I am working on a ROS-VREP simulation using Ubuntu 14.04, ROS Indigo and V-rep 3.2.1 .
Every time I try to publish vision sensors data from v-rep the simulator crashes giving this error:
Code: Select all
QMetaType::registerType: Binary compatibility break -- Size mismatch for type 'QPaintBufferCacheEntry' [1024]. Previously registered size 16, now registering size 0.
Aborted (core dumped)
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depthCam=simGetObjectHandle('kinect_visionSensor')
depthView=simFloatingViewAdd(0.9,0.9,0.2,0.2,0)
simAdjustView(depthView,depthCam,64)
colorCam=simGetObjectHandle('kinect_camera')
colorView=simFloatingViewAdd(0.69,0.9,0.2,0.2,0)
simAdjustView(colorView,colorCam,64)
name = simGetScriptSimulationParameter(sim_handle_self,'rosname')
--simExtROS_enablePublisher(name.."/rgbimage/image_raw",1,simros_strmcmd_get_vision_sensor_image,colorCam,0,'')
--simExtROS_enablePublisher("/kinect/depthimage/image_raw",1,simros_strmcmd_get_vision_sensor_image,depthCam,0,'')
--simExtROS_enablePublisher(name.."/depthimage/vrep",1,simros_strmcmd_get_vision_sensor_depth_buffer,depthCam,0,'')
simExtROS_enablePublisher(name.."/rgbimage/camera_info",1,simros_strmcmd_get_vision_sensor_info,colorCam,0,'')
youBotHandle = simGetObjectHandle("youBot_ref")
simExtROS_enablePublisher("/tf",1,simros_strmcmd_get_transform,colorCam,youBotHandle,'/kinect_visionSensor%/base_link')
simExtROS_enablePublisher("/tf",1,simros_strmcmd_get_transform,depthCam,youBotHandle,'/kinect_depthSensor%/base_link')
All other publishers/subscribers work just fine and I can communicate with the ROS core flawlessly (e.g. I can read the camera info).
I tried to catkin make the v-rep ros packages and copy the lib files as people suggest on this forum but it doesn't help.
I tried to run other scenes that use vision sensors and ROS communication and all have the same problem (but they probably work on someone else computer).
All the plugins seems to be loaded correctly when I start V-Rep (no errors reported).
Any suggestion?
Many thanks.