工程問題--關於在ROS_ANSWER編輯問題時的格式與使用技巧

 由於本身在使用openni時遇到了個問題，在google上找不到答案，因此就上ros_answer去提問了。

一到那裏對於怎麼使用它的代碼插入一直存在疑惑。因此就寫了這篇隨筆來記錄一下。

 

1. #能夠實現加粗，好比#------，能夠將------加粗。

但最後好像並不能顯示出來

 

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2. 工具欄上的插入代碼只能插入一行代碼，那對於多行代碼，特別是不少行的報錯，咱們要怎麼作呢？

　　enter code here

將其餘的代碼複製粘貼在這裏，以下圖PARAMETERS後面的多行代碼

 

咱們只要將後面的代碼行首和PARAMETERS的行首對齊就好。這樣就能後面的顯示成代碼而不是文字了。

這樣就能夠粘貼不少行代碼了

 

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下面是我本身的一個模板：

 

Hello, I got a problem when I tried to roslaunch openni_launch openni.launch with kinect v1 on my ubuntu16.04 #----------------------------------------------------------------------

**1.** My computer environment: ubuntu 16.04 + kinetic OpenNI-Bin-Dev-Linux-x64-v1.5.7.10 Sensor-Bin-Linux-x64-v5.1.2.1 NITE-Bin-Dev-Linux-x64-v1.5.2.23 #----------------------------------------------------------------------

**2.** When I tried to roslaunch openni, I got the message as following: ... logging to /home/neo/.ros/log/75389ba0-8c86-11e8-b414-00215ce868e5/roslaunch-nuc-16200.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://nuc:46401/
 SUMMARY ======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4
     * /camera/depth_rectify_depth/interpolation: 0
     * /camera/depth_registered_rectify_depth/interpolation: 0
     * /camera/disparity_depth/max_range: 4.0
     * /camera/disparity_depth/min_range: 0.5
     * /camera/disparity_registered_hw/max_range: 4.0
     * /camera/disparity_registered_hw/min_range: 0.5
     * /camera/disparity_registered_sw/max_range: 4.0
     * /camera/disparity_registered_sw/min_range: 0.5
     * /camera/driver/depth_camera_info_url: * /camera/driver/depth_frame_id: camera_depth_opti... * /camera/driver/depth_registration: False * /camera/driver/device_id: #1
     * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica... * /rosdistro: kinetic * /rosversion: 1.12.13 NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher) ROS_MASTER_URI=http://localhost:11311
 process[camera/camera_nodelet_manager-1]: started with pid [16217] process[camera/driver-2]: started with pid [16218] process[camera/rgb_debayer-3]: started with pid [16219] process[camera/rgb_rectify_mono-4]: started with pid [16226] process[camera/rgb_rectify_color-5]: started with pid [16233] process[camera/ir_rectify_ir-6]: started with pid [16250] process[camera/depth_rectify_depth-7]: started with pid [16263] process[camera/depth_metric_rect-8]: started with pid [16279] [ INFO] [1532140195.705105283]: Initializing nodelet with 4 worker threads. process[camera/depth_metric-9]: started with pid [16289] process[camera/depth_points-10]: started with pid [16304] process[camera/register_depth_rgb-11]: started with pid [16321] process[camera/points_xyzrgb_sw_registered-12]: started with pid [16324] process[camera/depth_registered_sw_metric_rect-13]: started with pid [16331] process[camera/depth_registered_rectify_depth-14]: started with pid [16343] process[camera/points_xyzrgb_hw_registered-15]: started with pid [16353] process[camera/depth_registered_hw_metric_rect-16]: started with pid [16371] process[camera/depth_registered_metric-17]: started with pid [16389] process[camera/disparity_depth-18]: started with pid [16403] process[camera/disparity_registered_sw-19]: started with pid [16416] process[camera/disparity_registered_hw-20]: started with pid [16441] process[camera_base_link-21]: started with pid [16445] process[camera_base_link1-22]: started with pid [16455] process[camera_base_link2-23]: started with pid [16473] process[camera_base_link3-24]: started with pid [16477] Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1532140197.987390606]: Number devices connected: 2 [ INFO] [1532140198.088715563]: 1. device on bus 002:08 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0' [ INFO] [1532140198.088884278]: 2. device on bus 002:08 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00366902406104A' [ INFO] [1532140198.091009069]: Searching for device with index = 1 [camera/camera_nodelet_manager-1] process has died [pid 16217, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/neo/.ros/log/75389ba0-8c86-11e8-b414-00215ce868e5/camera-camera_nodelet_manager-1.log]. ... ... ... Here maybe the main problem Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1532140197.987390606]: Number devices connected: 2 [ INFO] [1532140198.088715563]: 1. device on bus 002:08 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0' [ INFO] [1532140198.088884278]: 2. device on bus 002:08 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00366902406104A' [ INFO] [1532140198.091009069]: Searching for device with index = 1 It showed the computer connected to two kinects. But I only had one kinect connected. #----------------------------------------------------------------------

**3.** But when I run roslaunch openni_launch openni.launch device_id:=#2

**it works!!!**  But the problem still **exitst** . Here is the **main** message information Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1532144223.689084031]: Number devices connected: 2 [ INFO] [1532144223.789816257]: 1. device on bus 002:08 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0' [ INFO] [1532144223.789871737]: 2. device on bus 002:08 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00366902406104A' [ INFO] [1532144223.790564154]: Searching for device with index = 2 [ INFO] [1532144223.826063687]: Opened 'SensorV2' on bus 2:8 with serial number 'A00366902406104A' [ INFO] [1532144223.853133835]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1532144223.854356984]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1532144223.861493275]: Camera calibration file /home/neo/.ros/camera_info/rgb_A00366902406104A.yaml not found. [ WARN] [1532144223.861670175]: Using default parameters for RGB camera calibration. [ WARN] [1532144223.861811460]: Camera calibration file /home/neo/.ros/camera_info/depth_A00366902406104A.yaml not found. [ WARN] [1532144223.861931850]: Using default parameters for IR camera calibration. #----------------------------------------------------------------------

**4.** When I run lsusb I got the message as following: Bus 001 Device 002: ID 8087:8001 Intel Corp. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 002 Device 003: ID 8087:0a2a Intel Corp. Bus 002 Device 002: ID 24ae:2010 Bus 002 Device 008: ID 045e:02ae Microsoft Corp. Xbox NUI Camera Bus 002 Device 006: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor Bus 002 Device 007: ID 045e:02ad Microsoft Corp. Xbox NUI Audio Bus 002 Device 005: ID 0409:005a NEC Corp. HighSpeed Hub Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub #----------------------------------------------------------------------

**5.** I guess  maybe because I had installed **Sensor-Bin-Linux-x64-v5.1.x.x**  **twice** . When the first time I installed the Sensor driver for kinect v1, I chose a newer version:Sensor-Bin-Linux-x64-v5.1. **6.6** . But this didn't match the **OpenNI-Bin-Dev-Linux-x64-v1.5.7.10** , which used with Sensor-Bin-Linux-x64-v5.1.6.6 may led to a message when run **./NiViewer**
 open failed : bad parameter sent to the device So I uninstall the version of Sensor-Bin-Linux-x64 to v5.1.6.6 and install **Sensor-Bin-Linux-x64 to v5.1.2.1** . And the "open failed : bad parameter sent to the device" was **disappeared** . But the first wrong message above appeared when I roslaunch the openni. So I guess something went wrong **when I changed the version of Sensor** .But how to solve it? #---------------------------------------------------------------------- I hope someone would help me with the issue. Thank you so much.