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2849666561 发布的最新帖子
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RE: 运行handeye-calib:ImportError: dynamic module does not define module export function (PyInit__tf2)
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运行handeye-calib:ImportError: dynamic module does not define module export function (PyInit__tf2)
请问是什么情况鸭 melodic+python3.6.9(virtualenv虚拟环境运行的)
wheeltec-client@ubuntu:~/Desktop/handeye-calib$ roslaunch handeye-calib online_hand_to_eye_calib.launch ... logging to /home/wheeltec-client/.ros/log/70b5941e-4d26-11ee-9f7b-000c29bc7a6b/roslaunch-ubuntu-34491.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.0.100:44971/ SUMMARY ======== PARAMETERS * /online_hand_to_eye_calib/arm_pose_topic: /arm_pose * /online_hand_to_eye_calib/camera_pose_topic: /aruco_single/pose * /rosdistro: melodic * /rosversion: 1.14.13 * /tf_to_pose/arm_pose_topic: /arm_pose * /tf_to_pose/base_link: /base_link * /tf_to_pose/end_link: /link5 NODES / online_hand_to_eye_calib (handeye-calib/online_hand_to_eye_calib.py) tf_to_pose (handeye-calib/tf_to_pose.py) ROS_MASTER_URI=http://192.168.0.100:11311 process[online_hand_to_eye_calib-1]: started with pid [34506] process[tf_to_pose-2]: started with pid [34507] Traceback (most recent call last): File "/home/wheeltec-client/Desktop/handeye-calib/src/handeye-calib/src/handeye/tf_to_pose.py", line 9, in <module> import tf File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/__init__.py", line 30, in <module> from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module> from tf2_py import * File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module> from ._tf2 import * ImportError: dynamic module does not define module export function (PyInit__tf2) ====================================================== 欢迎使用手眼标定程序,我是小鱼 学习机器人一定要关注公众号鱼香ROS 回复手眼标定可获得算法推导及实现 ------------------------------------------------------ 本程序中相关坐标系定义解析 base_link:机械臂基坐标系(一般在固定在机器人底座) end_link :机械臂末端坐标系(可在launch中配置) camera :相机坐标系 marker :标定版所在坐标系 ====================================================== [INFO] [1694053849.133065]: 手眼标定需要两个位置和姿态,一个是机械臂末端的位姿,将从话题/arm_pose中获取 ,另一个相机中标定版的位置姿态将从话题/aruco_single/pose获取,所以请确保两个话题有数据 [tf_to_pose-2] process has died [pid 34507, exit code 1, cmd /home/wheeltec-client/Desktop/handeye-calib/src/handeye-calib/src/handeye/tf_to_pose.py __name:=tf_to_pose __log:=/home/wheeltec-client/.ros/log/70b5941e-4d26-11ee-9f7b-000c29bc7a6b/tf_to_pose-2.log]. log file: /home/wheeltec-client/.ros/log/70b5941e-4d26-11ee-9f7b-000c29bc7a6b/tf_to_pose-2*.log [INFO] [1694053850.136647]: 等待机械臂位置和姿态话题到位 ... ^C[online_hand_to_eye_calib-1] killing on exit [INFO] [1694053859.546004]: 等待机械臂位置和姿态话题到位 ... shutting down processing monitor... ... shutting down processing monitor complete done wheeltec-client@ubuntu:~/Desktop/handeye-calib$
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求助handeye-calib的aruco result没有结果啥情况
我用的Astra Pro,运行了aruco_start_realsense_sdk.launch(内容修改了放下面)
<launch> <include file="$(find astra_camera)/launch/astra_pro.launch"> <arg name="enable_depth" value="false" /> </include> <arg name="markerId" default="6"/> <arg name="markerSize" default="0.100"/> <arg name="eye" default="left"/> <arg name="marker_frame" default="aruco_marker_frame"/> <arg name="ref_frame" default=""/> <arg name="corner_refinement" default="LINES" /> <node pkg="aruco_ros" type="single" name="aruco_single"> <remap from="/camera_info" to="/camera/color/camera_info" /> <remap from="/image" to="/camera/color/image_raw" /> <param name="image_is_rectified" value="True"/> <param name="marker_size" value="$(arg markerSize)"/> <param name="marker_id" value="$(arg markerId)"/> <param name="reference_frame" value="$(arg ref_frame)"/> <param name="camera_frame" value="stereo_gazebo_$(arg eye)_camera_optical_frame"/> <param name="marker_frame" value="$(arg marker_frame)" /> <param name="corner_refinement" value="$(arg corner_refinement)" /> </node> <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> <remap from="image" to="/aruco_single/result"/> <param name="autosize" value="true" /> </node> </launch>
但是在结果中并没有识别到我的aruco啥情况
启动节点相关信息贴在下面wheeltec-client@ubuntu:~/Desktop/handeye-calib$ roslaunch handeye-calib aruco_start_realsense_sdk.launch ... logging to /home/wheeltec-client/.ros/log/f18563ce-4be8-11ee-ba1e-000c29bc7a6b/roslaunch-ubuntu-5778.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.0.100:38889/ SUMMARY ======== PARAMETERS * /aruco_single/camera_frame: stereo_gazebo_lef... * /aruco_single/corner_refinement: LINES * /aruco_single/image_is_rectified: True * /aruco_single/marker_frame: aruco_marker_frame * /aruco_single/marker_id: 6 * /aruco_single/marker_size: 0.1 * /aruco_single/reference_frame: * /camera/camera/camera_name: camera * /camera/camera/color_depth_synchronization: False * /camera/camera/color_format: RGB * /camera/camera/color_fps: 30 * /camera/camera/color_height: 480 * /camera/camera/color_info_uri: * /camera/camera/color_roi_height: -1 * /camera/camera/color_roi_width: -1 * /camera/camera/color_roi_x: -1 * /camera/camera/color_roi_y: -1 * /camera/camera/color_width: 640 * /camera/camera/connection_delay: 100 * /camera/camera/depth_align: False * /camera/camera/depth_format: Y11 * /camera/camera/depth_fps: 30 * /camera/camera/depth_height: 480 * /camera/camera/depth_roi_height: -1 * /camera/camera/depth_roi_width: -1 * /camera/camera/depth_roi_x: -1 * /camera/camera/depth_roi_y: -1 * /camera/camera/depth_scale: 1 * /camera/camera/depth_width: 640 * /camera/camera/device_num: 1 * /camera/camera/enable_color: True * /camera/camera/enable_d2c_viewer: False * /camera/camera/enable_depth: False * /camera/camera/enable_ir: True * /camera/camera/enable_point_cloud: True * /camera/camera/enable_point_cloud_xyzrgb: False * /camera/camera/enable_publish_extrinsic: False * /camera/camera/flip_color: False * /camera/camera/flip_depth: False * /camera/camera/flip_ir: False * /camera/camera/ir_format: Y10 * /camera/camera/ir_fps: 30 * /camera/camera/ir_height: 480 * /camera/camera/ir_info_uri: * /camera/camera/ir_width: 640 * /camera/camera/oni_log_level: verbose * /camera/camera/oni_log_to_console: False * /camera/camera/oni_log_to_file: False * /camera/camera/product_id: 0 * /camera/camera/publish_tf: True * /camera/camera/serial_number: * /camera/camera/tf_publish_rate: 10.0 * /camera/camera/use_uvc_camera: True * /camera/camera/uvc_camera_format: mjpeg * /camera/camera/uvc_flip: False * /camera/camera/uvc_product_id: 0x0501 * /camera/camera/uvc_retry_count: 100 * /camera/camera/uvc_vendor_id: 0x2bc5 * /camera/camera/vendor_id: 0 * /image_view/autosize: True * /rosdistro: melodic * /rosversion: 1.14.13 NODES / aruco_single (aruco_ros/single) image_view (image_view/image_view) /camera/ camera (astra_camera/astra_camera_node) auto-starting new master process[master]: started with pid [5788] ROS_MASTER_URI=http://192.168.0.100:11311 setting /run_id to f18563ce-4be8-11ee-ba1e-000c29bc7a6b process[rosout-1]: started with pid [5799] started core service [/rosout] process[camera/camera-2]: started with pid [5806] process[aruco_single-3]: started with pid [5807] process[image_view-4]: started with pid [5808] [ INFO] [1693917435.719332857]: Initializing nodelet with 8 worker threads. [ INFO] [1693917435.722082159]: Starting camera node... [ INFO] [1693917435.725723763]: Creating camera node... [ INFO] [1693917435.726993259]: OBCameraNodeFactory::OBCameraNodeFactory [ INFO] [1693917435.727017125]: Initializing OBCameraNodeFactory... [ INFO] [1693917435.736957529]: init Done [ INFO] [1693917435.737009909]: Creating camera node done... [ INFO] [1693917435.737055413]: Query device [ INFO] [1693917435.737101052]: Found 1 devices [ INFO] [1693917435.737128977]: Device connected: (name, Astra) (uri, 2bc5/0403@3/8) (vendor, Orbbec) [ INFO] [1693917435.737157659]: Trying to open device: 2bc5/0403@3/8 [ WARN] [1693917435.758409897]: Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated [ INFO] [1693917435.777154523]: Using transport "raw" [ WARN] [1693917435.797969694]: normalizeImageIllumination is unimplemented! [ INFO] [1693917435.837597725]: OBCameraNodeFactory::onDeviceConnected Open device start Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1693917435.908076975]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 0 [ INFO] [1693917435.908131452]: Device connected: Astra serial number: AC29B13006H [ INFO] [1693917435.908143750]: Start device [ INFO] [1693917435.922428941]: Stream depth is disabled [ INFO] [1693917435.930971520]: set ir video mode Resolution :640x480@30Hz format PIXEL_FORMAT_GRAY8 [ INFO] [1693917435.932176716]: OBCameraNode::setupUVCCamera [ WARN] [1693917435.932231930]: Publishing dynamic camera transforms (/tf) at 10 Hz [ INFO] [1693917435.941890823]: open uvc camera [ INFO] [1693917436.016246721]: uvc config: vendor_id: 2bc5 product_id: 501 width: 640 height: 480 fps: 30 serial_number: AC29B13006H format: mjpeg [ INFO] [1693917436.071739191]: open camera success [ INFO] [1693917436.071822644]: using default calibration URL [ INFO] [1693917436.071854523]: camera calibration URL: file:///home/wheeltec-client/.ros/camera_info/rgb_camera.yaml [ INFO] [1693917436.101592414]: using default calibration URL [ INFO] [1693917436.101639678]: camera calibration URL: file:///home/wheeltec-client/.ros/camera_info/ir_camera.yaml [ INFO] [1693917436.101988454]: OBCameraNode initialized [ INFO] [1693917436.102036440]: Start device done [ INFO] [1693917436.215100515]: Image stream color subscribed [ INFO] [1693917436.215138519]: UVCCameraDriver image subscribed [ INFO] [1693917436.233684665]: set uvc mode 640x480@30 format mjpeg ^C[image_view-4] killing on exit [aruco_single-3] killing on exit [camera/camera-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done