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"
     
    
  
 

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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～

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/68942938