Description
I'm working on a robot with 2x Blackfly BFS-U3-04S2C-CS cameras connected to it, but the driver is not detecting either of them.
Running rosrun pointgrey_camera_driver list_cameras just prints:
No PointGrey cameras detected on this computer.
Note that you may need to restart udev and replug your camera, eg:
sudo service udev restart
I've modified the pointgrey udev rules to add the attributes for this camera:
ATTR{idVendor}=="1e10", ATTR{idProduct}=="4000", MODE="0666", GROUP="pgrimaging"
based on the output of udevadm info:
$udevadm info --attribute-walk /dev/bus/usb/004/002
looking at device '/devices/pci0000:00/0000:00:14.0/usb4/4-1':
KERNEL=="4-1"
SUBSYSTEM=="usb"
DRIVER=="usb"
ATTR{authorized}=="1"
ATTR{avoid_reset_quirk}=="0"
ATTR{bConfigurationValue}=="1"
ATTR{bDeviceClass}=="ef"
ATTR{bDeviceProtocol}=="01"
ATTR{bDeviceSubClass}=="02"
ATTR{bMaxPacketSize0}=="9"
ATTR{bMaxPower}=="896mA"
ATTR{bNumConfigurations}=="1"
ATTR{bNumInterfaces}==" 3"
ATTR{bcdDevice}=="0000"
ATTR{bmAttributes}=="80"
ATTR{busnum}=="4"
ATTR{configuration}==""
ATTR{devnum}=="2"
ATTR{devpath}=="1"
ATTR{idProduct}=="4000"
ATTR{idVendor}=="1e10"
ATTR{ltm_capable}=="no"
ATTR{manufacturer}=="FLIR"
ATTR{maxchild}=="0"
ATTR{product}=="Blackfly S BFS-U3-04S2C"
ATTR{quirks}=="0x0"
ATTR{removable}=="removable"
ATTR{serial}=="0136489B"
ATTR{speed}=="5000"
ATTR{urbnum}=="15"
ATTR{version}==" 3.10"
looking at parent device '/devices/pci0000:00/0000:00:14.0/usb4':
KERNELS=="usb4"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{authorized}=="1"
ATTRS{authorized_default}=="1"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{bConfigurationValue}=="1"
ATTRS{bDeviceClass}=="09"
ATTRS{bDeviceProtocol}=="03"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bMaxPacketSize0}=="9"
ATTRS{bMaxPower}=="0mA"
ATTRS{bNumConfigurations}=="1"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bcdDevice}=="0415"
ATTRS{bmAttributes}=="e0"
ATTRS{busnum}=="4"
ATTRS{configuration}==""
ATTRS{devnum}=="1"
ATTRS{devpath}=="0"
ATTRS{idProduct}=="0003"
ATTRS{idVendor}=="1d6b"
ATTRS{interface_authorized_default}=="1"
ATTRS{ltm_capable}=="yes"
ATTRS{manufacturer}=="Linux 4.15.0-115-generic xhci-hcd"
ATTRS{maxchild}=="6"
ATTRS{product}=="xHCI Host Controller"
ATTRS{quirks}=="0x0"
ATTRS{removable}=="unknown"
ATTRS{serial}=="0000:00:14.0"
ATTRS{speed}=="5000"
ATTRS{urbnum}=="58"
ATTRS{version}==" 3.00"
looking at parent device '/devices/pci0000:00/0000:00:14.0':
KERNELS=="0000:00:14.0"
SUBSYSTEMS=="pci"
DRIVERS=="xhci_hcd"
ATTRS{broken_parity_status}=="0"
ATTRS{class}=="0x0c0330"
ATTRS{consistent_dma_mask_bits}=="64"
ATTRS{d3cold_allowed}=="1"
ATTRS{device}=="0x8c31"
ATTRS{dma_mask_bits}=="64"
ATTRS{driver_override}=="(null)"
ATTRS{enable}=="1"
ATTRS{irq}=="29"
ATTRS{local_cpulist}=="0-3"
ATTRS{local_cpus}=="f"
ATTRS{msi_bus}=="1"
ATTRS{numa_node}=="-1"
ATTRS{revision}=="0x05"
ATTRS{subsystem_device}=="0x8c31"
ATTRS{subsystem_vendor}=="0x8086"
ATTRS{vendor}=="0x8086"
looking at parent device '/devices/pci0000:00':
KERNELS=="pci0000:00"
SUBSYSTEMS==""
DRIVERS==""
Adding a SYMLINK+=[...] shows that the rule is being triggered.
Possibly related (possibly not?) when I try to run the driver, specifying the serial numbers for the left & right cameras shows that the serial numbers are being truncated:
[ERROR] [1600872764.137690069]: Reconfigure Callback failed with error: PointGreyCamera::connect Could not find camera with serial number: 1364217. Is that camera plugged in? | FlyCapture2::ErrorType 19 Failed to get the camera from the serial number.
[ERROR] [1600872764.449145360]: Reconfigure Callback failed with error: PointGreyCamera::connect Could not find camera with serial number: 136489. Is that camera plugged in? | FlyCapture2::ErrorType 19 Failed to get the camera from the serial number.
but in my launch file I have:
with those args being passed to the camera nodelets' serial parameters. The leading 0s are being stripped off, as is the trailing B on the left camera's serial number. I'm not too worried about the leading 0s, but the trailing B seems important.
I'm not sure how to proceed from here. Any guidance or suggestions would be appreciated.