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[BUG] {camera.launch.py not working} #522
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Hi, could you provide some more information as described in the bug report template?
The driver's parameters all have some default values, previously they were all listed in the config files but that made them a bit hard to read and could cause some unexpected errors. You can see all the parameters here or you can list them in cli via
These values can be just added to the config file as mentioned above.
Not sure what you exactly mean here. |
Thanks for response, and I provide more information. Describe the bug Expected behavior /oak/rgb/camera_info Attach system log
Additional context
I have referred to various issues to solve the error. On your advice, I execute |
Hi,
|
Thanks for response.
The process stops with a message indicating that it is dead.
There is no rgb_stereo_node.launch.py in oakd.launch.py and I found rgb_stereo_node.launch.py in oakd_example.launch.py.
If I run the driver on the host PC, the driver can't recognize the camera.
On your advice, I set the parameters' values launching the codes.
Lastly, I have a question about executing the OAK-D sensor. Thank you for taking the time. |
Hi, I tried connecting the sensor with Host PC directly, and it was a success. In the result, it is sure that the launch code and yaml files are not the point of the problem. So, I don't know what the problem is. |
Hi, sorry for the delay, just to make sure, could you also test if you could run some python depthai examples? In general, if camera works on PC without issues then the issue might be somewhere on the turtlebot side, I would contact their team and verify if the setup is up to date. |
Hi, thanks for response! I executed 'hello_world.py' in depthai_tutorials and here the result is. After you contact the turtlebot team, I would appreciate it if you could share the answers. |
Describe the bug
I can't get topics related to depth image. Here is the bug report when launching
ros2 launch depthai_ros_driver camera.launch.py
It is the similar error with
ros2 launch turtlebot4_bringup oakd.launch.py
Before the node is down, I can see oak topics with rgb and stereo in topic lists(I attached the picture below). I wanna use all the topics for extracting the data, so I think launching camera.launch.py is the solution but it is down showing an error message.
So, what do I do execute the code successfully?
Please help.
and I have some questions.
Q1.
In an existing camera.yaml, there is no content related to rgb and stereo.
Then, what is the reason of showing topics related to them?
Q2.
When I read the official document, if I use RGBD as the value of i_pipeline_type, it says that I have to include left & right camera content.
But, an existing camera.yaml doesn't include left & right camera content.
Q3.
Can you tell me what the required parameters are if I modify the yaml file to customize topics?
System information
I am using ROS2 humble on Turtlebot4 (ubuntu 22.04).
Attach system log
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-04-09-06-21-36-602339-ubuntu-1579
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1593]
[component_container-1] [INFO] [1712643700.753357558] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1712643700.762664553] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1712643700.762804922] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1712643700.841839772] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1712643700.842024252] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1712643700.842071844] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1712643700.842107548] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1712643700.842139307] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1712643700.842169547] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1712643700.842197843] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1712643700.842225880] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1712643700.842255732] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1712643700.842283861] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[component_container-1] [INFO] [1712643700.865168112] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1712643701.389025588] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1712643701.389210476] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1712643701.513268889] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1712643704.428852394] [oak]: Camera with MXID: 18443010F1D6990F00 and Name: 1.1.2 connected!
[component_container-1] [INFO] [1712643704.430665175] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1712643704.478820471] [oak]: Device type: OAK-D-PRO
[component_container-1] [INFO] [1712643704.482657735] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1712643704.840804483] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1712643705.228526574] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1712643705.619172529] [oak]: Finished setting up pipeline.
[component_container-1] [18443010F1D6990F00] [1.1.2] [1712643709.256] [host] [warning] Device crashed, but no crash dump could be extracted.
[component_container-1] terminate called without an active exception
[ERROR] [component_container-1]: process has died [pid 1593, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].
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