Skeletal_tracker crashes

edit

Hello,

I'm trying to make the hand_interaction demos working but it still doesn't even if I follow exactly the instruction of http://www.ros.org/wiki/mit-ros-pkg/K... .

I installed DiamondBack on Ubuntu 10.10. I can't use 10.04 because I need the multitouch support for my project.

The openni_kinect stacks of the ros installation works perfectly fine. But the demos doesn't. I want to use the hand_detection tracking because it seems more performant that the openni_tracker alone.

When launching hand_detector, I noticed that the process skeletal_tracker was always relaunching:

quentin@desktop-quentin:~/kinect_demos/mit-ros-pkg-experimental/nifun$ roslaunch hand_interaction hand_detector.launch
... logging to /home/quentin/.ros/log/945ec950-65c4-11e0-ad85-643150236fec/roslaunch-desktop-quentin-3919.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://desktop-quentin:52801/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /openni_node1/use_indices
 * /openni_node1/depth_registration
 * /openni_node1/image_time_offset
 * /openni_node1/depth_frame_id
 * /openni_node1/depth_mode
 * /openni_node1/debayering
 * /rosversion
 * /openni_node1/projector_depth_baseline
 * /openni_node1/rgb_frame_id
 * /openni_node1/depth_rgb_translation
 * /openni_node1/depth_time_offset
 * /openni_node1/image_mode
 * /openni_node1/shift_offset
 * /openni_node1/device_id
 * /openni_node1/depth_rgb_rotation

NODES
  /
    openni_node1 (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 (skeletal_tracker/tracker)

auto-starting new master
process[master]: started with pid [3933]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 945ec950-65c4-11e0-ad85-643150236fec
process[rosout-1]: started with pid [3946]
started core service [/rosout]
process[openni_node1-2]: started with pid [3953]
process[kinect_base_link-3]: started with pid [3955]
process[kinect_base_link1-4]: started with pid [3959]
process[kinect_base_link2-5]: started with pid [3960]
process[kinect_base_link3-6]: started with pid [3962]
process[handdetector-7]: started with pid [3972]
process[ressetter-8]: started with pid [3974]
process[skel_tracker-9]: started with pid [3975]
[/openni_node1] Number devices connected: 1
Warning: recursive print statement has occurred.  Throwing out recursive print.
Warning: recursive print statement has occurred.  Throwing out recursive print.
Waiting for service /openni_camera/set_parameters...
Warning: recursive print statement has occurred.  Throwing out recursive print.
Warning: recursive print statement has occurred.  Throwing out recursive print.
Warning: recursive print statement has occurred.  Throwing out recursive print.
InitFromXml failed: File not found!
[skel_tracker-9] process has died [pid 3975, exit code 4].
log files: /home/quentin/.ros/log/945ec950-65c4-11e0-ad85-643150236fec/skel_tracker-9*.log
respawning...
[skel_tracker-9] restarting process
process[skel_tracker-9]: started with pid [4299]

etc...

I tried to launch this node alone and got this:

quentin@desktop-quentin:/opt/ros/diamondback/stacks/openni_kinect/openni_tracker$ roslaunch skeletal_tracker follower.launch 
... logging to /home/quentin/.ros/log/c051c732-65c5-11e0-826c-643150236fec/roslaunch-desktop-quentin-4554.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://desktop-quentin:33809/

SUMMARY
========

PARAMETERS
 * /rosversion
 * /rosdistro

NODES
  /
    skel_tracker (nifun/tracker)
    follower (nifun/faceme.py)
    create_driver (irobot_create_2_1/driver.py)
    kinect_to_create_tf (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [4568]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c051c732-65c5-11e0-826c-643150236fec
process[rosout-1]: started with pid [4581]
started core service [/rosout]
ERROR: cannot launch node of type [nifun/tracker]: Cannot locate node of type [tracker] in package [nifun]
process[follower-3]: started with pid [4584]
ERROR: cannot launch ...