Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

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murrman
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Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

I present Ubuntu 15.04 Robotics Edition for ODROID-XU3/XU4. This image is based on the official Ubuntu 15.04 image provided by odroid (http://forum.odroid.com/viewtopic.php?f=95&t=13353).

This image supports the ASUS Xtion, Kinect v1, and Kinect v2 sensors! Kinect v2 support is provided by Libfreenect2. Note that the Protonect demo has GL rendering disabled due a video conflict, but the sensor streaming data is acquired successfully. I will add a visualization application to Github in the near future.

Features:
Ubuntu 15.04 with MATE Desktop
OpenCV 2.4.12.1
ROS Jade(Bare Bones)
OpenNI 2.2 (Including Primesense and libfreenect drivers)
Libfreenect
Libfreenect2
Point Cloud Library 1.7.2
Arduino IDE
Mali drivers installed and operational

Download the image here:
http://oph.mdrjr.net/murrman/ubuntu-15. ... 911.img.xz

MD5 checksum:
http://oph.mdrjr.net/murrman/ubuntu-15. ... .xz.md5sum

Sample code repository:
https://github.com/cmcmurrough/odroid-development

Login:
Username: odroid
Password: odroid

Username: root
Password: odroid

For normal use, use the odroid account. The root account is enabled by default.

Update History:
09/11/2015 - Initial release

Acknowledgements:
Base OS image provided by odroid
File hosting provided by mdrjr

Installation notes for building this image from the base image are provided below. This may answer some questions about how various modules are built and installed.

Code: Select all

### LOGIN ###
username: odroid
password: odroid

### REMOVE UNNECESSARY PROGRAMS ###
sudo apt-get update
sudo apt-get remove --purge libreoffice* plank simple-scan shotwell imagemagick* pidgin hexchat thunderbird brasero kodi rhythmbox xzoom gnome-orca onboard atril mate-utils seahorse tilda
sudo apt-get purge firefox
sudo rm -rf ~/.mozilla/firefox ~/.macromedia ~/.adobe /etc/firefox /usr/lib/firefox /usr/lib/firefox-addons
sudo apt-get clean
sudo apt-get autoremove

### INSTALL EXTRAS ###
sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install build-essential checkinstall cmake cmake-curses-gui pkg-config gparted guvcview lightdm-gtk-greeter-settings

### CONFIGURE DESKTOP ENVIRONMENT ###
1. Set up welcome screen (system -> administration menu)
2. Resize partition to 7168 MB with gparted
3. Combine panels
4. Set background to solid color
5. Remove logout application launch bar (lower right corner)
6. Set taskbar icons (caja, mate terminal, chromium)
7. Disable screensaver
8. Run ODROID Utility

### INSTALL OPENCV DEPENDENCIES ###
sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff5-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev ffmpeg

### GET OPENCV SOURCE ###
cd ~
wget https://github.com/Itseez/opencv/archive/2.4.12.1.zip
unzip 2.4.12.1.zip
rm 2.4.12.1.zip
cd opencv-2.4.12.1

### BUILD AND INSTALL OPENCV ###
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON ..
make -j4
sudo make install
 
### GET ODROID-DEVELOPMENT EXAMPLES ###
cd ~
git clone https://github.com/cmcmurrough/odroid-development.git
 
### INSTALL AND PATCH OPENCL HEADERS ###
sudo apt-get install opencl-headers
sudo rm /usr/include/CL/cl.hpp
sudo cp odroid-development/misc/cl.hpp /usr/include/CL
 
### BUILD AND INSTALL LIBFREENECT2 ###
cd ~
sudo apt-get install build-essential libturbojpeg libjpeg-turbo8-dev libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev automake opencl-headers libglfw3-dev
git clone https://github.com/cmcmurrough/libfreenect2.git
cd libfreenect2/depends
sudo sh install_libusb.sh
cd ../examples/protonect
mkdir build
cd build
cmake -DENABLE_OPENGL=OFF ..
make -j4
sudo make install
sudo cp ~/libfreenect2/rules/90-kinect2.rules /etc/udev/rules.d/
./../bin/Protonect
 
### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ###
cd ~
sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz
git clone https://github.com/cmcmurrough/OpenNI2
cd OpenNI2
PLATFORM=Arm make
cd Packaging && python ReleaseVersion.py Arm
mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~
cd ~
tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2
rm -rf OpenNI2
rm OpenNI-Linux-Arm-2.2.tar.bz2
cd OpenNI-Linux-Arm-2.2
sudo sh install.sh

### BUILD AND INSTALL LIBFREENECT ###
cd ~
sudo apt-get install libxmu-dev libxi-dev libusb-dev
git clone http://github.com/cmcmurrough/libfreenect
cd libfreenect
mkdir build
cd build
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make -j4
Repository=~/OpenNI-Linux-Arm-2.2/Redist/OpenNI2/Drivers/
cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${Repository}
sudo cp ~/libfreenect/platform/linux/udev/51-kinect.rules /etc/udev/rules.d

### CREATE TEMPORARY SWAP FILE ###
dd if=/dev/zero of=~/.swapfile bs=1024 count=1M
mkswap ~/.swapfile
sudo swapon ~/.swapfile
swapon -s

### INSTALL PCL DEPENDENCIES ###
sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev

### GET PCL SOURCE (RELEASE 1.7.2) ###
cd ~
git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2
cd pcl-1.7.2

### BUILD AND INSTALL PCL ###
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 
make
sudo make install

### DELETE TEMPORARY SWAP FILE ###
swapoff ~/.swapfile
sudo rm ~/.swapfile

### BUILD AND INSTALL ROS BAREBONES (http://wiki.ros.org/jade/Installation/Source)###
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update

sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo rosdep init
rosdep update

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
rosinstall_generator ros_comm --rosdistro jade --deps --wet-only --tar > jade-ros_comm-wet.rosinstall
wstool init -j8 src jade-ros_comm-wet.rosinstall

sudo rosdep init
rosdep update
sudo rosdep install --from-paths src --ignore-src --rosdistro jade -y
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j4
sudo rm -R ~/.ros/
echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
echo "export LC_ALL=C" >> ~/.bashrc
source ~/.bashrc

### INSTALL ARDUINO IDE ###
sudo apt-get update && sudo apt-get install arduino arduino-core
I hope you find this image useful, and as always, suggestions and feedback are appreciated!

Image

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by oskr1709 »

Great!! It looks awesome! Thanks murrman! But I just have one question... I´m having this output using libfreenect2: http://paste.ubuntu.com/12409271/ . Is that normal?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Yes, that is normal. The Kinect2 I think is 30 FPS, but you will get something more like 10-15 FPS on the XU4. You can just ignore those messages.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by NicoX »

Awesome murrman,
This will be very very helpful for robotic development.
A noob question, am a new guy in ROS Odroid world.
Can please confirm, for update should we use code you provided? I am having XU4 Ubuntu 15.04 Mate desktop.

Code: Select all

    ### LOGIN ###
    username: odroid
    password: odroid

    ### REMOVE UNNECESSARY PROGRAMS ###
    sudo apt-get update
    sudo apt-get remove --purge libreoffice* plank simple-scan shotwell imagemagick* pidgin hexchat thunderbird brasero kodi rhythmbox xzoom gnome-orca onboard atril mate-utils seahorse tilda
    sudo apt-get purge firefox
    sudo rm -rf ~/.mozilla/firefox ~/.macromedia ~/.adobe /etc/firefox /usr/lib/firefox /usr/lib/firefox-addons
    sudo apt-get clean
    sudo apt-get autoremove

    ### INSTALL EXTRAS ###
    sudo apt-get update
    sudo apt-get dist-upgrade
    sudo apt-get install build-essential checkinstall cmake cmake-curses-gui pkg-config gparted guvcview lightdm-gtk-greeter-settings

    ### CONFIGURE DESKTOP ENVIRONMENT ###
    1. Set up welcome screen (system -> administration menu)
    2. Resize partition to 7168 MB with gparted
    3. Combine panels
    4. Set background to solid color
    5. Remove logout application launch bar (lower right corner)
    6. Set taskbar icons (caja, mate terminal, chromium)
    7. Disable screensaver
    8. Run ODROID Utility

    ### INSTALL OPENCV DEPENDENCIES ###
    sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff5-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev ffmpeg

    ### GET OPENCV SOURCE ###
    cd ~
    wget https://github.com/Itseez/opencv/archive/2.4.12.1.zip
    unzip 2.4.12.1.zip
    rm 2.4.12.1.zip
    cd opencv-2.4.12.1

    ### BUILD AND INSTALL OPENCV ###
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON ..
    make -j4
    sudo make install
     
    ### GET ODROID-DEVELOPMENT EXAMPLES ###
    cd ~
    git clone https://github.com/cmcmurrough/odroid-development.git
     
    ### INSTALL AND PATCH OPENCL HEADERS ###
    sudo apt-get install opencl-headers
    sudo rm /usr/include/CL/cl.hpp
    sudo cp odroid-development/misc/cl.hpp /usr/include/CL
     
    ### BUILD AND INSTALL LIBFREENECT2 ###
    cd ~
    sudo apt-get install build-essential libturbojpeg libjpeg-turbo8-dev libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev automake opencl-headers libglfw3-dev
    git clone https://github.com/cmcmurrough/libfreenect2.git
    cd libfreenect2/depends
    sudo sh install_libusb.sh
    cd ../examples/protonect
    mkdir build
    cd build
    cmake -DENABLE_OPENGL=OFF ..
    make -j4
    sudo make install
    sudo cp ~/libfreenect2/rules/90-kinect2.rules /etc/udev/rules.d/
    ./../bin/Protonect
     
    ### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ###
    cd ~
    sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz
    git clone https://github.com/cmcmurrough/OpenNI2
    cd OpenNI2
    PLATFORM=Arm make
    cd Packaging && python ReleaseVersion.py Arm
    mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~
    cd ~
    tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2
    rm -rf OpenNI2
    rm OpenNI-Linux-Arm-2.2.tar.bz2
    cd OpenNI-Linux-Arm-2.2
    sudo sh install.sh

    ### BUILD AND INSTALL LIBFREENECT ###
    cd ~
    sudo apt-get install libxmu-dev libxi-dev libusb-dev
    git clone http://github.com/cmcmurrough/libfreenect
    cd libfreenect
    mkdir build
    cd build
    cmake .. -DBUILD_OPENNI2_DRIVER=ON
    make -j4
    Repository=~/OpenNI-Linux-Arm-2.2/Redist/OpenNI2/Drivers/
    cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${Repository}
    sudo cp ~/libfreenect/platform/linux/udev/51-kinect.rules /etc/udev/rules.d

    ### CREATE TEMPORARY SWAP FILE ###
    dd if=/dev/zero of=~/.swapfile bs=1024 count=1M
    mkswap ~/.swapfile
    sudo swapon ~/.swapfile
    swapon -s

    ### INSTALL PCL DEPENDENCIES ###
    sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev

    ### GET PCL SOURCE (RELEASE 1.7.2) ###
    cd ~
    git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2
    cd pcl-1.7.2

    ### BUILD AND INSTALL PCL ###
    mkdir build
    cd build
    cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
    make
    sudo make install

    ### DELETE TEMPORARY SWAP FILE ###
    swapoff ~/.swapfile
    sudo rm ~/.swapfile

    ### BUILD AND INSTALL ROS BAREBONES (http://wiki.ros.org/jade/Installation/Source)###
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
    sudo apt-get update

    sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
    sudo rosdep init
    rosdep update

    mkdir ~/ros_catkin_ws
    cd ~/ros_catkin_ws
    rosinstall_generator ros_comm --rosdistro jade --deps --wet-only --tar > jade-ros_comm-wet.rosinstall
    wstool init -j8 src jade-ros_comm-wet.rosinstall

    sudo rosdep init
    rosdep update
    sudo rosdep install --from-paths src --ignore-src --rosdistro jade -y
    ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j4
    sudo rm -R ~/.ros/
    echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
    echo "export LC_ALL=C" >> ~/.bashrc
    source ~/.bashrc

    ### INSTALL ARDUINO IDE ###
    sudo apt-get update && sudo apt-get install arduino arduino-core
Regards
NicoX
Regards

NicoX

KurtE
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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

Thanks Murrman,

I thought I would try out this image to see if I could build our ROS hexapod code base with it.
I ran into some issues where some of the Ros modules needed by the code base are not included, so I thought I would add them and tried to do something like: sudo apt-get install ros-jade-... Which failed. When I then did a apt-cache search I found that there are not any Ros modules to install, which is when I realized that on this image you are building all of the modules in the ~/ros_catkin_ws directory.

So thought I would first to a catkin_make in here to make sure all of the modules that you had sources for were built. The catkin_make failed.

Code: Select all

[ 87%] Building CXX object ros_comm/roscpp/CMakeFiles/roscpp.dir/src/libros/serv                                   ice_client.cpp.o
In file included from /home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include                                   /ros/assert.h:35:0,
                 from /home/odroid/ros_catkin_ws/devel/include/ros/common.h:36,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /io.h:45,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /poll_set.h:39,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /statistics.h:32,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/                                   statistics.cpp:28:
/home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/statistics.cpp: In mem                                   ber function 'void ros::StatisticsLogger::callback(const boost::shared_ptr<std::                                   map<std::basic_string<char>, std::basic_string<char> > >&, const string&, const                                    string&, const ros::SerializedMessage&, const uint64_t&, const ros::Time&, bool)                                   ':
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:342:176                                   : warning: format '%li' expects argument of type 'long int', but argument 9 has                                    type 'unsigned int' [-Wformat=]
     ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __                                   rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTIO                                   N__, __VA_ARGS__)
                                                                                                                                                                                                                                                      ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:345:5:                                    note: in expansion of macro 'ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER'
     ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(0, __VA_ARGS__)
     ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:375:7:                                    note: in expansion of macro 'ROSCONSOLE_PRINT_AT_LOCATION'
       ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
       ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:557:35:                                    note: in expansion of macro 'ROS_LOG_COND'
 #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)
                                   ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/rosconsole/macros_gen                                   erated.h:58:24: note: in expansion of macro 'ROS_LOG'
 #define ROS_DEBUG(...) ROS_LOG(::ros::console::levels::Debug, ROSCONSOLE_DEFAUL                                   T_NAME, __VA_ARGS__)
                        ^
/home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/statistics.cpp:106:7:                                    note: in expansion of macro 'ROS_DEBUG'
       ROS_DEBUG("Error during header extraction for statistics (topic=%s, messa                                   ge_length=%li)", topic.c_str(), m.num_bytes - (m.message_start - m.buf.get()));
       ^
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.9/README.Bugs> for instructions.
ros_comm/roscpp/CMakeFiles/roscpp.dir/build.make:445: recipe for target 'ros_com                                   m/roscpp/CMakeFiles/roscpp.dir/src/libros/topic_manager.cpp.o' failed
make[2]: *** [ros_comm/roscpp/CMakeFiles/roscpp.dir/src/libros/topic_manager.cpp                                   .o] Error 4
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:8325: recipe for target 'ros_comm/roscpp/CMakeFiles/roscpp.dir/all' failed
make[1]: *** [ros_comm/roscpp/CMakeFiles/roscpp.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
odroid@odroid-XU4:~/ros_catkin_ws$
Did you run into this?

In case you are wondering the first error package that our hexapod code complained about not having was: geometry_msgs

Thanks again for your work here!
Kurt

Edit: I ran it a second catkin_make and it failed with internal compiler error. So I then tried some of the instructions to create a temporary swap file and then the catkin_make appeared to complete.

Edit 2: Was wondering if you have tried installing ROS from the official ROS for arm page?
http://wiki.ros.org/jade/Installation/UbuntuARM

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

NicoX wrote:Awesome murrman,
This will be very very helpful for robotic development.
A noob question, am a new guy in ROS Odroid world.
Can please confirm, for update should we use code you provided? I am having XU4 Ubuntu 15.04 Mate desktop.

Code: Select all

    ### LOGIN ###
    username: odroid
    password: odroid

    ### REMOVE UNNECESSARY PROGRAMS ###
    sudo apt-get update
    sudo apt-get remove --purge libreoffice* plank simple-scan shotwell imagemagick* pidgin hexchat thunderbird brasero kodi rhythmbox xzoom gnome-orca onboard atril mate-utils seahorse tilda
    sudo apt-get purge firefox
    sudo rm -rf ~/.mozilla/firefox ~/.macromedia ~/.adobe /etc/firefox /usr/lib/firefox /usr/lib/firefox-addons
    sudo apt-get clean
    sudo apt-get autoremove

    ### INSTALL EXTRAS ###
    sudo apt-get update
    sudo apt-get dist-upgrade
    sudo apt-get install build-essential checkinstall cmake cmake-curses-gui pkg-config gparted guvcview lightdm-gtk-greeter-settings

    ### CONFIGURE DESKTOP ENVIRONMENT ###
    1. Set up welcome screen (system -> administration menu)
    2. Resize partition to 7168 MB with gparted
    3. Combine panels
    4. Set background to solid color
    5. Remove logout application launch bar (lower right corner)
    6. Set taskbar icons (caja, mate terminal, chromium)
    7. Disable screensaver
    8. Run ODROID Utility

    ### INSTALL OPENCV DEPENDENCIES ###
    sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff5-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev ffmpeg

    ### GET OPENCV SOURCE ###
    cd ~
    wget https://github.com/Itseez/opencv/archive/2.4.12.1.zip
    unzip 2.4.12.1.zip
    rm 2.4.12.1.zip
    cd opencv-2.4.12.1

    ### BUILD AND INSTALL OPENCV ###
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON ..
    make -j4
    sudo make install
     
    ### GET ODROID-DEVELOPMENT EXAMPLES ###
    cd ~
    git clone https://github.com/cmcmurrough/odroid-development.git
     
    ### INSTALL AND PATCH OPENCL HEADERS ###
    sudo apt-get install opencl-headers
    sudo rm /usr/include/CL/cl.hpp
    sudo cp odroid-development/misc/cl.hpp /usr/include/CL
     
    ### BUILD AND INSTALL LIBFREENECT2 ###
    cd ~
    sudo apt-get install build-essential libturbojpeg libjpeg-turbo8-dev libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev automake opencl-headers libglfw3-dev
    git clone https://github.com/cmcmurrough/libfreenect2.git
    cd libfreenect2/depends
    sudo sh install_libusb.sh
    cd ../examples/protonect
    mkdir build
    cd build
    cmake -DENABLE_OPENGL=OFF ..
    make -j4
    sudo make install
    sudo cp ~/libfreenect2/rules/90-kinect2.rules /etc/udev/rules.d/
    ./../bin/Protonect
     
    ### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ###
    cd ~
    sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz
    git clone https://github.com/cmcmurrough/OpenNI2
    cd OpenNI2
    PLATFORM=Arm make
    cd Packaging && python ReleaseVersion.py Arm
    mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~
    cd ~
    tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2
    rm -rf OpenNI2
    rm OpenNI-Linux-Arm-2.2.tar.bz2
    cd OpenNI-Linux-Arm-2.2
    sudo sh install.sh

    ### BUILD AND INSTALL LIBFREENECT ###
    cd ~
    sudo apt-get install libxmu-dev libxi-dev libusb-dev
    git clone http://github.com/cmcmurrough/libfreenect
    cd libfreenect
    mkdir build
    cd build
    cmake .. -DBUILD_OPENNI2_DRIVER=ON
    make -j4
    Repository=~/OpenNI-Linux-Arm-2.2/Redist/OpenNI2/Drivers/
    cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${Repository}
    sudo cp ~/libfreenect/platform/linux/udev/51-kinect.rules /etc/udev/rules.d

    ### CREATE TEMPORARY SWAP FILE ###
    dd if=/dev/zero of=~/.swapfile bs=1024 count=1M
    mkswap ~/.swapfile
    sudo swapon ~/.swapfile
    swapon -s

    ### INSTALL PCL DEPENDENCIES ###
    sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev

    ### GET PCL SOURCE (RELEASE 1.7.2) ###
    cd ~
    git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2
    cd pcl-1.7.2

    ### BUILD AND INSTALL PCL ###
    mkdir build
    cd build
    cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
    make
    sudo make install

    ### DELETE TEMPORARY SWAP FILE ###
    swapoff ~/.swapfile
    sudo rm ~/.swapfile

    ### BUILD AND INSTALL ROS BAREBONES (http://wiki.ros.org/jade/Installation/Source)###
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
    sudo apt-get update

    sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
    sudo rosdep init
    rosdep update

    mkdir ~/ros_catkin_ws
    cd ~/ros_catkin_ws
    rosinstall_generator ros_comm --rosdistro jade --deps --wet-only --tar > jade-ros_comm-wet.rosinstall
    wstool init -j8 src jade-ros_comm-wet.rosinstall

    sudo rosdep init
    rosdep update
    sudo rosdep install --from-paths src --ignore-src --rosdistro jade -y
    ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j4
    sudo rm -R ~/.ros/
    echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
    echo "export LC_ALL=C" >> ~/.bashrc
    source ~/.bashrc

    ### INSTALL ARDUINO IDE ###
    sudo apt-get update && sudo apt-get install arduino arduino-core
Regards
NicoX
The build notes that I provided have already been performed on the image, they are just there for reference in case you need to see how I configured the various libraries.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

KurtE wrote:Thanks Murrman,

I thought I would try out this image to see if I could build our ROS hexapod code base with it.
I ran into some issues where some of the Ros modules needed by the code base are not included, so I thought I would add them and tried to do something like: sudo apt-get install ros-jade-... Which failed. When I then did a apt-cache search I found that there are not any Ros modules to install, which is when I realized that on this image you are building all of the modules in the ~/ros_catkin_ws directory.

So thought I would first to a catkin_make in here to make sure all of the modules that you had sources for were built. The catkin_make failed.

Code: Select all

[ 87%] Building CXX object ros_comm/roscpp/CMakeFiles/roscpp.dir/src/libros/serv                                   ice_client.cpp.o
In file included from /home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include                                   /ros/assert.h:35:0,
                 from /home/odroid/ros_catkin_ws/devel/include/ros/common.h:36,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /io.h:45,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /poll_set.h:39,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/include/ros                                   /statistics.h:32,
                 from /home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/                                   statistics.cpp:28:
/home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/statistics.cpp: In mem                                   ber function 'void ros::StatisticsLogger::callback(const boost::shared_ptr<std::                                   map<std::basic_string<char>, std::basic_string<char> > >&, const string&, const                                    string&, const ros::SerializedMessage&, const uint64_t&, const ros::Time&, bool)                                   ':
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:342:176                                   : warning: format '%li' expects argument of type 'long int', but argument 9 has                                    type 'unsigned int' [-Wformat=]
     ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __                                   rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTIO                                   N__, __VA_ARGS__)
                                                                                                                                                                                                                                                      ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:345:5:                                    note: in expansion of macro 'ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER'
     ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(0, __VA_ARGS__)
     ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:375:7:                                    note: in expansion of macro 'ROSCONSOLE_PRINT_AT_LOCATION'
       ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
       ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/ros/console.h:557:35:                                    note: in expansion of macro 'ROS_LOG_COND'
 #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)
                                   ^
/home/odroid/ros_catkin_ws/src/ros_comm/rosconsole/include/rosconsole/macros_gen                                   erated.h:58:24: note: in expansion of macro 'ROS_LOG'
 #define ROS_DEBUG(...) ROS_LOG(::ros::console::levels::Debug, ROSCONSOLE_DEFAUL                                   T_NAME, __VA_ARGS__)
                        ^
/home/odroid/ros_catkin_ws/src/ros_comm/roscpp/src/libros/statistics.cpp:106:7:                                    note: in expansion of macro 'ROS_DEBUG'
       ROS_DEBUG("Error during header extraction for statistics (topic=%s, messa                                   ge_length=%li)", topic.c_str(), m.num_bytes - (m.message_start - m.buf.get()));
       ^
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.9/README.Bugs> for instructions.
ros_comm/roscpp/CMakeFiles/roscpp.dir/build.make:445: recipe for target 'ros_com                                   m/roscpp/CMakeFiles/roscpp.dir/src/libros/topic_manager.cpp.o' failed
make[2]: *** [ros_comm/roscpp/CMakeFiles/roscpp.dir/src/libros/topic_manager.cpp                                   .o] Error 4
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:8325: recipe for target 'ros_comm/roscpp/CMakeFiles/roscpp.dir/all' failed
make[1]: *** [ros_comm/roscpp/CMakeFiles/roscpp.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
odroid@odroid-XU4:~/ros_catkin_ws$
Did you run into this?

In case you are wondering the first error package that our hexapod code complained about not having was: geometry_msgs

Thanks again for your work here!
Kurt

Edit: I ran it a second catkin_make and it failed with internal compiler error. So I then tried some of the instructions to create a temporary swap file and then the catkin_make appeared to complete.

Edit 2: Was wondering if you have tried installing ROS from the official ROS for arm page?
http://wiki.ros.org/jade/Installation/UbuntuARM

Yes, you need swap enabled before you compile ROS (it worked for me with 1GB).

I used the official ROS arm page in my 14.04 LTS image, but they do not yet have active builds for 15.04. The compile takes a while, but it works :)

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

Thanks murrman,

Yes, I also found that they did not have pre-built packages for 15.04.

I needed several more packages than what you had installed, like geometry messages, sound, ... So I started off building for Desktop instead of bare bones. I had to add sound in as well. I ran into several compile issues, many of which I found work a around on some of the RPI threads. Took a long while, but yesterday I finally got the whole build to go through. The Ros Hexapod code base builds now :D. But I have not yet tried it out.

Thanks again
Kurt

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Did you keep notes on the compilation? I'm open to adding ROS desktop to the robotics image...

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

murrman wrote:Did you keep notes on the compilation? I'm open to adding ROS desktop to the robotics image...
Unfortunately not as good as I should have :(

As mentioned earlier I needed to add virtual memory (currently mine is 4mb).

Hopefully I can go back and resurrect some of the steps I did. I know for example I needed to
a) Build collada-dom-2.4.0 from sources. I found information about this up on: http://wiki.ros.org/indigo/Installation/Debian

b) I had to patch a couple of files (more or less the same): link to patch: https://13622363260252548136.googlegrou ... BDGy_FlBC4

I think the two files that I needed to patch were:

Code: Select all

odroid@odroid-XU4:~/ros_catkin_ws$ cd src
odroid@odroid-XU4:~/ros_catkin_ws/src$ grep -r ComparePaths *
robot_model/collada_urdf/src/collada_urdf.cpp:bool Assimp::IOSystem::ComparePaths(const char *p1, const char *p2) const
rviz/src/rviz/mesh_loader.cpp:bool Assimp::IOSystem::ComparePaths(const char *p1, const char *p2) const
The added patch was to add:

Code: Select all

#  ifdef __arm__                 // fix for ARM build
#include <strings.h>
bool Assimp::IOSystem::ComparePaths(const char *p1, const char *p2) const
{
    return !::strcasecmp(p1, p2);
}
#  endif
Note for the ROS hexapod code base I needed to add some additional packages (plus what they depend on). This included:

Code: Select all

sound_play
The joystick support: joy, joystick_drivers, ps3joy
geographic_info
geometry_experimental
robot_localization
unique_identifier
Again sorry that I did not keep complete records as I went, but that is all that i remember.

Kurt

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Ok, thanks for sharing. I may give it a shot later.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by jamov13 »

I haven't tried your (awesome) image yet but I see that the OpenCV build was quite light.
One suggestion that I have would be to build the extra modules.
So we users could potentially do more like OCR etc.

Great work.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by smack »

When I run your ROS image on an XU4 there is no wired ethernet connection. When I run the standard Odroid image the wired connection is fine. ethtool sees no ethernet ports active. wicd couldn't get it to connect as either eth2 or eth0, set either for DHCP or fixed IP. cat /etc/network/interfaces shows just:
auto lo
iface lo inet loopback
Any ideas on how to fix this would be much appreciated, as it seems like a great base image for my purposes with OpenCV.
Thanks!

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Have you tried a few more ethX combinations (eth1, eth3, etc) in wicd? I have had to toggle these around before, but I'm not really sure why.

I prepare the images on my board while connected to ethernet (not wifi), so it should work.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by smack »

I downloaded a different image you had uploaded and it worked fine without fiddling with the Ethernet:

http://oph.mdrjr.net/murrman/ubuntu-15. ... 911.img.xz

Thanks so much of the work getting this put together. It has been solid as a rock for me.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Were you able to get it working after messing with the eth settings?

I don't know why it does this on the 15.04 image. I will update if a fix is found.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by smack »

I suspect our messages crossed. The alternate image of yours iI found was fine so I never got back to the Ethernet issue on the original image.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by chickenpotato »

When I run Protonect (on XU4), it shows no viewer. I can see it's getting the frames, but where are they stored? How did you start the RGB, Depth, and Point Cloud windows?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

The image viewer is disabled for Protonect because it requires some OpenGL support that does not work on the ODroid (or at least this version of the OS image). You can access the frames programatically to do whatever you want, but they are not displayed or stored anywhere in the provided example code.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by addy »

Hi murrman,

Very well done.

I noticed one major issue with libfreenect2:

Within the registration.h file, you seem to be missing the "getPointXYZRGB" function.

Any idea?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

Maybe the library has been updated since I posted the image?

All I did for libfreenect was clone, build (without GL), install, and run the demo application. That worked, and I didn't test anything else.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by damanfb »

Hi Murrman,

I downloaded your image and I have enabled swap so that I could run catkin_make and then downloaded the common_msgs package so I could have geometry_msgs but I am getting a compile error below, any suggestions to fix this?

Code: Select all

CMakeFiles/roscpp.dir/src/libros/connection_manager.cpp.o: file not recognized: File truncated
collect2: error: ld returned 1 exit status
ros_comm/roscpp/CMakeFiles/roscpp.dir/build.make:1255: recipe for target '/home/odroid/ros_catkin_ws/devel/lib/libroscpp.so' failed
make[2]: *** [/home/odroid/ros_catkin_ws/devel/lib/libroscpp.so] Error 1
CMakeFiles/Makefile2:14922: recipe for target 'ros_comm/roscpp/CMakeFiles/roscpp.dir/all' failed
make[1]: *** [ros_comm/roscpp/CMakeFiles/roscpp.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
EDIT: I fixed it by having to remove all the object files out of both ~/ros_catkin_ws/build_isolated/roscpp/CMakeFiles/roscpp.dir/src/libros/ and ~/ros_catkin_ws/build/ros_comm/roscpp/CMakeFiles/roscpp.dir/src/libros/

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by duduMan »

Hi Murrman,

Great work with this image! Could you describe a method for adding ros packages (eg. ros-jade-geometry) to this build without breaking it? I did try sudo apt-get install ros-jade-geometry.

Regards,

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by damanfb »

Has anyone enabled the ADC pins while using this image or have any help on how to do so?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by odroid »

damanfb wrote:Has anyone enabled the ADC pins while using this image or have any help on how to do so?
Can you access this node on this OS?

Code: Select all

cat /sys/devices/12d10000.adc/iio:device0/in_voltage0_raw

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

duduMan wrote:Hi Murrman,

Great work with this image! Could you describe a method for adding ros packages (eg. ros-jade-geometry) to this build without breaking it? I did try sudo apt-get install ros-jade-geometry.

Regards,
You install them like you would on any ROS enabled machine. The trick is that many packages will not be prebuilt for ARM, so you will probably need to compile them.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by george.profenza »

Hi,

I've just got my hands on an XU4 and couldn't wait to try this.

Thank you for uploading the image. I've successfully used an older image on U3 before and it was so nice to have OpenCV/PCL/OpenNI pre installed.

I've tested the image with a typical HDMI display and it worked just ine.

The issues is I need to use a particular LCD display (https://www.adafruit.com/products/1694) over HDMI and currently this doesn't work.
The display thinks there is no signal over HDMI.

I've tried uncommenting this line in /media/boot/boot.ini:

Code: Select all

setenv videoconfig "video=HDMI-A-1:1280x800@60"
but no joy.

I've also tried changing it like so:

Code: Select all

setenv videoconfig "video=HDMI-A-1:1280x800@30"
but this didn't work either.

I don't really know how to configure the HDMI output.
This is a bit off topic, but I could use any tips on using this OS image with this particular HDMI display.

Thank you,
George

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by odroid »

@george.profenza
Try our latest Ubuntu 15.10 image to narrow down the root causes of your display issue.
http://odroid.com/dokuwiki/doku.php?id= ... e_20160114

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

My new XU4 arrived :D along with a new EMMC, which has on it I believe Ubuntu 15.10, I am now trying to decide which image (or like image), to use on it first.

(14.04) I could play it safe and probably simply copy the emmc off of the XU3-lite which I believe had (14.04 with Ros Indigo), as this worked for me on the Robot it is going on to replace the XU3-lite. Or start with standard 14.04 and build up again.

(15.04) Or could start off with this image (or instructions for this image), like I have on my other XU4. On it I had issues with Wifi and built my own image following the instructions. Could probably again copy the EMMC...

(15.10?) But was wondering if someone has tried starting with the 15.10 and use the instructions here to build an image? I need to check to see if Jade supports 15.10.

Just trying to decide which way to go... Suggestions?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

Partial answer to my own question:
From the Ros website:
ROS Jade ONLY supports Trusty (14.04), Utopic (14.10) and Vivid (15.04) for debian packages.
But I tried following the steps in this thread and:

Code: Select all

odroid@odroid:~/ros_catkin_ws$   sudo rosdep install --from-paths src --ignore-s       rc --rosdistro jade -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rosconsole: No definition of [boost] for OS version [wily]
rosparam: No definition of [python-yaml] for OS version [wily]
rospack: No definition of [python-coverage] for OS version [wily]
rosgraph: No definition of [python-mock] for OS version [wily]
catkin: No definition of [python-nose] for OS version [wily]
rosmake: No definition of [python-rospkg] for OS version [wily]
roslib: No definition of [python-rospkg] for OS version [wily]
rostest: No definition of [boost] for OS version [wily]
roswtf: No definition of [python-rospkg] for OS version [wily]
genpy: No definition of [python-yaml] for OS version [wily]
roslisp: No definition of [boost] for OS version [wily]
message_filters: No definition of [boost] for OS version [wily]
rostime: No definition of [boost] for OS version [wily]
roscreate: No definition of [python-rospkg] for OS version [wily]
rospy: No definition of [python-yaml] for OS version [wily]
rosunit: No definition of [python-rospkg] for OS version [wily]
rosbag_storage: No definition of [libconsole-bridge-dev] for OS version [wily]
roslaunch: No definition of [python-yaml] for OS version [wily]
cpp_common: No definition of [libconsole-bridge-dev] for OS version [wily]
roslz4: No definition of [lz4] for OS version [wily]
rosmsg: No definition of [python-rospkg] for OS version [wily]
rosbag: No definition of [python-rospkg] for OS version [wily]
rosclean: No definition of [python-rospkg] for OS version [wily]
So I think I will go back to a setup I know that has a chance of working, probably 14.04 with Indigo.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by heartinpiece »

Hi, quick question;
I'll be needing to use ROS + OpenCV on the ODROID-XU4, and I was wondering,
will the OpenCV make use of the Mali GPUs when using OpenCL (?)
was the ARM Mali OpenCL SDK used to compile(?)/link(?) the OpenCV build?
Thanks,
CHP

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by murrman »

OpenCV was build with the following settings...

### BUILD AND INSTALL OPENCV ###
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON ..
make -j4
sudo make install

You can easily rebuild with whatever features you like, see the install notes at the top of this thread.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by Logic »

Sorry,I want to ask you how to install the QTcreator in your image,
I used the: sudo apt-get install qtcreator, BUt i failed to open it .

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by jpuderer »

Where you able to figure out or make any progress on the OpenGL issues?

Would be nice.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by skalman »

Hi,
I am trying to run this image with ROS and a kinect v1 using the libfreenect ROS package. So far have I done this:

Code: Select all

sudo apt-get install libyaml-cpp-dev libpoco-dev

and installed the following ROS packages:
  • bond_core
    class_loader
    common_msgs
    diagnostics
    dynamic_reconfigure
    image_common
    nodlet_core
    pluginlib
    freenect_stack_master
Now I get this error:

Code: Select all

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
LIBFREENECT_LIBRARY
    linked by target "freenect_node" in directory /home/odroid/ros_catkin_ws/src/freenect_stack-master/freenect_camera
    linked by target "freenect_nodelet" in directory /home/odroid/ros_catkin_ws/src/freenect_stack-master/freenect_camera

-- Configuring incomplete, errors occurred!
See also "/home/odroid/ros_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/odroid/ros_catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:11464: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
The error seems quite straight forward, but I don't now how to set the LIBFREENECT_LIBRARY variable.
Do you have any clue?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by ksevcik »

Murman thanks very much for this image! This is exactly what I needed.

Anyone,

As others I'm having difficulty installing ros packages, probably mostly to ignorance (still new to this). Trying to install common_msgs using the following command:

sudo apt-get install ros-jade-common-msgs

But getting the following error:

E: Unable to locate package ros-jade-common-msgs

Triple checked my network connection, i can install other linux packages with apt-get, just not this package. Is sudo apt-get the correct way to install new packages? As murman suggested
You install them like you would on any ROS enabled machine. The trick is that many packages will not be prebuilt for ARM, so you will probably need to compile them.
So my guess is that sudo apt-get is not appropriate. My guess is that you have to download the source from github into the directory ros_catkin_ws/src and compile. Can any of the other users who've successfully installed packages please help? It would be awesome if someone could write up detailed instructions or just list the commands (including all the commands needed to perform a successful make).

If I figure this out myself I'll post.

Thanks!

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by KurtE »

Yes, it has been awhile, but earlier I had to download sources for many of the packages and sortof punted on using 15.04. Recently I used my Spair XU3-lite and installed Ubuntu 16.04 and then went up to the ROS install pages, which now has support for ARMF for 16.04 using the Kinetic release. I was able to install up through desktop (they did not have full desktop) and was able to build the ROS hexapod code base, with the only hiccup was installing sound_play, which I had to install from sources. I have not tried actually running it, yet as I am busy with some other stuff, but you might give it a try.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by ksevcik »

KurtE,

Yeah i ended up building from source. For others:

NOTE: You must have a working internet connection on the odroid for the following, have a keyboard, mouse, and monitor plugged into the odroid, and be booted up into this Ubuntu image

- Locate the package you want on the ROS wiki: http://wiki.ros.org/
- Follow the link to the source (should start with https://github.com)
- On the github page for the package, Click the "Clone or Download" button and copy the link that appears
- Open a new terminal window
- Navigate to the ros sources directory:
cd ~/ros_catkin_ws/src
- Type in "git clone <github link>" to clone the repository onto the odroid directory. For me it was:
git clone https://github.com/ros/common_msgs.git
- You just cloned the latest source code for your package, but it might not work with jade. To revert back to the code used for ROS Jade, you must checkout the version of the code compiled with Jade.
- To find out what version of your package was included with jade, go to this site: https://github.com/ros/rosdistro/blob/m ... ution.yaml
- Search this file for your package, and take note of the version number. This is the tag you will checkout using git.
- Go back to the terminal window and change directory into the package you just cloned. For me:
cd common_msgs
- Checkout the correct version of code, for common_msgs it was:
git checkout tags/1.12.4
- Now you're ready to compile. Navigate back to the catkin workspace folder:
cd ~/ros_catkin_ws/
- Create a swap file:
dd if=/dev/zero of=~/.swapfile bs=1024 count=1M
mkswap ~/.swapfile
sudo swapon ~/.swapfile
swapon -s
- Compile
catkin_make
- After compiling, delete your swap file:
sudo swapoff ~/.swapfile
sudo rm ~/.swapfile

If youre make fails, its probably because youre missing another package. Look at the error to see what package is missing, and repeat this process for that package. Hope this helps someone!

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by ksevcik »

skalman,

I just went through the same process with the freenect package and ran into the same error. Were you able to get around this?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by Pedrucius »

Hello guys!
Thanks for the great work!
I've done all the steps given by ksevcik to compile the packages. I've managed to install common_msgs and rosbridge_suite. But I can not use any of it. I keep getting this message, when I try to launch rosbridge:

Code: Select all

[rosbridge_websocket.launch] is neither a launch file in package [rosbridge_server] nor is [rosbridge_server] a launch file name
Maybe ros can't find them... Here is the output of the rospack list:

Code: Select all

odroid@odroid:~/ros_catkin_ws$ rospack list
catkin /home/odroid/ros_catkin_ws/install_isolated/share/catkin
cmake_modules /home/odroid/ros_catkin_ws/install_isolated/share/cmake_modules
cpp_common /home/odroid/ros_catkin_ws/install_isolated/share/cpp_common
gencpp /home/odroid/ros_catkin_ws/install_isolated/share/gencpp
geneus /home/odroid/ros_catkin_ws/install_isolated/share/geneus
genlisp /home/odroid/ros_catkin_ws/install_isolated/share/genlisp
genmsg /home/odroid/ros_catkin_ws/install_isolated/share/genmsg
genpy /home/odroid/ros_catkin_ws/install_isolated/share/genpy
message_filters /home/odroid/ros_catkin_ws/install_isolated/share/message_filters
message_generation /home/odroid/ros_catkin_ws/install_isolated/share/message_generation
message_runtime /home/odroid/ros_catkin_ws/install_isolated/share/message_runtime
mk /home/odroid/ros_catkin_ws/install_isolated/share/mk
rosbag /home/odroid/ros_catkin_ws/install_isolated/share/rosbag
rosbag_storage /home/odroid/ros_catkin_ws/install_isolated/share/rosbag_storage
rosbash /home/odroid/ros_catkin_ws/install_isolated/share/rosbash
rosboost_cfg /home/odroid/ros_catkin_ws/install_isolated/share/rosboost_cfg
rosbuild /home/odroid/ros_catkin_ws/install_isolated/share/rosbuild
rosclean /home/odroid/ros_catkin_ws/install_isolated/share/rosclean
rosconsole /home/odroid/ros_catkin_ws/install_isolated/share/rosconsole
roscpp /home/odroid/ros_catkin_ws/install_isolated/share/roscpp
roscpp_serialization /home/odroid/ros_catkin_ws/install_isolated/share/roscpp_serialization
roscpp_traits /home/odroid/ros_catkin_ws/install_isolated/share/roscpp_traits
roscreate /home/odroid/ros_catkin_ws/install_isolated/share/roscreate
rosgraph /home/odroid/ros_catkin_ws/install_isolated/share/rosgraph
rosgraph_msgs /home/odroid/ros_catkin_ws/install_isolated/share/rosgraph_msgs
roslang /home/odroid/ros_catkin_ws/install_isolated/share/roslang
roslaunch /home/odroid/ros_catkin_ws/install_isolated/share/roslaunch
roslib /home/odroid/ros_catkin_ws/install_isolated/share/roslib
roslisp /home/odroid/ros_catkin_ws/install_isolated/share/roslisp
roslz4 /home/odroid/ros_catkin_ws/install_isolated/share/roslz4
rosmake /home/odroid/ros_catkin_ws/install_isolated/share/rosmake
rosmaster /home/odroid/ros_catkin_ws/install_isolated/share/rosmaster
rosmsg /home/odroid/ros_catkin_ws/install_isolated/share/rosmsg
rosnode /home/odroid/ros_catkin_ws/install_isolated/share/rosnode
rosout /home/odroid/ros_catkin_ws/install_isolated/share/rosout
rospack /home/odroid/ros_catkin_ws/install_isolated/share/rospack
rosparam /home/odroid/ros_catkin_ws/install_isolated/share/rosparam
rospy /home/odroid/ros_catkin_ws/install_isolated/share/rospy
rosservice /home/odroid/ros_catkin_ws/install_isolated/share/rosservice
rostest /home/odroid/ros_catkin_ws/install_isolated/share/rostest
rostime /home/odroid/ros_catkin_ws/install_isolated/share/rostime
rostopic /home/odroid/ros_catkin_ws/install_isolated/share/rostopic
rosunit /home/odroid/ros_catkin_ws/install_isolated/share/rosunit
roswtf /home/odroid/ros_catkin_ws/install_isolated/share/roswtf
std_msgs /home/odroid/ros_catkin_ws/install_isolated/share/std_msgs
std_srvs /home/odroid/ros_catkin_ws/install_isolated/share/std_srvs
topic_tools /home/odroid/ros_catkin_ws/install_isolated/share/topic_tools
xmlrpcpp /home/odroid/ros_catkin_ws/install_isolated/share/xmlrpcpp
Can someone help me? I think the problem is with source command. I've did this (from the build code):

Code: Select all

echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
echo "export LC_ALL=C" >> ~/.bashrc
source ~/.bashrc
Someone can help?
Thanks!

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by Pedrucius »

Well... I find the answer. You have to use "devel" folder, instead of install_isolated. So the code is:

Code: Select all

echo "source ~/ros_catkin_ws/devel/setup.bash" >> ~/.bashrc
echo "export LC_ALL=C" >> ~/.bashrc
source ~/.bashrc
=)

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by abhanjac »

Hi, I am very new to Odroid XU4 and this sort of embedded coding. So this might be a very noob question.
I have installed the ubuntu 15.04 robotics edition on my XU4. I want to capture the RGB and depth image from the Kinect XBOX 360 into opencv.
So far I have been able to do this on my laptop. There I have installed OpenNI and SensorKinect and Opencv3.
While installing opencv I used the cmake option -D WITH OPENNI=ON.
Inside opencv I am capturing the kinect data using 'VideoCapture capture(CV_CAP_OPENNI)' object.

But I cannot do the same in the case of the XU4. It did not work. What do I have to differently here?
Please help. I am stuck with this for 2 days. :cry:

I was able to see the depth and RGB image from kinect using ./freenect-cppview (in the ~/libfreenect/build/bin directory).
But what changes do I need to make in my opencv code or do I need any other package to install.
Is there something equivalent to the CV_CAP_OPENNI ?

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by hamster_1979 »

I'm trying to run ./Protonect -cpu on regular Xbox One Kinect Sensor Bar along with a Kinect Adapter for Windows (because Kinect v2 for windows discontinued now).

Code: Select all

~/libfreenect2/examples/protonect/bin/Protonect cpu
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 12 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:4 with serial 001850762047
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] ReadData0x14 response
[Debug] [Freenect2DeviceImpl] 92 bytes of raw data
0x0000:  00 00 15 00 00 00 00 00 01 00 00 00 43 c1 1f 41    2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00    2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020:  0a 21 33 55 20 00 17 ba 00 08 00 00 10 00 00 00    2e213355202e2e2e2e2e2e2e2e2e2e2e
0x0030:  00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00    2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040:  31 33 00 00 00 07 0e 12 47 4d 53 33 32 33 2e 31    31332e2e2e2e2e2e474d533332332e31
0x0050:  58 00 00 00 00 00 00 00 07 00 00 00                582e2e2e2e2e2e2e2e2e2e2e

[Debug] [Freenect2DeviceImpl] ReadStatus0x090000 response
[Debug] [Freenect2DeviceImpl] 4 bytes of raw data
0x0000:  01 26 00 00                                        2e262e2e

[Debug] [Freenect2DeviceImpl] ReadStatus0x090000 response
[Debug] [Freenect2DeviceImpl] 4 bytes of raw data
0x0000:  03 26 00 00                                        2e262e2e

[Info] [Freenect2DeviceImpl] enabling usb transfer submission...
[Info] [Freenect2DeviceImpl] submitting usb transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 001850762047
device firmware: 2.3.3913.0.7
[Error] [DepthPacketStreamParser] not all subsequences received 0
[Warning] [DepthPacketStreamParser] skipping depth packet
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] image data too short!
[Error] [DepthPacketStreamParser] not all subsequences received 515
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Error] [DepthPacketStreamParser] not all subsequences received 959
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [RgbPacketStreamParser] skipping rgb packet!
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [RgbPacketStreamParser] skipping rgb packet!
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [RgbPacketStreamParser] skipping rgb packet!
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [RgbPacketStreamParser] skipping rgb packet!
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [DepthPacketStreamParser] skipping depth packet
[Warning] [RgbPacketStreamParser] skipping rgb packet!
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large
[Error] [DepthPacketStreamParser] subpacket too large

After this errors kinect freezed forever and USB3.0 not worked properly, only reboot and replug needed.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by elatllat »

15.04 ... time to upgrade that to 18.04 or un-sticky this thread.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by odroid »

This topic is un-sticky now.
But I hope some people can make a step-by-step guide to build a ROS package on Ubuntu 18.04.

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Re: Ubuntu 15.04 Robotics Edition: XU3/XU4 (ROS+OpenCV+PCL)

Post by elgarbe »

Hi, as I can't make kinect for xbox 360 works on PC and not on XU4 becouse freenect driver die after a couple of seconds/minutes on ubuntu 16.04 I try this image.
I flash it and running on odroid xu4. I connect my kinect and try examples from freenect, but none of them are working.
Is this image tested with kinect for xbox 360?

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