ROS实验笔记之——DAVIS346测试

Posted 2021-10-14 gwpscut

tags:

篇首语：本文由小常识网(cha138.com)小编为大家整理，主要介绍了ROS实验笔记之——DAVIS346测试相关的知识，希望对你有一定的参考价值。

之前博客《ROS学习笔记之——ESVO复现及DAVIS346测试》介绍了dvs驱动的安装。本博文对到手的时间相机进行测试。

运行命令

roslaunch dvs_renderer davis_mono.launch

但是运行的时候出现报错

[ WARN] [1632472696.858249337]: Camera calibration file /home/kwanwaipang/.ros/camera_info/DAVIS-00000589.yaml not found.
[davis_ros_driver-2] process has died [pid 17121, exit code -11, cmd /home/kwanwaipang/catkin_ws_dvs/devel/lib/davis_ros_driver/davis_ros_driver __name:=davis_ros_driver __log:=/home/kwanwaipang/.ros/log/c2d23e32-1d12-11ec-80e4-4074e020cd12/davis_ros_driver-2.log].
log file: /home/kwanwaipang/.ros/log/c2d23e32-1d12-11ec-80e4-4074e020cd12/davis_ros_driver-2*.log

而且很奇怪的是，不插入相机就说找不到设备，一插入马上报错，且运行数据集是没有问题的。。。。

通过参考这个（GitHub - uzh-rpg/rpg_dvs_ros at colour_davis346）发现有些个依赖还没安装

在这里GitHub - duguyue100/rpg_dvs_ros: ROS packages for DVS可以安装libcaer_catkin

但一顿操作下来，还是不可以。。。。。。。

决定更换一台电脑，重装试试。安装ros可以参考（Ubuntu18.04 LTS安装ROS melodic和turtlebot3_ZWYZG的博客-CSDN博客）

更加全面地设置可以如下所示：

# Set ROS Melodic 注意，~/catkin_ws/devel/setup.bash文件在catkin_make编译后才会产生

source /opt/ros/melodic/setup.bash 

source ~/catkin_ws/devel/setup.bash

# Set ROS Network 注意，此处ROS_HOSTNAME为此计算机在局域网中的IP地址，ROS_MASTER_URI为主节点在局域网中的IP地址，均可设置为环回地址localhost，可以视需要而设定在不同的计算机上

export ROS_HOSTNAME=xxx.xxx.xxx.xxx

export ROS_MASTER_URI=http://xxx.xxx.xxx.xxx:11311

# Set ROS alias command 设置快捷命令

alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

接下来配置看看～～～

安装之前可以先试试把驱动安装了

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo add-apt-repository ppa:inivation-ppa/inivation-bionic
sudo apt-get update
sudo apt-get install dv-gui

如果打算自己做开发，可以安装开发包

sudo apt-get install dv-runtime-dev

5.连接好事件相机，运行dv-gui

dv-gui

这个应该是没有问题的，前面测试过也ok

安装成功后，按照这里配置（GitHub - uzh-rpg/rpg_dvs_ros at colour_davis346）

sudo apt-get install libusb-1.0-0-dev
sudo apt-get install ros-melodic-camera-info-manager
sudo apt-get install ros-melodic-image-view
sudo apt-get install python-catkin-tools
sudo apt-get install libcaer-dev

cd
mkdir -p catkin_ws/src
cd catkin_ws
catkin config --init --mkdirs --extend /opt/ros/melodic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

 cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git


cd ~/catkin_ws/src
git clone https://github.com/uzh-rpg/rpg_dvs_ros.git
//把github里面的包放到空间内


catkin build dvs_ros_driver (if you are using the DVS)
catkin build davis_ros_driver (if you are using the DAVIS)

roscd libcaer_catkin (need to source your setup.bash file first, or just do $ cd libcaer_catkin)
sudo ./install.sh


catkin build dvs_renderer
source ~/catkin_ws/devel/setup.bash


roslaunch dvs_renderer dvs_mono.launch (if you are using the DVS)
roslaunch dvs_renderer davis_mono.launch (if you are using the DAVIS)

rosrun rqt_reconfigure rqt_reconfigure

最终在（Connection to node=/davis_ros_driver failed: param client failed - Giters）找到了答案！

作者12小时前答复说到

Hello, the issue is most probably the new version of Boost we have in our iniVation PPA repository, a package called 'boost-inivation'. The ROS build system seems to get confused about which Boost to use at compile and runtime, which leads to this crash.
A quick fix is to uninstall the 'boost-inivation' package, then clean and rebuild the ROS packages, then they should work again.

通过sudo apt-get remove即可卸载，卸载后，该包是work的。