My aim is to use 2 kinects on one PC, one used to get laserscan for SLAM and another used for skeleton tracking.
Right now, I can use 2 kinects on one PC to get color image from one kinect and realize skeleton tracking on the other kinect.
But if I get laserscan from 1st kinect and simultaneously realize skeleton tracking on the other, the skeleton tracking works well while I can't get laserscan data in rviz.
The fact that I failed to get laserscan makes me suspect that whether it is possible that 1st kinect for laserscan&2nd kinect for skeleton tracking on one PC. Or whether my approach is wrong.The following is my approach:
roslaunch openni_launch test.launch(run 2 kinects in test.launch)
rosrun openni_tracker openni_tracker
rosrun rviz rviz(to see the skeleton tracking)
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect1/depth/image_raw
rosrun rviz rviz(to see the laserscan data)
and test.launch:
<launch>
<!-- Parameters possible to change-->
<arg name="camera1_id" default="#1" />
<arg name="camera2_id" default="#2" />
<arg name="depth_registration" default="true"/>
<!-- Default parameters-->
<arg name="camera1_name" default="kinect1" />
<arg name="camera2_name" default="openni" />
<!-- Putting the time back to realtime-->
<rosparam>
/use_sim_time : false
</rosparam>
<!-- Launching first kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera1_id)"/>
<arg name="camera" value="$(arg camera1_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
<!-- Launching second kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera2_id)"/>
<arg name="camera" value="$(arg camera2_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
</launch>
any idea or suggestion is appreciated! And thanks in advance!
Related
Upon trying to use the MKS task for apache ant, I need to specify the application executing the command. In the documentation I found, it says for example "si" or "im". I'm a little confused at this considered ant is used from command prompt so I'm not sure which application would be doing said command, nor do I know what applications "si" or "im" might be. I am using this task to try and send and receive build info to Integrity if that is pertinent. I was able to find this CLI reference guide for Integrity (link at bottom) which only uses im as a prefix, so I'm thinking that's the one I want to use, but I would appreciate an explanation as to what application im indicates (possible Integrity -something) and what one would specify with "si". Thanks
https://bugs.eclipse.org/bugs/attachment.cgi?id=52225
The si commands are used for Source Integrity tasks (the SCCM side of things), while the im commands are used for Integrity Manager commands (the workflow and document management side of things).
The Integrity client should have man page support on all platforms, so you should be able to run man im or man si to see a breakdown of all the supported commands.
In addition, with newer releases of the client, pressing F1 should get you a help interface, which includes documentation on CLI commands.
The guide to the link you posted is a very old version of the product CLI reference, and only for the im commands.
Since you're talking about using Ant, I'm assuming you're trying to perform builds, which will mostly involve si commands (creating sandboxes, checking out members, etc.).
Here are a couple examples of using si in ant:
<target name="check.mks.conn">
<echo message="Checking if an MKS connection exists. If not, one will be created." />
<exec executable="si" failonerror="true">
<arg line="connect" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--user=${mks.user}" />
<arg line="--gui" />
</exec>
</target>
<!-- =================================================================== -->
<!-- If the sandbox already exists, resync the files -->
<!-- Manually drop any empty folders as resync does not do this. -->
<!-- =================================================================== -->
<target name="resync.sandbox" unless="clean.build">
<exec executable="si" failonerror="true">
<arg line="resync" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="-R" />
<arg line="-f" />
<arg line="-Y" />
<arg line="-S ${basedir}\${prj.name}\project.pj" />
</exec>
<delete includeemptydirs="true">
<fileset dir="${prj.name}" excludes="**\*.*" />
</delete>
</target>
<!-- =================================================================== -->
<!-- Drop and recreate the sandbox. -->
<!-- =================================================================== -->
<target name="create.sandbox" if="clean.build" >
<exec executable="si">
<arg line="dropsandbox" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--noconfirm" />
<arg line="--batch" />
<arg line='--delete=none' />
<arg line="-Y" />
<arg line="${basedir}\${prj.name}\project.pj" />
</exec>
<delete dir="${prj.name}" />
<exec executable="si" resultproperty="createSBResult">
<arg line="createsandbox" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--project=c:/Projects/StoreWeb2/${prj.name}/project.pj" />
<arg line="--projectRevision=${checkpoint.version}" />
<arg line="--populate" />
<arg line="--recurse" />
<arg line="-Y" />
<arg line="${basedir}\${prj.name}" />
</exec>
<!-- Check if the project is empty but for the mks system file project.pj -->
<pathconvert property="is.project.not.empty" setonempty="false">
<fileset dir="${prj.name}">
<exclude name="project.pj"/>
</fileset>
</pathconvert>
<condition property="try.mainline.storeweb">
<not>
<and>
<equals arg1="0" arg2="${createSBResult}"/>
<isset property="is.project.not.empty" />
</and>
</not>
</condition>
<antcall target="create.sandbox.mainline">
<param name="prj.name" value="${prj.name}"/>
</antcall>
</target>
In ROS How do I start a ros node from the terminal? For example I'm looking to start the node /camera/camera_nodelet_manager but I have no idea how? Do I use rosrun and if so in what way?
Generally rosrun [package_name] [node_name] does the job. However, in many cases a node requires command-line arguments or parameters passed via *.launch (XML) files .
You can start a node with a launch file by executing roslaunch [package_name] [launch_file_name].
A Tab-Tab on roslaunch [package_name] will list you all launch files within the package.
For your specific case, it seems like you're working with openni_launch based on the manager name /camera/camera_nodelet_manager. If you just want to get openni_launch going, you can do
roslaunch openni_launch openni.launch
The nodelet manager is this executable. You can figure that out by looking at the openni.launch file:
<!-- Start nodelet manager in top-level namespace -->
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="$(arg debug)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>
It is launching a second launch file in the package rgbd_launch that starts the nodelet executable:
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg name)" args="manager"
output="screen" launch-prefix="$(arg launch_prefix)">
<param name="num_worker_threads" value="$(arg num_worker_threads)" />
</node>
But in the general case, the suggestions of #cassinaj are good, roslaunchand rosrun are the command line capabilities of ROS to start executable code.
I'm attempting to publish a ClickOnce application using an MSBuild task within a NAnt script. The certificate is installed on the machine and I believe it's finding it, as it's now getting past an earlier problem of it not being able to get the certificate itself. However, it's now failing with the error:
[msbuild]
C:\Windows\Microsoft.NET\Framework\v4.0.30319\Microsoft.Common.targets(4512,5):
error MSB4044: The "SignFile" task was not given a value for the
required parameter "CertificateThumbprint"
The task currently is called like this:
<msbuild project="${SourceURL}/pathToProject/project.csproj" verbosity="Minimal">
<property name="Configuration" value="Client" />
<property name="Platform" value="AnyCPU" />
<arg value="/p:ApplicationVersion=${actualVersion}" />
<arg value="/p:CertificateThumbprint=XXX" />
<arg value="/p:ManifestCertificateThumbprint=XXX" />
<arg value="/t:publish" />
</msbuild>
How should I be passing the CertificateThumbprint into the publish task? I'm trying to avoid having to switch directly to using signtool or mage, since I'd like to keep it as close as possible to using Visual Studio directly as possible.
I've been asked to migrate a VB.NET solution from Windows Server 2003, Visual Studio 2005, 32 bit, .NET 2.0 to Windows Server 2008, Visual Studio 2008, 64 bit, .NET 4.0. I have the solution compiling and working fine in Visual Studio. the next step is getting the Nant script to work so it'll checkout, compile and test like it did before.
However, when the Nant script gets to the msbuild step, it's failing immediately with "...Microsoft.NET/Framework64/v4.0.30319/msbuild failed to start. Access is denied"
I've tried running msbuild directly with the same inputs and it gets past this point. My question is: is there something I can put in my nant .build to get it to run it's tasks as an administrator?
My .build file:
<?xml version="1.0"?>
...
<credential domain="xxxx" username="xxxxx" password="xxxxxx" id="55" />
<property name="debug" value="true" overwrite="false" />
<property name="configuration" value="debug" overwrite="false" />
<property name="solution.file" value="solution.sln" overwrite="false" />
...
<target name="msbuild" description="Build the whole solution">
<exec program="C:/Windows/Microsoft.NET/Framework64/v4.0.30319/msbuild" workingdir="D:/BuildTest" commandline='"${solution.file}" /v:q /nologo /p:Configuration=${configuration}' />
</target>
...
Or
You could put ".exe" on the end if the msbuild line
<exec program="C:\Windows\Microsoft.NET\Framework64\v4.0.30319\msbuild.exe">
I have the same problem on a 32-bit machine. A workaround for me is to use nantcontrib's msbuild task instead. Anyone understands why this works?
On a 64-bit computer the exec-method works as well. I have to point to msbuild.exe in the correct Framework folder.
<target name="compile" description="Compiles the .Net solution">
<!-- this works -->
<msbuild project="${src.root.dir}\${src.solution}"
verbosity="Normal">
<arg value="/p:Configuration=${msbuild.configuration}" />
<arg value="/p:Platform=Any CPU" />
<arg value="/t:Rebuild" />
<arg value="/nologo" />
</msbuild>
<!-- access is denied -->
<exec program="${msbuild.path}"
workingdir="${src.root.dir}"
basedir="${src.root.dir}"
commandline="${src.root.dir}\${src.solution}${src.solution}"
failonerror="true" >
<arg value="/p:Platform=Any CPU" />
<arg value="/p:Configuration=${msbuild.configuration}" />
<arg value="/t:Rebuild" />
<arg value="/v:${msbuild.verbosity}" />
</exec>
</target>
It looks like there are (at least) two options for getting nant to use csproj files: using the task of NAntContrib or using msbuild.exe directly (e.g., codecampserver). Am I reading this right, and if so, what is the advantage of using msbuild.exe over the NAntContrib task?
The NAntContrib assumes .NET Framework V2.0. If you want to use .NET 3.5, you'll need to call MsBuild.exe directly. As you upgrade to new versions of .NET, you need only modify the MSBuildPath property.
Here's an example:
<property name="MSBuildPath" value="C:\WINDOWS\Microsoft.NET\Framework\v3.5\MSBuild.exe"/>
<target name="build">
<exec program="${MSBuildPath}">
<arg line='"${SolutionFile}"' />
<arg line="/property:Configuration=${SolutionConfiguration}" />
<arg value="/target:Rebuild" />
<arg value="/verbosity:normal" />
<arg value="/nologo" />
<arg line='/logger:"C:\Program Files\CruiseControl.NET\server\ThoughtWorks.CruiseControl.MsBuild.dll"'/>
</exec>
</target>
The value MSBuildPath for different versions of .NET are
2.0, 3.0 C:\Windows\Microsoft.NET\Framework64\v2.0.50727\MSBuild.exe
3.5 C:\Windows\Microsoft.NET\Framework64\v3.5\MSBuild.exe
4, 4.5.x, 4.6.x, 4.7.x C:\Windows\Microsoft.NET\Framework64\v4.0.30319\MSBuild.exe
For a 32-bit build, change Framework64 to Framework
Update
Following up on some of the comments, the value attribute is used for parameters that have no white space characters where as line is used for parameters that contain white spaces. Otherwise, the NAnt would use the space as an end of input.
Here is a simple target
<target>
<loadtasks assembly="${nant::get-base-directory()}/../../nantcontrib-0.85/bin/NAnt.Contrib.Tasks.dll" />
<msbuild project="${filepath.root}/yourproject.csproj" verbose="true">
<arg value="/p:Platform=${build.platform}" />
<arg value="/t:Rebuild" />
<arg value="/p:OutputPath=${build.dir}/bin/" />
</msbuild>
</target>