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ArduCAM / ArduCAM_USB_Camera_Shield

This is the repository for ArduCAM USB Camera Shield
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ROS does not work #76

Open habib-Boloorchi opened 5 years ago

habib-Boloorchi commented 5 years ago

When I run ros code in both raspberry pi (strech, kinetic ros) or in ubuntu14.04(indigo) I get same error. this is the error:

habib@Habib:~/catkin_ws/src/arducam_usb2_ros/launch$ roslaunch arducam_node.launch ... logging to /home/habib/.ros/log/fc66a430-d710-11e8-9a69-bc77370b7345/roslaunch-Habib-4297.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.

Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/init.py", line 307, in main p.start() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 718, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 652, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 654, in _recurse_load n = self._node_tag(tag, context, ros_config, default_machine, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, *kwds) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 406, in _node_tag self._param_tag(t, param_ns, ros_config, force_local=True, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(args, **kwds) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 256, in _param_tag vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command')) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs return [self.resolve_args(tag_value(tag,a), context) for a in attrs] File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 316, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 329, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 142, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 188, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: arducam_usb2_ros what I changed is just in launch's configure changed it to MT9v034_VGA.json would you help me with this issue?

ehong-tl commented 5 years ago

Did you catkin_make and source catkin_ws/devel/setup.bash before running the node?

habib-Boloorchi commented 5 years ago

hey @ehong-tl thank you for your help I reinstalled ros again and got this error: gging to /home/pi/.ros/log/7122dfea-d799-11e8-8678-b827eb0229c3/roslaunch-raspberrypi-10790.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://raspberrypi:39779/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /cam0/ arducam_trigger_ros_node (arducam_usb2_ros/arducam_trigger_ros_node.py)

ROS_MASTER_URI=http://localhost:11311

process[cam0/arducam_trigger_ros_node-1]: started with pid [10809] Traceback (most recent call last): File "/home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py", line 7, in from ImageConvert import File "/home/pi/catkin_ws/src/arducam_usb2_ros/src/ImageConvert.py", line 2, in import ArducamSDK ImportError: /home/pi/catkin_ws/src/arducam_usb2_ros/src/ArducamSDK.so: wrong ELF class: ELFCLASS64 [cam0/arducam_trigger_ros_node-1] process has died [pid 10809, exit code 1, cmd /home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py __name:=arducam_trigger_ros_node __log:=/home/pi/.ros/log/7122dfea-d799-11e8-8678-b827eb0229c3/cam0-arducam_trigger_ros_node-1.log]. log file: /home/pi/.ros/log/7122dfea-d799-11e8-8678-b827eb0229c3/cam0-arducam_trigger_ros_node-1.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done pi@raspberrypi:~/catkin_ws/src/arducam_usb2_ros/launch $ and I dont need any convert I need monochrome raw images for two cameras with triggers. would you help me this issue

ehong-tl commented 5 years ago

Hi @habib-Boloorchi,

The ArducamSDK.so file in the ROS folder is meant for PC, not ARM processor like Raspberry Pi.

Please replace the ArducamSDK.so in the arducam_usb2_ros/src/ folder with the one in RaspberryPi/Python/Streaming_demo/, and try to run the node again.

habib-Boloorchi commented 5 years ago

thank you @ehong-tl that one fixed and again this is the new error: SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /cam0/ arducam_trigger_ros_node (arducam_usb2_ros/arducam_trigger_ros_node.py)

ROS_MASTER_URI=http://localhost:11311

ERROR: cannot launch node of type [arducam_usb2_ros/arducam_trigger_ros_node.py]: can't locate node [arducam_trigger_ros_node.py] in package [arducam_usb2_ros] No processes to monitor shutting down processing monitor... ... shutting down processing monitor complete

ehong-tl commented 5 years ago

Did you run setup.sh during installation before running the node?

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From: Habib Boloorchimailto:notifications@github.com Sent: Wednesday, October 24, 2018 11:31 PM To: ArduCAM/ArduCAM_USB_Camera_Shieldmailto:ArduCAM_USB_Camera_Shield@noreply.github.com Cc: Ong Eng Huimailto:ehong@ntu.edu.sg; Mentionmailto:mention@noreply.github.com Subject: Re: [ArduCAM/ArduCAM_USB_Camera_Shield] ROS does not work (#76)

thank you @ehong-tlhttps://github.com/ehong-tl that one fixed and again this is the new error: SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /cam0/ arducam_trigger_ros_node (arducam_usb2_ros/arducam_trigger_ros_node.py)

ROS_MASTER_URI=http://localhost:11311

ERROR: cannot launch node of type [arducam_usb2_ros/arducam_trigger_ros_node.py]: can't locate node [arducam_trigger_ros_node.py] in package [arducam_usb2_ros] No processes to monitor shutting down processing monitor... ... shutting down processing monitor complete

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habib-Boloorchi commented 5 years ago

@ehong-tl thank you I did that and now I have this error: process[cam0/arducam_trigger_ros_node-1]: started with pid [15949] Traceback (most recent call last): File "/home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py", line 11, in from cv_bridge import CvBridge, CvBridgeError ImportError: No module named cv_bridge [cam0/arducam_trigger_ros_node-1] process has died [pid 15949, exit code 1, cmd /home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py __name:=arducam_trigger_ros_node __log:=/home/pi/.ros/log/46eb3c94-d79f-11e8-b0c9-b827eb0229c3/cam0-arducam_trigger_ros_node-1.log]. log file: /home/pi/.ros/log/46eb3c94-d79f-11e8-b0c9-b827eb0229c3/cam0-arducam_trigger_ros_node-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

ehong-tl commented 5 years ago

I think there’s something wrong with your ROS, it should come with cv_bridge module by default.

Sent from Mailhttps://go.microsoft.com/fwlink/?LinkId=550986 for Windows 10

From: Habib Boloorchimailto:notifications@github.com Sent: Wednesday, October 24, 2018 11:50 PM To: ArduCAM/ArduCAM_USB_Camera_Shieldmailto:ArduCAM_USB_Camera_Shield@noreply.github.com Cc: Ong Eng Huimailto:ehong@ntu.edu.sg; Mentionmailto:mention@noreply.github.com Subject: Re: [ArduCAM/ArduCAM_USB_Camera_Shield] ROS does not work (#76)

@ehong-tlhttps://github.com/ehong-tl thank you I did that and now I have this error: process[cam0/arducam_trigger_ros_node-1]: started with pid [15949] Traceback (most recent call last): File "/home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py", line 11, in from cv_bridge import CvBridge, CvBridgeError ImportError: No module named cv_bridge [cam0/arducam_trigger_ros_node-1] process has died [pid 15949, exit code 1, cmd /home/pi/catkin_ws/src/arducam_usb2_ros/src/arducam_trigger_ros_node.py __name:=arducam_trigger_ros_node __log:=/home/pi/.ros/log/46eb3c94-d79f-11e8-b0c9-b827eb0229c3/cam0-arducam_trigger_ros_node-1.log]. log file: /home/pi/.ros/log/46eb3c94-d79f-11e8-b0c9-b827eb0229c3/cam0-arducam_trigger_ros_node-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

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habib-Boloorchi commented 5 years ago

hey @ehong-tl , I wanted to be thankful for your help I fixed it and it works well. but I have a question do you know how to change the trigger code to get data from two cameras by a trigger. And do you know if I can get grayscale from cameras, converting to grayscale is time-consuming and I cannot sync it with my IMU properly.

ehong-tl commented 5 years ago

Hi @habib-Boloorchi ,

You can run two trigger nodes simultaneously with different namespace and camera serial number, once you trigger both the camera externally, it will publish to two different topic based on the namespace.

But if you want both image topic with same timestamp that sync with your IMU, you have to create your own node to subscribe to these 2 image topic and your IMU, and use ApproximateTime synchronizer to republish the image topic with synced timestamp.

For getting grayscale image directly from camera, you have to play with your camera config file register value.

habib-Boloorchi commented 5 years ago

Hi @ehong-tl , do you now why I get this error in this image and hwo to make it which parameter is for making it grayscale? image

ehong-tl commented 5 years ago

Hi @habib-Boloorchi ,

I believe RPi is too slow to run the current script. You can try run separate thread for image capture and image reading.

vipergts commented 5 years ago

Hi @habib-Boloorchi,

The ArducamSDK.so file in the ROS folder is meant for PC, not ARM processor like Raspberry Pi.

Please replace the ArducamSDK.so in the arducam_usb2_ros/src/ folder with the one in RaspberryPi/Python/Streaming_demo/, and try to run the node again.

I solve the problem with this comment Thank you!