Can't connect to the `realsense-holder-calibration` ports #702

jimingda · 2024-05-23T13:03:04Z

jimingda
May 23, 2024

Hi,

I followed the realsense-holder-calibration[instructions] and connected the D435i camera on the iCub head. Here are the steps I took:

install the ViSP from sourcecode following suggestion with command cmake ../ -DUSE_YARP=OFF, then build.
Module the realsense-holder-calibration, but encountered an error when executing yarp rpc /depthCamera/rpc:i:

icub@icubsrv:~/.local/share/yarp/contexts/realsense-holder-calibration$ yarp name list
registration name /icub ip 172.17.0.1 port 10000 type tcp
registration name /icub-head ip 10.0.0.2 port 10004 type tcp
registration name /icubsrv ip 10.0.0.1 port 10003 type tcp
registration name /realsense-holder-calibration/rgb:i ip 10.0.0.1 port 10008 type tcp
registration name /realsense-holder-calibration/viewer/rgb:i ip 10.0.0.1 port 10012 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
*** end of message
icub@icubsrv:~/.local/share/yarp/contexts/realsense-holder-calibration$ yarp rpc /depthCamera/rpc:i
[ERROR] Cannot make connection
[ERROR] Alternative method: precede port name with --client

Module the realsense-holder-publisher, and get the configured file /home/icub/.local/share/yarp/contexts/realsense-holder-calibration/config.ini as follows:

robot_name icub
number_of_poses 15
wait_time 5.0
eye_version v2

[CAMERA_INTRINSICS]
fx 343.12110728152936
fy 343.12110728152936
cx 160.0
cy 120.0

[CALIBRATION_POSES]
config_0  (0.0, 25.8, 20.7, -18.8, 0.0, -7.2)
config_1  (0.0, 21.0, 18.9, -16.9, 0.0, -3.6)
config_2  (0.0, 19.2, 22.5, -20.68, 0.0, -1.8)
config_3  (0.0, 15.0, 15.3, -22.0, 0.0, -0.9)
config_4  (0.0, 9.0, 22.5, -10.0, 0.0, -4.5)
config_5  (0.0, 6.0, 17.1, -13.16, 0.0, -7.2)
config_6  (0.0, 3.0, 23.4, -13.16, 0.0, -7.2)
config_7  (0.0, 0.0, 8.1, -19.74, 0.0, 0.0)
config_8  (0.0, -3.0, 23.4, -13.16, 0.0, 7.2)
config_9  (0.0, -6.0, 17.1, -13.16, 0.0, 7.2)
config_10  (0.0, -9.0, 22.5, -10.0, 0.0, 4.5)
config_11  (0.0, -15.0, 15.3, -22.0, 0.0, 0.9)
config_12  (0.0, -19.2, 22.5, -20.68, 0.0, 1.8)
config_13  (0.0, -21.0, 18.9, -16.9, 0.0, 3.6)
config_14  (0.0, -25.8, 20.7, -18.8, 0.0, 7.2)

Attempted to collect data but couldn't connect the ports despite being able to run all the applications, as showed in the pic below.

Is there an issue with my operations?

Thanks.

Answered by pattacini

Jun 1, 2024

Hi @jimingda

Module the realsense-holder-calibration, but encountered an error when executing yarp rpc /depthCamera/rpc:i

As you did yourself, the command yarp name list didn't find the port /depthCamera/rpc:i, hence the failure.

That specific port is opened by the device driver of the Realsense camera.
To launch the device driver, you have to run on the PC connected to the camera and where you installed the repo realsense-holder-calibration the following command:

yarpdev --context realsense-holder-calibration --from config_rs.ini

What's the output? Is the driver running happily? Can you list down the RPC port this time?

View full answer

pattacini · 2024-06-01T08:50:54Z

pattacini
Jun 1, 2024
Maintainer

Hi @jimingda

Module the realsense-holder-calibration, but encountered an error when executing yarp rpc /depthCamera/rpc:i

As you did yourself, the command yarp name list didn't find the port /depthCamera/rpc:i, hence the failure.

That specific port is opened by the device driver of the Realsense camera.
To launch the device driver, you have to run on the PC connected to the camera and where you installed the repo realsense-holder-calibration the following command:

yarpdev --context realsense-holder-calibration --from config_rs.ini

What's the output? Is the driver running happily? Can you list down the RPC port this time?

1 reply

jimingda Jun 2, 2024
Author

Thank you @pattacini

After connecting the nodes icubsrv & icub-head, I executed the command yarpdev --context realsense-holder-calibration --from config_rs.ini on the PC in the directory /home/icub/.local/share/yarp/contexts/realsense-holder-calibration. Here is the information I received:

icub@icubsrv:~/.local/share/yarp/contexts/realsense-holder-calibration$ yarpdev --context realsense-holder-calibration --from config_rs.ini
[DEBUG] |yarp.dev.PolyDriver|RGBDSensorWrapper| Parameters are (HW_DESCRIPTION (clipPlanes (0.200000000000000011102 10.0))) (SETTINGS (depthResolution (640 480)) (rgbResolution (640 480)) (framerate 30) (enableEmitter true) (alignmentFrame RGB)) (context realsense-holder-calibration) (device RGBDSensorWrapper) (from config_rs.ini) (name "/depthCamera") (single_threaded 1) (subdevice realsense2)
[WARNING] |yarp.devices.RGBDSensorWrapper| The 'RGBDSensorWrapper' device is deprecated in favour of 'rgbdSensor_nws_yarp'.
[WARNING] |yarp.devices.RGBDSensorWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4.
[WARNING] |yarp.devices.RGBDSensorWrapper| Please update your scripts.
[INFO] |yarp.devices.RGBDSensorWrapper| Using default 'period' parameter of  0.03 s
[INFO] |yarp.devices.RGBDSensorWrapper| ROS configuration parameters are not set, skipping ROS topic initialization.
[INFO] |yarp.os.Port|/depthCamera/rpc:i| Port /depthCamera/rpc:i active at tcp://10.0.0.1:10005/
[INFO] |yarp.os.Port|/depthCamera/rgbImage:o| Port /depthCamera/rgbImage:o active at tcp://10.0.0.1:10006/
[INFO] |yarp.os.Port|/depthCamera/depthImage:o| Port /depthCamera/depthImage:o active at tcp://10.0.0.1:10007/
[DEBUG] |yarp.devices.RGBDSensorWrapper| Opening IRGBDSensor subdevice
[ERROR] |yarp.os.YarpPluginSettings| Cannot find "realsense2" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/realsense2.ini or share/yarp/plugins/realsense2.ini in it
[ERROR] |yarp.dev.PolyDriver|realsense2| Could not find device <realsense2>
[ERROR] |yarp.devices.RGBDSensorWrapper| Opening IRGBDSensor subdevice... FAILED
[ERROR] |yarp.devices.RGBDSensorWrapper| Error while opening subdevice
[ERROR] |yarp.dev.PolyDriver|RGBDSensorWrapper| Driver <RGBDSensorWrapper> was found but could not open
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| ===============================================================
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| == Options checked by device:
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| ==
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| device=RGBDSensorWrapper
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| id [RGBDSensorWrapper]
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper|     Id assigned to this device
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| ==
[DEBUG] |yarp.dev.Drivers|RGBDSensorWrapper| ===============================================================
[ERROR] |yarp.dev.Drivers|RGBDSensorWrapper| yarpdev: ***ERROR*** device not available.
[INFO] |yarp.dev.Drivers|RGBDSensorWrapper| Suggestions:
[INFO] |yarp.dev.Drivers|RGBDSensorWrapper| + Do "yarpdev --list" to see list of supported devices.

And the yarp name list got

icub@icubsrv:~/.local/share/yarp/contexts/realsense-holder-calibration$ yarp name list
registration name /icub ip 172.17.0.1 port 10000 type tcp
registration name /icub-head ip 10.0.0.2 port 10004 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/in ip 10.0.0.2 port 10037 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/out ip 10.0.0.2 port 10038 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc ip 10.0.0.2 port 10039 type tcp
registration name /icub/cartesianController/right_arm/command:i ip 10.0.0.2 port 10040 type tcp
registration name /icub/cartesianController/right_arm/events:o ip 10.0.0.2 port 10042 type tcp
registration name /icub/cartesianController/right_arm/rpc:i ip 10.0.0.2 port 10043 type tcp
registration name /icub/cartesianController/right_arm/state:o ip 10.0.0.2 port 10041 type tcp
registration name /icub/face/command:i ip 10.0.0.2 port 10030 type tcp
registration name /icub/face/rpc:i ip 10.0.0.2 port 10029 type tcp
registration name /icub/face/state:o ip 10.0.0.2 port 10031 type tcp
registration name /icub/face/stateExt:o ip 10.0.0.2 port 10032 type tcp
registration name /icub/head/command:i ip 10.0.0.2 port 10026 type tcp
registration name /icub/head/rpc:i ip 10.0.0.2 port 10025 type tcp
registration name /icub/head/state:o ip 10.0.0.2 port 10027 type tcp
registration name /icub/head/stateExt:o ip 10.0.0.2 port 10028 type tcp
registration name /icub/left_leg/command:i ip 10.0.0.2 port 10018 type tcp
registration name /icub/left_leg/rpc:i ip 10.0.0.2 port 10017 type tcp
registration name /icub/left_leg/state:o ip 10.0.0.2 port 10019 type tcp
registration name /icub/left_leg/stateExt:o ip 10.0.0.2 port 10020 type tcp
registration name /icub/right_arm/command:i ip 10.0.0.2 port 10014 type tcp
registration name /icub/right_arm/rpc:i ip 10.0.0.2 port 10013 type tcp
registration name /icub/right_arm/state:o ip 10.0.0.2 port 10015 type tcp
registration name /icub/right_arm/stateExt:o ip 10.0.0.2 port 10016 type tcp
registration name /icub/right_leg/command:i ip 10.0.0.2 port 10022 type tcp
registration name /icub/right_leg/rpc:i ip 10.0.0.2 port 10021 type tcp
registration name /icub/right_leg/state:o ip 10.0.0.2 port 10023 type tcp
registration name /icub/right_leg/stateExt:o ip 10.0.0.2 port 10024 type tcp
registration name /icub/torso/command:i ip 10.0.0.2 port 10034 type tcp
registration name /icub/torso/rpc:i ip 10.0.0.2 port 10033 type tcp
registration name /icub/torso/state:o ip 10.0.0.2 port 10035 type tcp
registration name /icub/torso/stateExt:o ip 10.0.0.2 port 10036 type tcp
registration name /icub/yarprobotinterface ip 10.0.0.2 port 10012 type tcp
registration name /icubsrv ip 10.0.0.1 port 10003 type tcp
registration name /log/icubsrv/yarplogger/84598 ip 10.0.0.1 port 10009 type tcp
registration name /realsense-holder-calibration/viewer/rgb:i ip 10.0.0.1 port 10073 type tcp
registration name /yarplogger ip 10.0.0.1 port 10011 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
*** end of message

After that, I tested the D435i via realsense-viewer, and it appeared to be functioning normally.

pattacini · 2024-06-02T15:19:43Z

pattacini
Jun 2, 2024
Maintainer

After that, I tested the D435i via realsense-viewer, and it appeared to be functioning normally.

This is a necessary but not sufficient precondition and that's good you tested it 👍🏻

And the yarp name list got

As you can figure out from the log, the port is not present. Indeed, there's an error when you launched the device driver:

[ERROR] |yarp.os.YarpPluginSettings| Cannot find "realsense2" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/realsense2.ini or share/yarp/plugins/realsense2.ini in it
[ERROR] |yarp.dev.PolyDriver|realsense2| Could not find device <realsense2>
[ERROR] |yarp.devices.RGBDSensorWrapper| Opening IRGBDSensor subdevice... FAILED
[ERROR] |yarp.devices.RGBDSensorWrapper| Error while opening subdevice

If you ask the system to list down the available device drivers via yarpdev --list (as suggested in the log), you won't find the realsense device.

To get it working, you ought to follow these instructions:

https://github.com/robotology/yarp-device-realsense2

0 replies

jimingda · 2024-06-07T08:48:30Z

jimingda
Jun 7, 2024
Author

Hi,

I am currently able to access the depthCamera port as shown below. However, I am encountering a connection issue from /depthCamera/rgbImage:o to /realsense-holder-calibration/rgb:i, as depicted in the image below.

icub@icubsrv:~$ yarp name list
registration name /depthCamera/depthImage:o ip 10.0.0.1 port 10044 type tcp
registration name /depthCamera/quit ip 10.0.0.1 port 10068 type tcp
registration name /depthCamera/rgbImage:o ip 10.0.0.1 port 10043 type tcp
registration name /depthCamera/rpc:i ip 10.0.0.1 port 10042 type tcp
registration name /icub ip 172.17.0.1 port 10000 type tcp
registration name /icub-head ip 10.0.0.2 port 10004 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/in ip 10.0.0.2 port 10034 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/out ip 10.0.0.2 port 10035 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc ip 10.0.0.2 port 10036 type tcp
registration name /icub/cartesianController/right_arm/command:i ip 10.0.0.2 port 10037 type tcp
registration name /icub/cartesianController/right_arm/events:o ip 10.0.0.2 port 10039 type tcp
registration name /icub/cartesianController/right_arm/rpc:i ip 10.0.0.2 port 10040 type tcp
registration name /icub/cartesianController/right_arm/state:o ip 10.0.0.2 port 10038 type tcp
registration name /icub/face/command:i ip 10.0.0.2 port 10027 type tcp
registration name /icub/face/rpc:i ip 10.0.0.2 port 10026 type tcp
registration name /icub/face/state:o ip 10.0.0.2 port 10028 type tcp
registration name /icub/face/stateExt:o ip 10.0.0.2 port 10029 type tcp
registration name /icub/head/command:i ip 10.0.0.2 port 10023 type tcp
registration name /icub/head/rpc:i ip 10.0.0.2 port 10022 type tcp
registration name /icub/head/state:o ip 10.0.0.2 port 10024 type tcp
registration name /icub/head/stateExt:o ip 10.0.0.2 port 10025 type tcp
registration name /icub/left_leg/command:i ip 10.0.0.2 port 10015 type tcp
registration name /icub/left_leg/rpc:i ip 10.0.0.2 port 10014 type tcp
registration name /icub/left_leg/state:o ip 10.0.0.2 port 10016 type tcp
registration name /icub/left_leg/stateExt:o ip 10.0.0.2 port 10017 type tcp
registration name /icub/right_arm/command:i ip 10.0.0.2 port 10011 type tcp
registration name /icub/right_arm/rpc:i ip 10.0.0.2 port 10010 type tcp
registration name /icub/right_arm/state:o ip 10.0.0.2 port 10012 type tcp
registration name /icub/right_arm/stateExt:o ip 10.0.0.2 port 10013 type tcp
registration name /icub/right_leg/command:i ip 10.0.0.2 port 10019 type tcp
registration name /icub/right_leg/rpc:i ip 10.0.0.2 port 10018 type tcp
registration name /icub/right_leg/state:o ip 10.0.0.2 port 10020 type tcp
registration name /icub/right_leg/stateExt:o ip 10.0.0.2 port 10021 type tcp
registration name /icub/torso/command:i ip 10.0.0.2 port 10031 type tcp
registration name /icub/torso/rpc:i ip 10.0.0.2 port 10030 type tcp
registration name /icub/torso/state:o ip 10.0.0.2 port 10032 type tcp
registration name /icub/torso/stateExt:o ip 10.0.0.2 port 10033 type tcp
registration name /icub/yarprobotinterface ip 10.0.0.2 port 10009 type tcp
registration name /icubsrv ip 10.0.0.1 port 10003 type tcp
registration name /log/icubsrv/yarplogger/447184 ip 10.0.0.1 port 10007 type tcp
registration name /realsense-holder-calibration/viewer/rgb:i ip 10.0.0.1 port 10074 type tcp
registration name /yarplogger ip 10.0.0.1 port 10008 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
*** end of message

I'm puzzled by the absence of the port named /realsense-holder-calibration/rgb:i.

1 reply

pattacini Jun 7, 2024
Maintainer

The port /realsense-holder-calibration/rgb:i is opened at this code line:

https://github.com/robotology/realsense-holder-calibration/blob/f01cbd88f6d0cf631e7db871bd89ef80fd5540bb/src/calibration/src/Calibration.cpp#L54

So, if it does not get opened, it might be for an address conflict. You could confirm that by inspecting the log of the module realsense-holder-calibration, when it is launched.

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Can't connect to the `realsense-holder-calibration` ports #702

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Robotology

Can't connect to the realsense-holder-calibration ports #702

jimingda May 23, 2024

Replies: 3 comments · 2 replies

pattacini Jun 1, 2024 Maintainer

jimingda Jun 2, 2024 Author

pattacini Jun 2, 2024 Maintainer

jimingda Jun 7, 2024 Author

pattacini Jun 7, 2024 Maintainer

Can't connect to the `realsense-holder-calibration` ports #702

jimingda
May 23, 2024

Replies: 3 comments 2 replies

pattacini
Jun 1, 2024
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jimingda Jun 2, 2024
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pattacini
Jun 2, 2024
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jimingda
Jun 7, 2024
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