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Kinovarobotics / ros_kortex_vision

ROS package for KINOVA® KORTEX™ arms vision module
BSD 3-Clause "New" or "Revised" License
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[depth/color]: Failed to start stream #6

Closed im-renpei closed 1 year ago

im-renpei commented 3 years ago

Hi @alexvannobel ,

When I doing the '#~/catkin_ws/src/ros_kortex_vision/launch$ roslaunch kinova_vision.launch', the terminal will show the following errors... And the image data cannot be obtained in RViz.

kortex_topic

process[camera/camera_nodelet_manager-1]: started with pid [55127] process[camera/depth/kinova_vision_depth-2]: started with pid [55128] process[camera/color/kinova_vision_color-3]: started with pid [55129] process[camera/camera_depth_tf_publisher-4]: started with pid [55130] process[camera/camera_color_tf_publisher-5]: started with pid [55131] process[camera/color_rectify_color-6]: started with pid [55145] process[camera/depth_rectify_depth-7]: started with pid [55153] process[camera/depth_metric_rect-8]: started with pid [55157] [ INFO] [1632800861.267624745]: Initializing nodelet with 4 worker threads. process[camera/depth_metric-9]: started with pid [55165] process[camera/depth_points-10]: started with pid [55174] [ INFO] [1632800861.295277407]: Using gstreamer config from rosparam: "rtspsrc location=rtsp://192.168.1.10/depth latency=30 ! rtpgstdepay" [ INFO] [1632800861.351253797]: Using gstreamer config from rosparam: "rtspsrc location=rtsp://192.168.1.10/color latency=30 ! rtph264depay ! avdec_h264 ! videoconvert"

[ERROR] [1632800861.683547761]: [depth]: Failed to start stream [ INFO] [1632800861.684516204]: [depth]: Trying to connect... (attempt #1) [ERROR] [1632800862.087753582]: [color]: Failed to start stream [ INFO] [1632800862.089763737]: [color]: Trying to connect... (attempt #1) [ERROR] [1632800865.022285919]: [depth]: Failed to start stream [ INFO] [1632800865.023103441]: [depth]: Trying to connect... (attempt #2) [ERROR] [1632800865.424782482]: [color]: Failed to start stream [ INFO] [1632800865.426127682]: [color]: Trying to connect... (attempt #2) [ERROR] [1632800868.346317575]: [depth]: Failed to start stream

im-renpei commented 3 years ago

PS: Currently I can successfully control the gripper by command '# /kortex/api_python/examples/106-Gripper_command$ python 01-gripper_command.py' (i.e., kortex Python API).

yukizakisoh commented 2 years ago

Hi @alexvannobel and KINOVA support team,

Our team is also facing the same problem. This happens especially often when I restart kinova_vision.launch after running it for about an hour. After the "Failed to start stream" error, sometimes I can connect by just waiting but sometimes I cannot. If it fails to connect, we need to reboot the base.

If we run for a long time, the area around the camera gets quite hot (50°C on the side of the camera housing). Suspecting that high temperature might be the problem, we tried to cool it down with a fan, but we could not see any clear effect.

We have four gen3 arms in our team, and all of them have this problem.

It is very inconvenient. Do you have any good ideas?

zal-rdenz commented 1 year ago

If it is still relevant to you @im-renpei , I had the same problem and could fix it by increasing the STATE_CHANGE_ASYNC_TIMEOUT constant to 15 seconds. After that it worked everytime for me. Sadly i couldnt find a more elegant solution.