Hi @Ceepert
I updated the instructions in the ReadMe file just now. Please do the following-

* You need to make Python scripts executable as stated [here](https://github.com/ravijo/ros_openpose#installation).

* Please edit `run.launch` to update `openpose_model_dir` as stated [here](https://github.com/ravijo/ros_openpose#configuration).

Let me know if the problem persists.

Yeah the old errors disappeared, but now the node crashes after a second with this:

SUMMARY

PARAMETERS

• /echo/pub_topic: /frame
• /rosOpenpose/cam_info_topic: cam_info_topic
• /rosOpenpose/color_topic: /cv_camera/image_raw
• /rosOpenpose/depth_topic: depth_topic
• /rosOpenpose/frame_id: no_depth
• /rosOpenpose/no_depth: True
• /rosOpenpose/openpose_model_dir: /home/student/Des...
• /rosOpenpose/pub_topic: /frame
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
echo (ros_openpose/echo.py)
rosOpenpose (ros_openpose/rosOpenpose)

ROS_MASTER_URI=http://localhost:11311

WARNING:

Package name "psTutorial" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosOpenpose-1]: started with pid [15685]
process[echo-2]: started with pid [15686]
[ INFO] [1583408577.440885207]: Starting ros_openpose...
Auto-detecting all available GPUs... Detected 1 GPU(s), using 1 of them starting at GPU 0.
[ WARN] [1583408577.467630423]: Empty color image frame detected. Ignoring...
================================================================================REQUIRED process [rosOpenpose-1] has died!
process has died [pid 15685, exit code -11, cmd /home/student/catkin_workspace/devel/lib/ros_openpose/rosOpenpose __name:=rosOpenpose __log:=/home/student/.ros/log/5ad528ae-5ed6-11ea-a7cf-48a4727f27d1/rosOpenpose-1.log].
log file: /home/student/.ros/log/5ad528ae-5ed6-11ea-a7cf-48a4727f27d1/rosOpenpose-1*.log
Initiating shutdown!
[echo-2] killing on exit
[rosOpenpose-1] killing on exit

I guess you have solved this problem. But I post the answer in here anyway.
The error comes from the opencv issue. Openpose compiles with the system opencv. But this ros package compiles with the ros opencv.
The solution is that compiling openpose against the ros opencv instead of the system opencv.
You can OpenCV_DIR=/opt/ros/kinetic/share/OpenCV-3.3.1-dev when running cmake.
I used cmake to build and install openpose:
RUN mkdir -p $OPEN_POSE/build && cd $OPEN_POSE/build && cmake -DOpenCV_DIR=/opt/ros/kinetic/share/OpenCV-3.3.1-dev .. && cd $OPEN_POSE/build && make -j8 && make install

from ros_openpose.

Considering it mentiones "ravi" in the directory, could it be that you by accident hard coded the path somewhere? Considering your name is ravijo

from ros_openpose.

Hi @Ceepert

I updated the instructions in the ReadMe file just now. Please do the following-

• You need to make Python scripts executable as stated here.
• Please edit run.launch to update openpose_model_dir as stated here.

Let me know if the problem persists.

from ros_openpose.

Hi @Ceepert

I updated the instructions in the ReadMe file just now. Please do the following-

* You need to make Python scripts executable as stated [here](https://github.com/ravijo/ros_openpose#installation).

* Please edit `run.launch` to update `openpose_model_dir` as stated [here](https://github.com/ravijo/ros_openpose#configuration).

Let me know if the problem persists.

Yeah the old errors disappeared, but now the node crashes after a second with this:

SUMMARY

PARAMETERS

• /echo/pub_topic: /frame
• /rosOpenpose/cam_info_topic: cam_info_topic
• /rosOpenpose/color_topic: /cv_camera/image_raw
• /rosOpenpose/depth_topic: depth_topic
• /rosOpenpose/frame_id: no_depth
• /rosOpenpose/no_depth: True
• /rosOpenpose/openpose_model_dir: /home/student/Des...
• /rosOpenpose/pub_topic: /frame
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
echo (ros_openpose/echo.py)
rosOpenpose (ros_openpose/rosOpenpose)

ROS_MASTER_URI=http://localhost:11311

WARNING:
Package name "psTutorial" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosOpenpose-1]: started with pid [15685]
process[echo-2]: started with pid [15686]
[ INFO] [1583408577.440885207]: Starting ros_openpose...
Auto-detecting all available GPUs... Detected 1 GPU(s), using 1 of them starting at GPU 0.
[ WARN] [1583408577.467630423]: Empty color image frame detected. Ignoring...
================================================================================REQUIRED process [rosOpenpose-1] has died!
process has died [pid 15685, exit code -11, cmd /home/student/catkin_workspace/devel/lib/ros_openpose/rosOpenpose __name:=rosOpenpose __log:=/home/student/.ros/log/5ad528ae-5ed6-11ea-a7cf-48a4727f27d1/rosOpenpose-1.log].
log file: /home/student/.ros/log/5ad528ae-5ed6-11ea-a7cf-48a4727f27d1/rosOpenpose-1*.log
Initiating shutdown!

[echo-2] killing on exit
[rosOpenpose-1] killing on exit

from ros_openpose.

1. The package is unable to get images from your camera. As per your question, the color_topic is /cv_camera/image_raw. Therefore, please check if the topic is correct by executing the following command-

rosrun image_view image_view image:=/cv_camera/image_raw

A window should pop up and you should see realtime images.

2. You have a package called psTutorial which is showing the warning.

3. Nevertheless, ros_openpose should not stop even if there is no image.

from ros_openpose.

1. The package is unable to get images from your camera. As per your question, the `color_topic` is `/cv_camera/image_raw`. Therefore, please check if the topic is correct by executing the following command-

rosrun image_view image_view image:=/cv_camera/image_raw

A window should pop up and you should see realtime images.

1. You have a package called `psTutorial` which is showing the warning.

2. Nevertheless, ros_openpose should not stop even if there is no image.

I tried that and I do see the realtime image of my webcam.
And the psTutorial warning as far as i can see is only a namingconvetion warning as it has upper case letters in it

from ros_openpose.

Can you please post the complete output as shown in terminal?

from ros_openpose.

Can you please post the complete output as shown in terminal?

Sure:(man, why is the warning in bold...)

student@student-GL73-8SE:~$ roslaunch ros_openpose run.launch camera:=nodepth
WARNING: Package name "psTutorial" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /home/student/.ros/log/16a64760-5eec-11ea-bf7c-48a4727f27d1/roslaunch-student-GL73-8SE-2540.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.

WARNING: Package name "psTutorial" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://student-GL73-8SE:39071/

SUMMARY
========

PARAMETERS
 * /echo/pub_topic: /frame
 * /rosOpenpose/cam_info_topic: cam_info_topic
 * /rosOpenpose/color_topic: /cv_camera/image_raw
 * /rosOpenpose/depth_topic: depth_topic
 * /rosOpenpose/frame_id: no_depth
 * /rosOpenpose/no_depth: True
 * /rosOpenpose/openpose_model_dir: /home/student/Des...
 * /rosOpenpose/pub_topic: /frame
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    echo (ros_openpose/echo.py)
    rosOpenpose (ros_openpose/rosOpenpose)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "psTutorial" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosOpenpose-1]: started with pid [2557]
process[echo-2]: started with pid [2558]
[ INFO] [1583417885.332686373]: Starting ros_openpose...
Auto-detecting all available GPUs... Detected 1 GPU(s), using 1 of them starting at GPU 0.
[ WARN] [1583417885.375693820]: Empty color image frame detected. Ignoring...
================================================================================REQUIRED process [rosOpenpose-1] has died!
process has died [pid 2557, exit code -11, cmd /home/student/catkin_workspace/devel/lib/ros_openpose/rosOpenpose --face __name:=rosOpenpose __log:=/home/student/.ros/log/16a64760-5eec-11ea-bf7c-48a4727f27d1/rosOpenpose-1.log].
log file: /home/student/.ros/log/16a64760-5eec-11ea-bf7c-48a4727f27d1/rosOpenpose-1*.log
Initiating shutdown!
================================================================================
[echo-2] killing on exit
[rosOpenpose-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

from ros_openpose.

Sure:(man, why is the warning in bold...)

The output should be written inside three backquotes.

Anyway, the output is strange. The package is not able to get the RGB image frame. Are you sure that the webcam images are RGB color (not monochrome)?

Furthermore, it is better to run the code inside a debugger for better understanding. Please do the following-

1. Please add launch-prefix="gdb -ex run --args" attribute to the tag inside core.launch file. Please see below the example-

<node name="rosOpenpose" pkg="ros_openpose" type="rosOpenpose" output="screen" required="true" args="$(arg openpose_args)" >

Please change it to the following-

<node launch-prefix="gdb -ex run --args" name="rosOpenpose" pkg="ros_openpose" type="rosOpenpose" output="screen" required="true" args="$(arg openpose_args)" >

2. Generate symbol table for better debugging by recompiling the package using following command-

catkin_make  -DCMAKE_BUILD_TYPE=RelWithDebInfo --pkg ros_openpose

If this doesn't work, please use the following command-

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo --only-pkg-with-deps ros_openpose

3. Run the main launch file as usual by using the following command-

roslaunch ros_openpose run.launch camera:=nodepth

When you see that the program stopped, please type bt full inside the GDB terminal. Please share the complete information via email. My email is mentioned here.

from ros_openpose.

Hi @Ceepert

I suspect the OpenPose installation in your machine. Can you please make sure that OpenPose is working on your machine.

Also, are you sure that the webcam images are in RGB colors (not monochrome)? If this is the case, then I can put a conditional statement to check the number of channels in the input image instead of assuming it RGB (to be precise bgr8 in OpenCV terms). Please confirm.

Well, I have tested the package with a webcam and it works like a charm. I only needed to change color_topic inside config_nodepth.launch file. (I used usb_cam package to get the images from the webcam.)

I also checked the package with incorrect color_topic and found that the OpenPose window pops up but reports the following message in the terminal Empty color image frame detected. Ignoring.... Please note that the program doesn't die and waits for the images, as expected.

from ros_openpose.

Hi @Ceepert

I suspect the OpenPose installation in your machine. Can you please make sure that OpenPose is working on your machine.

Also, are you sure that the webcam images are in RGB colors (not monochrome)? If this is the case, then I can put a conditional statement to check the number of channels in the input image instead of assuming it RGB (to be precise bgr8 in OpenCV terms). Please confirm.

Well, I have tested the package with a webcam and it works like a charm. I only needed to change color_topic inside config_nodepth.launch file. (I used usb_cam package to get the images from the webcam.)

I also checked the package with incorrect color_topic and found that the OpenPose window pops up but reports the following message in the terminal Empty color image frame detected. Ignoring.... Please note that the program doesn't die and waits for the images, as expected.

Hi,
I dont have access to the computer I am working on during the weekend, so to test the things you wrote i´ll need to wait till next week.
But what I can say is, that I tested my camera to show the captured image and it is in normal colors.

I havent tested openpose in the last couple of days, but the last time I checked it worked, but I can try it again next week as it wouldnt have been the first time it just broke.

It too used to wait for the image frame and not crash in the beginning of this issue, but after the first fix it started to crash.

Does the usb_cam package work with integrated webcams from a laptop? If so I will try using that instead of my own node to capture the image and try that instead.

from ros_openpose.

Hi @Ceepert

I suspect the OpenPose installation in your machine. Can you please make sure that OpenPose is working on your machine.

Also, are you sure that the webcam images are in RGB colors (not monochrome)? If this is the case, then I can put a conditional statement to check the number of channels in the input image instead of assuming it RGB (to be precise bgr8 in OpenCV terms). Please confirm.

Well, I have tested the package with a webcam and it works like a charm. I only needed to change color_topic inside config_nodepth.launch file. (I used usb_cam package to get the images from the webcam.)

I also checked the package with incorrect color_topic and found that the OpenPose window pops up but reports the following message in the terminal Empty color image frame detected. Ignoring.... Please note that the program doesn't die and waits for the images, as expected.

Ive sent you an email with the requested output.

from ros_openpose.

I am also getting this warning in my camera node. Could this cause the issues?
\\rosrun cv_camera cv_camera_node
[ INFO] [1583768876.916197239]: using default calibration URL
[ INFO] [1583768876.916484102]: camera calibration URL: file:///home/student/.ros/camera_info/camera.yaml
[ INFO] [1583768876.916744572]: Unable to open camera calibration file [/home/student/.ros/camera_info/camera.yaml]
[ WARN] [1583768876.916827507]: Camera calibration file /home/student/.ros/camera_info/camera.yaml not found.\\

from ros_openpose.

Assuming you are receiving images on /cv_camera/image_raw topic, can you please share initial few frames from your webcam? Please execute the following command and share the file via email:

rosbag record -l 1000 /cv_camera/image_raw

from ros_openpose.

Assuming you are receiving images on /cv_camera/image_raw topic, can you please share initial few frames from your webcam? Please execute the following command and share the file via email:

rosbag record -l 1000 /cv_camera/image_raw

where is that file being saved?

Also I noticed that the wrapper does not crash, if no image is given and it just waits for an image

from ros_openpose.

Hi @Ceepert

where is that file being saved?

The file is stored in your current working directory. For example, if you are executing the command from ROS workspace, you can see the file there.

Please share 2-3 such files via email. If the file size is huge, use your preferred cloud service such as Google Drive, Dropbox etc.

from ros_openpose.

Hi @Ceepert

where is that file being saved?

The file is stored in your current working directory. For example, if you are executing the command from ROS workspace, you can see the file there.

Please share 2-3 such files via email. If the file size is huge, use your preferred cloud service such as Google Drive, Dropbox etc.

Ive sent you the email, it took quite a while to upload them

from ros_openpose.

First of all, please use the latest code as recently I removed the ambiguous argument openpose_model_dir. From this version you need to set model_folder under openpose_args as stated here.

We couldn't get much useful information from the debugger. Below are the findings:

1. The error is generated from OpenPose in function op::resizeFixedAspectRatio. Please make sure you have installed OpenPose as a library correctly. In short, please execute sudo make install to install the OpenPose system-wide.
2. I see the following message inside the debugger window: [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]. Unfortunately, it is a bug in gdb as stated here. Please modify core.launch and put launch-prefix="xterm -e gdb --args" instead of launch-prefix="gdb -ex run --args" as mentioned here. After executing roslaunch, you need to type run. If the program stops, please type bt full.
3. As the error is coming from OpenPose, we can't say much right now. The debugger can't find symbol table of OpenPose as it has reported No symbol table info available. Therefore, you should recompile OpenPose in debugging mode and install it system-wide by using sudo make install.

I did everything as you wrote, but the catkin_make commands dont work as I have used "catkin build" this far.

Open CMakeLists.txt file inside ros_openpose. After project(ros_openpose) line, enter the following line set(CMAKE_BUILD_TYPE RelWithDebInfo)

I am also getting this warning in my camera node.

[ INFO] [1583768876.916744572]: Unable to open camera calibration file [/home/student/.ros/camera_info/camera.yaml]
[ WARN] [1583768876.916827507]: Camera calibration file /home/student/.ros/camera_info/camera.yaml not found.

Could this cause the issues?

No. Please ignore it.

Ive sent you the email, it took quite a while to upload them

I appreciate your kind coordination. I have downloaded and run rosbag files provided by you. I have confirmed the camera is providing RGB images.

rostopic echo /cv_camera/image_raw | grep encoding
encoding: bgr8

Finally, I have confirmed that ros_openpose is working fine.
Please see the attached screenshot in your email (Due to privacy reasons, I have cropped the screenshot before using it in GitHub).

Note that the problem which you are facing could be due to a bug in OpenPose. Therefore, please keep trying and let me know the progress.

from ros_openpose.

Hi @Smilels

Thank you very much for the information.

Indeed, you are right. ros_openpose uses ROS OpenCV and CvBridge to get the data from the camera. Therefore, one needs to be careful while compiling ros_openpose and OpenPose.

Actually, I am using ROS Melodic in Ubuntu 18.04 LTS. After installing ROS, I can easily use OpenCV by find_package(OpenCV REQUIRED). I did not install OpenCV separately, because ROS (full package) installs OpenCV anyways. I complied OpenPose using default OpenCV and it works perfectly.

Cheers!

from ros_openpose.