Object_recognition_core module: 'object_recognition_tabletop' is missing in the system

Course Support Mastering with ROS - Smart Grasping System
1

Hi
I am working my way thrue the course, and i cannot get passed the

OS_MASTER_URI=http://1_simulation:11311

process[tabletop_server_node-1]: started with pid [14302]
[ INFO] [1628055601.705821706]: Initialized ROS. node_name: /tabletop_server_node
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/object_recognition_core/detection", line 21, in <module>
    plasm = create_plasm(ork_params)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/pipelines/plasm.py", line 39, in create_plasm
    cell_class = find_cell([parameters['module']], parameters['type'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 157, in find_cell
    cells = find_cells(modules, base_types)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 95, in find_cells
    potential_cells = find_classes(modules, [])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 37, in find_classes
    m = __import__(module)
ImportError: No module named object_recognition_tabletop
[tabletop_server_node-1] process has died [pid 14302, exit code 1, cmd /opt/ros/kinetic/lib/object_recognition_core/detection -c /home/user/catkin_ws/src/my_object_recognition_pkg/conf/detection.tabletop_shadow.ros.ork __name:=tabletop_server_node __log:=/home/user/.ros/log/a623e726-f4d7-11eb-ae2c-0242ac180008/tabletop_server_node-1.log].
log file: /home/user/.ros/log/a623e726-f4d7-11eb-ae2c-0242ac180008/tabletop_server_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

error.

it appears that the ```
module: ‘object_recognition_tabletop’

is missing, can somone explain to me where i can find those moduels, or is there a way of creating them?

this is the launch file

<arg name="tabletop_ork_file" value="$(find my_object_recognition_pkg)/conf/detection.tabletop_shadow.ros.ork"/>

<node pkg="object_recognition_core"
type="detection"
name="tabletop_server_node"
args="-c $(arg tabletop_ork_file)"
output="screen">
</node>
```

and the .ork file:

source1:
  type: RosKinect
  module: 'object_recognition_ros.io'
  parameters:
    rgb_frame_id: '/camera_depth_optical_frame'
    rgb_image_topic: '/camera/rgb/image_raw'
    rgb_camera_info: '/camera/rgb/camera_info'
    depth_image_topic: '/camera/depth/image_raw'
    depth_camera_info: '/camera/depth/camera_info'
    #
    #crop_enabled: True
    #x_min: -0.4
    #x_max: 0.4
    #y_min: -1.0
    #y_max: 0.2
    #z_min: 0.3
    #z_max: 1.5

sink1:
  type: TablePublisher
  module: 'object_recognition_tabletop'
  inputs: [source1]

pipeline1:
  type: TabletopTableDetector
  module: 'object_recognition_tabletop'
  inputs: [source1]
  outputs: [sink1]
  parameters:
    table_detector:
      min_table_size: 4000
      plane_threshold: 0.01
    #clusterer:
    #  table_z_filter_max: 0.35
    #  table_z_filter_min: 0.025
2

ok i just figure it out, this is for somone if thy have the same issue:

roscd
cd ..
cd src
git clone http://github.com/wg-perception/tabletop
roscd
cd ..
catkin_make
source devel/setup.bash
rospack prifile

will install the missing module in your src directory, should come up with some warnings about depriciation but it builds ok

1 Like
3

Hello @ziga.rupret ,

Glad that you could solve it on your own! I will have a look at this and update the notebook to make sure everything works.

4

hmm i just noticed that in the course we are runing kinetic version, is this module not supported on ros noetic?

5

Hello @ziga.rupret ,

No, this course has not been ported to ROS Noetic. If you are looking for some of these features (perception, manipulation) in a more updated version, you should look for the ROS Perception/ROS Manipulation in 5 Days courses.

Best,