ROS机器人项目开发11例-ROS Robotics Projects（1）代码使用编译

 ROS Robotics Projects代码编译等的一些小坑

看到这边书觉得非常不错，第一时间下载代码调试，发现有些小bug。

这里主要是一些配置问题，书中推荐是kinetic版本，那么测试必然要用indigo啦，

如果书中推荐indigo，一般用kinetic测试

原书示例代码下载：https://github.com/qboticslabs/ros_robotics_projects

首先，作者为了让小伙伴们更好的学习这本书----自己练习，将一些代码文件改为如下：

face_tracker_node.cpp.txt

如果自己只想看效果，需要修改：

face_tracker_node.cpp

不同版本的opencv，注意路径配置等，如果遇到opencv部分头文件找不到的情况，请参考如下：

 

//Open-CV headers
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/objdetect/objdetect.hpp"

 

 

 

 

 

----

还有编译不报错了，那么运行就没有问题了吗？

比如下面这个错误：

ERROR: Could not load classifier cascade

以第二章的人脸识别为示例：

$ roslaunch face_tracker_pkg start_tracking.launch

... logging to /home/relaybot/.ros/log/419f0c24-1690-11e7-9614-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-2938.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://exbot-ThinkPad-T420s:45721/

SUMMARY
========

PARAMETERS
 * /display_original_image: 1
 * /display_tracking_image: 1
 * /face_detected_image_topic: /face_detector/ra...
 * /face_tracking: 1
 * /haar_file_face: 1/home/relaybot/b...
 * /image_input_topic: /usb_cam/image_raw
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /usb_cam/auto_focus: False
 * /usb_cam/camera_frame_id: usb_cam
 * /usb_cam/image_height: 480
 * /usb_cam/image_width: 640
 * /usb_cam/io_method: mmap
 * /usb_cam/pixel_format: yuyv
 * /usb_cam/video_device: /dev/video0

NODES
  /
    face_tracker (face_tracker_pkg/face_tracker_node)
    usb_cam (usb_cam/usb_cam_node)

auto-starting new master
process[master]: started with pid [2950]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 419f0c24-1690-11e7-9614-0811968dc4b0
process[rosout-1]: started with pid [2963]
started core service [/rosout]
process[usb_cam-2]: started with pid [2966]
process[face_tracker-3]: started with pid [2967]
[ INFO] [1491019450.108638897]: Successfully Loaded tracking parameters
[ INFO] [1491019450.199495687]: using default calibration URL
[ INFO] [1491019450.199610077]: camera calibration URL: file:///home/relaybot/.ros/camera_info/head_camera.yaml
[ INFO] [1491019450.199706530]: Unable to open camera calibration file [/home/relaybot/.ros/camera_info/head_camera.yaml]
[ WARN] [1491019450.199748678]: Camera calibration file /home/relaybot/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1491019450.199798247]: Starting 'head_camera' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[ WARN] [1491019450.295375208]: unknown control 'focus_auto'

ERROR: Could not load classifier cascade
ERROR: Could not load classifier cascade
ERROR: Could not load classifier cascade
ERROR: Could not load classifier cascade

 

 

 

 

 

----

明显是人脸识别配置有点问题啊。

修改track.yaml

注意data中face.xml的路径。比如本机就是如下情况：

 

image_input_topic: "/usb_cam/image_raw"
face_detected_image_topic: "/face_detector/raw_image"
haar_file_face: "/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter02/codes/face_tracker_pkg/data/face.xml"
face_tracking: 1
display_original_image: 1
display_tracking_image: 1

 

 

 

 

 

----

再试一次：

roslaunch face_tracker_pkg start_tracking.launch

 

～End～