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KavenYau / ros2_astra_camera

ROS2 wrapper for Astra camera
Apache License 2.0
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I encountered this issue on the Orin NX development board:process has died #10

Open hzwsl121 opened 5 months ago

hzwsl121 commented 5 months ago

used in orin nx ubuntu22 nx@ubuntu:~/ros2_ws$ ros2 launch ros2_astra_camera astra_pro_launch.py [INFO] [launch]: All log files can be found below /home/nx/.ros/log/2024-02-04-16-50-50-904826-ubuntu-20949 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [20961] [INFO] [astra_camera_node-2]: process started with pid [20963] [INFO] [uvc_camera_node-3]: process started with pid [20965] [INFO] [robot_state_publisher-4]: process started with pid [20967] [robot_state_publisher-4] [WARN] [1707036651.410947233] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-4] [INFO] [1707036651.420447271] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-4] [INFO] [1707036651.420555884] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-4] [INFO] [1707036651.420578734] [robot_state_publisher]: got segment camera_link [robot_state_publisher-4] [INFO] [1707036651.420595022] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-4] [INFO] [1707036651.420608079] [robot_state_publisher]: got segment camera_rgb_optical_frame [astra_camera_node-2] [INFO] [1707036651.427359209] [astra_wrapper]: Device "2bc5/0614@2/12" found. [astra_camera_node-2] [INFO] [1707036651.428682700] [astra_camera_node]: ir_frame_id = 'camera_ir_optical_frame' [astra_camera_node-2] [INFO] [1707036651.428881270] [astra_camera_node]: rgb_frame_id = 'camera_rgb_optical_frame' [astra_camera_node-2] [INFO] [1707036651.428923673] [astra_camera_node]: depth_frame_id = 'camera_depth_optical_frame'

[uvc_camera_node-3] [WARN] [1707036651.432208193] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [astra_camera_node-2] Warning: USB events thread - failed to set priority. This might cause loss of data... [uvc_camera_node-3] [INFO] [1707036651.450714643] [uvc_camera_node]: Opening camera with vendor=0x2bc5, product=0x511, serial="", index=0 [component_container-1] [INFO] [1707036651.584452238] [depth_image_proc_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [uvc_camera_node-3] unsupported descriptor subtype VS_COLORFORMAT [uvc_camera_node-3] [INFO] [1707036651.692170197] [uvc_camera_node]: uvc mode: 640x480@30.000000 uncompressed [uvc_camera_node-3] attempt to claim already-claimed interface 1 [component_container-1] [INFO] [1707036651.769629232] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707036651.769775480] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707036651.769802009] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707036651.769820986] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707036651.769833787] [depth_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyz_node' in container '/depth_image_proc_container' [astra_camera_node-2] Warning: USB events thread - failed to set priority. This might cause loss of data... [astra_camera_node-2] [INFO] [1707036653.619307434] [astra_wrapper]: device name: Astra SV1301S_U3 [astra_camera_node-2] [INFO] [1707036653.619956683] [astra_camera_node]: depth_mode is Resolution: 640x480@30Hz Format: Depth 1mm [astra_camera_node-2] [INFO] [1707036653.620102931] [astra_camera_node]: color mode is Resolution: 640x480@30Hz Format: RGB888 [astra_camera_node-2] [INFO] [1707036653.620180055] [astra_camera_node]: IR mode is Resolution: 640x480@30Hz Format: Gray16 [astra_camera_node-2] [ERROR] [1707036653.631410837] [astra_camera_node]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16 [astra_camera_node-2] [ERROR] [1707036653.902902307] [astra_camera_node]: Unsupported depth video mode - Resolution: 640x480@30Hz Format: Depth 1mm [astra_camera_node-2] 1 [astra_camera_node-2] [WARN] [1707036653.952561164] [astra_camera_node]: has IR sensor is 1 [astra_camera_node-2] [INFO] [1707036653.964085753] [astra_camera_node]: Starting IR stream. [astra_camera_node-2] [WARN] [1707036653.976396558] [astra_camera_node]: has depth sensor is 1 [astra_camera_node-2] [INFO] [1707036653.981503731] [astra_camera_node]: Starting depth stream. [ERROR] [astra_camera_node-2]: process has died [pid 20963, exit code -11, cmd '/home/nx/ros2_ws/install/ros2_astra_camera/lib/ros2_astra_camera/astra_camera_node --ros-args -r __node:=astra_camera_node --params-file /home/nx/ros2_ws/install/ros2_astra_camera/share/ros2_astra_camera/launch/params/astra_pro.yaml']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 20967] [INFO] [component_container-1]: process has finished cleanly [pid 20961]

[INFO] [uvc_camera_node-3]: process has finished cleanly [pid 20965]

hzwsl121 commented 5 months ago

It runs normally on my own laptop, but throws an error on the Orin NX board.

KavenYau commented 5 months ago 
[uvc_camera_node-3] unsupported descriptor subtype VS_COLORFORMAT

I think it's related to this issue https://github.com/KavenYau/ros2_astra_camera/issues/4#issuecomment-1138186386. Please check the acceptable values and modify the yaml file.

hzwsl121 commented 5 months ago

First of all, thank you for your response. However, I think it's not about this issue. The UVC has always had problems, but it still works fine (on my laptop). Here is the situation: [INFO] [launch]: All log files can be found below /home/usr/.ros/log/2024-02-05-14-21-38-095778-usr-19319 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [19332] [INFO] [astra_camera_node-2]: process started with pid [19334] [INFO] [uvc_camera_node-3]: process started with pid [19336] [INFO] [robot_state_publisher-4]: process started with pid [19338] [robot_state_publisher-4] [WARN] [1707114098.234572130] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-4] Parsing robot urdf xml string. [robot_state_publisher-4] Link camera_depth_frame had 1 children [robot_state_publisher-4] Link camera_depth_optical_frame had 0 children [robot_state_publisher-4] Link camera_rgb_frame had 1 children [robot_state_publisher-4] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-4] [INFO] [1707114098.236302058] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-4] [INFO] [1707114098.236328741] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-4] [INFO] [1707114098.236340825] [robot_state_publisher]: got segment camera_link [robot_state_publisher-4] [INFO] [1707114098.236351722] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-4] [INFO] [1707114098.236362618] [robot_state_publisher]: got segment camera_rgb_optical_frame [astra_camera_node-2] [INFO] [1707114098.237123434] [astra_wrapper]: Device "2bc5/0614@4/7" found. [astra_camera_node-2] [INFO] [1707114098.238302168] [astra_camera_node]: ir_frame_id = 'camera_ir_optical_frame' [astra_camera_node-2] [INFO] [1707114098.238355953] [astra_camera_node]: rgb_frame_id = 'camera_rgb_optical_frame' [astra_camera_node-2] [INFO] [1707114098.238371949] [astra_camera_node]: depth_frame_id = 'camera_depth_optical_frame'

[uvc_camera_node-3] [WARN] [1707114098.238577101] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [astra_camera_node-2] Warning: USB events thread - failed to set priority. This might cause loss of data... [uvc_camera_node-3] [INFO] [1707114098.243313411] [uvc_camera_node]: Opening camera with vendor=0x2bc5, product=0x614, serial="", index=0 [component_container-1] [INFO] [1707114098.453200616] [depth_image_proc_container]: Load Library: /opt/ros/foxy/lib/libdepth_image_proc.so [uvc_camera_node-3] uvc_find_device: No such device (-4) [uvc_camera_node-3] terminate called after throwing an instance of 'std::runtime_error' [uvc_camera_node-3] what(): camera driver start failed. [ERROR] [uvc_camera_node-3]: process has died [pid 19336, exit code -6, cmd '/home/usr/orb_ws/install/ros2_astra_camera/lib/ros2_astra_camera/uvc_camera_node --ros-args -r __node:=uvc_camera_node --params-file /home/usr/orb_ws/install/ros2_astra_camera/share/ros2_astra_camera/launch/params/astra_pro.yaml']. [component_container-1] [INFO] [1707114098.524104584] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707114098.524825515] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707114098.525206412] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707114098.525580394] [depth_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1707114098.525963386] [depth_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyz_node' in container '/depth_image_proc_container' [astra_camera_node-2] Warning: USB events thread - failed to set priority. This might cause loss of data... [astra_camera_node-2] [INFO] [1707114098.928564603] [astra_wrapper]: device name: Astra SV1301S_U3 [astra_camera_node-2] [INFO] [1707114098.928921262] [astra_camera_node]: depth_mode is Resolution: 640x480@30Hz Format: Depth 1mm [astra_camera_node-2] [INFO] [1707114098.928987969] [astra_camera_node]: color mode is Resolution: 640x480@30Hz Format: RGB888 [astra_camera_node-2] [INFO] [1707114098.929019472] [astra_camera_node]: IR mode is Resolution: 640x480@30Hz Format: Gray16 [astra_camera_node-2] [ERROR] [1707114098.931283130] [astra_camera_node]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16 [astra_camera_node-2] [ERROR] [1707114098.973994369] [astra_camera_node]: Unsupported depth video mode - Resolution: 640x480@30Hz Format: Depth 1mm [astra_camera_node-2] [WARN] [1707114098.984162424] [astra_camera_node]: has IR sensor is 1 [astra_camera_node-2] [INFO] [1707114098.985334732] [astra_camera_node]: Starting IR stream. [astra_camera_node-2] [WARN] [1707114098.992994232] [astra_camera_node]: has depth sensor is 1 [astra_camera_node-2] [INFO] [1707114098.994063020] [astra_camera_node]: Starting depth stream. [astra_camera_node-2] ReadBinaryFile, 63 [astra_camera_node-2] [width height fx fy cx cy baseline]640 400 945.028 945.028 640 400 40 [astra_camera_node-2] [INFO] [1707114099.033260112] [astra_camera_node]: using default calibration URL [astra_camera_node-2] [INFO] [1707114099.033358742] [astra_camera_node]: camera calibration URL: file:///home/usr/.ros/camera_info/depth_Astra_Orbbec.yaml [astra_camera_node-2] [ERROR] [1707114099.033500609] [camera_calibration_parsers]: Unable to open camera calibration file [/home/usr/.ros/camera_info/depth_Astra_Orbbec.yaml] [astra_camera_node-2] [WARN] [1707114099.033535464] [astra_camera_node]: Camera calibration file /home/usr/.ros/camera_info/depth_Astra_Orbbec.yaml not found

Finally, here are the results of my "v4l2-ctl --list-formats-ext" command.I would be happy to assist you further. $ v4l2-ctl --list-formats-ext ioctl: VIDIOC_ENUM_FMT Type: Video Capture

[0]: 'MJPG' (Motion-JPEG, compressed)
    Size: Discrete 640x480
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 2592x1944
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 2560x1440
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 1920x1080
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 1280x960
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 1280x720
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 320x240
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 640x480
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
[1]: 'YUYV' (YUYV 4:2:2)
    Size: Discrete 640x480
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 2592x1944
        Interval: Discrete 0.500s (2.000 fps)
    Size: Discrete 2560x1440
        Interval: Discrete 0.333s (3.000 fps)
    Size: Discrete 1920x1080
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 1280x960
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 1280x720
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 320x240
        Interval: Discrete 0.017s (60.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
    Size: Discrete 640x480
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)
        Interval: Discrete 0.033s (30.000 fps)
        Interval: Discrete 0.040s (25.000 fps)
        Interval: Discrete 0.050s (20.000 fps)
        Interval: Discrete 0.067s (15.000 fps)
        Interval: Discrete 0.100s (10.000 fps)
        Interval: Discrete 0.200s (5.000 fps)