  >>>>>> started core service [/rosout]
>  >>>>>> process[openni_camera-2]: started with pid [1735]
>  >>>>>> process[kinect_base_link-3]: started with pid [1736]
>  >>>>>> process[kinect_base_link1-4]: started with pid [1737]
>  >>>>>> process[kinect_base_link2-5]: started with pid [1738]
>  >>>>>> process[kinect_base_link3-6]: started with pid [1739]
>  >>>>>>
>  >>>>>> %===============================================================================================================
>  >>>>>> problem-2:
>  >>>>>> ss@ubuntu:~$ rosmake hand_interaction
>  >>>>>> [ rosmake ] Packages requested are: ['hand_interaction']
>  >>>>>> [ rosmake ] Logging to
>  >>>>>> directory/home/ss/.ros/rosmake/rosmake_output-20110126-104026
>  >>>>>> [ rosmake ] Expanded args ['hand_interaction'] to:
>  >>>>>> ['hand_interaction']
>  >>>>>> [ rosmake ] Checking rosdeps compliance for packages hand_interaction.
>  >>>>>> This may take a few seconds.
>  >>>>>> Failed to find stack for package [ni]
>  >>>>>> Failed to load rosdep.yaml for package [ni]:Cannot locate installation
>  >>>>>> of package ni: [rospack] couldn't find package [ni].
>  >>>>>> ROS_ROOT[/opt/ros/cturtle/ros]
>  >>>>>>
> ROS_PACKAGE_PATH[/home/ss/kinect_demos/motion_planning_common:/home/ss/kinect_demos/geometry_experimental:/home/ss/kinect_demos/ros-geometry:/home/ss/kinect_demos/mit-ros-pkg:/home/ss/kinect_demos/point_cloud_perception:/home/ss/kinect_demos/perception_pcl:/home/ss/kinect_demos/perception_pcl_addons:/home/ss/kinect_demos/trunk_cturtle:/home/ss/kinect_demos/ros_experimental:/home/ss/kinect_demos/ni:/opt/ros/cturtle/stacks]
>  >>>>>> [ rosmake ] rosdep check passed all system dependencies in packages
>  >>>>>> [rosmake-0] Starting>>> hand_interaction [ make ]
>  >>>>>> [ rosmake ] All 22 linesand_interaction: 0.5 sec ] [ 1 Active 2/9 Complete ]
>  >>>>>> [rosmake-1] Starting>>> roslang [ make ]
>  >>>>>> {-------------------------------------------------------------------------------
>  >>>>>> mkdir -p bin
>  >>>>>> cd build&& cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
>  >>>>>> rosbuild`/rostoolchain.cmake ..
>  >>>>>> [rosbuild] Building package hand_interaction
>  >>>>>> Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests
>  >>>>>> hand_interaction
>  >>>>>> [rospack] couldn't find dependency [ni] of [hand_interaction]
>  >>>>>> [rospack] missing dependency
>  >>>>>>
>  >>>>>>
>  >>>>>> CMake Error at /opt/ros/cturtle/ros/core/rosbuild/public.cmake:113 (message):
>  >>>>>>
>  >>>>>>
>  >>>>>> Failed to invoke rospack to get compile flags for package
>  >>>>>> 'hand_interaction'. Look above for errors from rospack itself. Aborting.
>  >>>>>> Please fix the broken dependency!
>  >>>>>>
>  >>>>>> Call Stack (most recent call first):
>  >>>>>> /opt/ros/cturtle/ros/core/rosbuild/public.cmake:178
>  >>>>>> (rosbuild_invoke_rospack)
>  >>>>>> CMakeLists.txt:12 (rosbuild_init)
>  >>>>>>
>  >>>>>>
>  >>>>>> -- Configuring incomplete, errors occurred!
>  >>>>>> -------------------------------------------------------------------------------}
>  >>>>>> [rosmake-1] Finished<<< roslang ROS_NOBUILD in package roslang
>  >>>>>> No Makefile in package roslang
>  >>>>>> [ rosmake ] Output from build of package hand_interaction written to:
>  >>>>>> [ rosmake ] /home/ss/.ros/rosmake/rosmake_output-20110126-104026/hand_interaction/build_output.log
>  >>>>>> [rosmake-0] Finished<<< hand_interaction [FAIL] [ 0.62 seconds ]
>  >>>>>> [rosmake-1] Starting>>> roslib [ make ]
>  >>>>>> [rosmake-1] Finished<<< roslib ROS_NOBUILD in package roslib
>  >>>>>> [rosmake-1] Starting>>> xmlrpcpp [ make ]
>  >>>>>> [rosmake-1] Finished<<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
>  >>>>>> [rosmake-1] Starting>>> rosconsole [ make ]
>  >>>>>> [ rosmake ] Halting due to failure in package hand_interaction.
>  >>>>>> [ rosmake ] Waiting for other threads to complete.
>  >>>>>> [rosmake-1] Finished<<< rosconsole ROS_NOBUILD in package rosconsole
>  >>>>>> [ rosmake ] Results:
>  >>>>>> [ rosmake ] Built 7 packages with 1 failures.
>  >>>>>> [ rosmake ] Summary output to directory
>  >>>>>> [ rosmake ] /home/ss/.ros/rosmake/rosmake_output-20110126-104026
>  >>>>>> ss@ubuntu:~$
>  >>>>>> _______________________________________________
>  >>>>>> Ros-kinect mailing list
>  >>>>>> [hidden email] <mailto:[hidden email]>
>  >>>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>  >>>>>
>  >>>>>
>  >>>>> _______________________________________________
>  >>>>> Ros-kinect mailing list
>  >>>>> [hidden email] <mailto:[hidden email]>
>  >>>>> https://code.ros.org/mailman/listinfo/ros-kinect
>  >>>>>
>  >>>> _______________________________________________
>  >>>> Ros-kinect mailing list
>  >>>> [hidden email] <mailto:[hidden email]>
>  >>>> https://code.ros.org/mailman/listinfo/ros-kinect
>  >>>
>  >>>
>  >>> _______________________________________________
>  >>> Ros-kinect mailing list
>  >>> [hidden email] <mailto:[hidden email]>
>  >>> https://code.ros.org/mailman/listinfo/ros-kinect
>  >>>
>  >>
>  >>
>  >>
_______________________________________________
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Re: makeShared, make_shared, and Eigen/PCL [Was Re: [Ros-kinect] about about Kinect Compatibility & install a demo]

Troy Straszheim
On Mon, Jan 31, 2011 at 5:43 PM, Radu Bogdan Rusu <[hidden email]> wrote:
> Daniel,
>
> I added this to http://www.ros.org/wiki/pcl/Troubleshooting
>
> Thanks,
> Radu.

I haven't looked in to this at all, but this thread:

  http://lists.boost.org/boost-users/2011/02/66076.php

may turn out to be relevant...

Troy
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