Errors on Example Scripts

[ghost]

Hi,

I was facing few errors on the example scripts and wanted to clarify if I was doing something wrong.

In the script project_needle_pts.py,

I get the following error:

cv2.imshow("img", img)
cv2.error: OpenCV(4.2.0) ../modules/highgui/src/window.cpp:376: error: (-215:Assertion failed) size.width>0 && size.height>0 in > function 'imshow'

This is because the camere frame L returns a None image. I am not sure how to fix this

In the script, launch_crtk_interface.py

[*]using existing path at .
Specified Arguments
Namespace(namespace='/CRTK', rate=120, run_ecm=True, run_psm_one=True, run_psm_three=False, run_psm_two=True, run_scene=True)
Found Common Object Namespace as:  /ambf/env/
Launching CRTK-ROS Interface for PSM1 
psm1_target_ik NAMED OBJECT NOT FOUND
psm1_palm_joint_ik NAMED OBJECT NOT FOUND
psm1_target_fk NAMED OBJECT NOT FOUND
[ 5. -5. -2.  2. -5. -5.]
Launching CRTK-ROS Interface for PSM2 
psm2_target_ik NAMED OBJECT NOT FOUND
psm2_palm_joint_ik NAMED OBJECT NOT FOUND
psm2_target_fk NAMED OBJECT NOT FOUND
[-5. -5.  5. -5. -2. -5.]
Launching CRTK-ROS Interface for ECM 
Launching CRTK-ROS Interface for Scene 
ERROR! Requested Joint Idx of "0" outside valid range [0 - -1]
ERROR! Requested Joint Idx of "1" outside valid range [0 - -1]
ERROR! Requested Joint Idx of "2" outside valid range [0 - -1]
ERROR! Requested Joint Idx of "3" outside valid range [0 - -1]
ERROR! Requested Joint Idx of "4" outside valid range [0 - -1]
ERROR! Requested Joint Idx of "5" outside valid range [0 - -1]
Traceback (most recent call last):
  File "launch_crtk_interface.py", line 376, in <module>
    sceneManager.run()
  File "launch_crtk_interface.py", line 347, in run
    comp.run()
  File "launch_crtk_interface.py", line 164, in run
    self.publish_js()
  File "launch_crtk_interface.py", line 151, in publish_js
    self._measured_js_msg.position = self.arm.measured_jp()
  File "/home/haaris/surgical_robotics_challenge/scripts/surgical_robotics_challenge/psm_arm.py", line 213, in measured_jp
    q = self._joint_error_model.remove_from_joints(q, self._joints_error_mask)
  File "/home/haaris/surgical_robotics_challenge/scripts/surgical_robotics_challenge/utils/joint_errors_model.py", line 83, in remove_from_joints
    q[i] = q[i] - self.joint_erros_rad[i]
TypeError: unsupported operand type(s) for -: 'NoneType' and 'float'
Closing publisher for:  /ambf/env/Plane
Closing publisher for:  /ambf/env/lights/light2
Closing publisher for:  /ambf/env/cameras/cameraL
Closing publisher for:  /ambf/env/cameras/cameraR
Closing publisher for:  World
Closing publisher for:  /ambf/env/psm1/baselink
Closing publisher for:  /ambf/env/psm1/toolyawlink
Closing publisher for:  /ambf/env/psm1/Sensor0
Closing publisher for:  /ambf/env/psm1/Actuator0
Closing publisher for:  /ambf/env/psm2/baselink
Closing publisher for:  /ambf/env/psm2/toolyawlink
Closing publisher for:  /ambf/env/psm2/Sensor0
Closing publisher for:  /ambf/env/psm2/Actuator0
Closing publisher for:  /ambf/env/BlackGround
Closing publisher for:  /ambf/env/CameraFrame
Closing publisher for:  /ambf/env/Ledge
Closing publisher for:  /ambf/env/Needle
Closing publisher for:  /ambf/env/Phantom
Closing publisher for:  /ambf/env/Barrier
Closing publisher for:  /ambf/env/Entry1
Closing publisher for:  /ambf/env/Entry2
Closing publisher for:  /ambf/env/Entry3
Closing publisher for:  /ambf/env/Entry4
Closing publisher for:  /ambf/env/Exit1
Closing publisher for:  /ambf/env/Exit2
Closing publisher for:  /ambf/env/Exit3
Closing publisher for:  /ambf/env/Exit4

I wanted to know if the "NAMED OBJECT NOT FOUND" is an issue on my end.

Thank you

[adnanmunawar]

Hi Haris, thanks for posting your question. It appears that you may be encountering two different issues. For the first one, regarding the "None" image from cameraL, did you follow the instructions discussed in the main readme section 3b that enable camera image publishing?

Regarding the second issue, thanks for posting the console output, let me check what is going on and I shall get back to you.

[adnanmunawar]

For the first problem, have you installed the dependencies and rebuilt AMBF?

[ghost]

When you refer to dependencies, if you mean cv-bridge and image-transport, then yes. Also I have rebuilt AMBF again.

[adnanmunawar]

Okay great. Can you share your copy of world_stereo.yaml file where you have set the publish_image flags for the two cameras.

[ghost]

That is where my mistake was. I edited the world file in the AMBF folder and not the one in the Surgical Robotics Challenge. Thank you so much! That fixed it.

[adnanmunawar]

Glad that we figured it out. It’s the second time this has happened so perhaps I should update the documentation in the Wiki.

[adnanmunawar]

#22 related to launch_crtk_interface.py when controlling via the CRTK-ROS interface.