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UbiquityRobotics / raspicam_node

ROS node for camera module of Raspberry Pi
BSD 3-Clause "New" or "Revised" License
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Support ROS Melodic + Ubuntu Mate Bionic 18.02 #83

Closed cielsys closed 5 years ago

cielsys commented 5 years ago

tldr: Could you provide instructions or a binary for that environment?

Full story: I have a Raspi3 B+ with UbuntuMate 18.02 and ROS Melodic installed with working V2 cam. Part of my motivation for this environment is that I want this Raspi ROS to interact with a Nvidia Jetson Nano ROS and this is the current matching environment for the Nano.

Following the build instructions until this step (note substituion of 'melodic' for 'kinetic) $ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y

which results in

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
raspicam_node: Cannot locate rosdep definition for [libraspberrypi0]

But I think that dependency is/should be met:

$ apt policy libraspberrypi0
libraspberrypi0:
  Installed: 1.20190215-1~bionic1.3
  Candidate: 1.20190215-1~bionic1.3
  Version table:
 *** 1.20190215-1~bionic1.3 990
        990 http://ppa.launchpad.net/ubuntu-pi-flavour-makers/ppa/ubuntu bionic/main armhf Packages
        100 /var/lib/dpkg/status

$ apt policy libraspberrypi-dev
libraspberrypi-dev:
  Installed: 1.20190215-1~bionic1.3
  Candidate: 1.20190215-1~bionic1.3
  Version table:
 *** 1.20190215-1~bionic1.3 990
        990 http://ppa.launchpad.net/ubuntu-pi-flavour-makers/ppa/ubuntu bionic/main armhf Packages
        100 /var/lib/dpkg/status

I suspect it is a simple problem involving how the dependency is expressed and resolved, but I'm not familiar with those mechanisms.

Any guidance would be welcome! -Chris

rohbotics commented 5 years ago

I think you skipped the step where you add the Ubiquity rosdep overlay.

To /etc/ros/rosdep/sources.list.d/30-ubiquity.list add yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml

You can also safely add --skip-keys libraspberrypi0 to the rosdep install command.

cielsys commented 5 years ago

Worked, thanks. Details for others below.

I did already have the yaml ref in the sources.list, so that wasn't the problem. So I tried your suggestion 

$ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y --skip-keys libraspberrypi0 
...
raspicam_node: Cannot locate rosdep definition for [libraspberrypi-dev]

so next

$ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y --skip-keys libraspberrypi0 --skip-keys libraspberrypi-dev

THAT WORKED! Rosdep succeeds then catkin_make... And then the subsequent testing invocations work... then eventually crash. But I'll investigate a bit and post another issue if needed. THANK YOU! -Chris

rohbotics commented 5 years ago

Hey @cielsys glad that worked out. Feel free to open another issue, I would like to see 18.04 support working. If everything works out, I would love to know! ra@ubiquityrobotics.com

not-vibhu commented 5 years ago

I'm unable to build raspicam_node on Ububtu Mate 18.05, Melodic. catkin build gives error

Errors << raspicam_node:make /home/visualnav/catkin_ws/logs/raspicam_node/build.make.003.log
/opt/vc/lib/libbcm_host.so: error adding symbols: File in wrong format collect2: error: ld returned 1 exit status make[2]: [/home/visualnav/catkin_ws/devel/.private/raspicam_node/lib/raspicam_node/raspicam_node] Error 1 make[1]: [CMakeFiles/raspicam_node.dir/all] Error 2 make: *** [all] Error 2

rohbotics commented 5 years ago

Are you using the 64 bit version of Ubuntu Mate?

ConstantinB9 commented 4 years ago

Hi,

I'm also trying to get the node to work on mate 18.04. I've followed the above suggestions but am getting a different error when building with catkin_make:

CMake Error at raspicam_node/CMakeLists.txt:29 (MESSAGE): Could not find mmal libraries

-- Configuring incomplete, errors occurred! See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

Hope somebody can help me how to fix this issue, I'm not the very best at these things

JCPuchalt commented 4 years ago

Are you using the 64 bit version of Ubuntu Mate?

I also get the same error. Yes, I have the RPi 4 with 4GB RAM and the 64 bit version.

rohbotics commented 4 years ago

For those of you running the 64bit MATE, does the camera work at all? Does raspistill -o cam.jpg produce an output?

JCPuchalt commented 4 years ago

Camera does not work raspistill: command not found

rohbotics commented 4 years ago

I don't think the Ubuntu MATE team has gotten the camera working at all on their 64 bit system. If you want the camera, I think you will have to stick with 32 bit.

ConstantinB9 commented 4 years ago

I got the node running on Pi 3B+ which is 64 bit. I ended up using a Pi image distributed by ubiquityrobotics.

I believe it's this one

The camera node is already installed and worked perfectly out of the box for me.

JCPuchalt commented 4 years ago

I got install userland, raspi-config, rpi-update... on Pi 4 Ubuntu Mate 64 bits. Camera is working (I got images and preview) with raspivid and raspistill but it runs with some warnings:

mmal: mmal_vc_shm_init: could not initialize vc shared memory service
mmal: mmal_vc_component_create: failed to initialise shm for 'vc.camera_info' (7:EIO)
mmal: mmal_component_create_core: could not create component 'vc.camera_info' (7)
mmal: Failed to create camera_info component

Some comments are about permissions, but I changed them and warnings are held.

sudo usermod -a -G video ubuntu

I can compile raspicam_node, with your pieces of advice and : adding -nostartfiles to your linker options in CMakeLists.txt

but after launch node, this was "has died":

ubuntu@ubuntu:~$ roslaunch raspicam_node camerav1_1280x720.launch
... logging to /home/ubuntu/.ros/log/fe0c4e24-5e06-11ea-99bc-dca632551d25/roslaunch-ubuntu-3261.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://ubuntu:42181/

SUMMARY
==========

PARAMETERS
 * /raspicam_node/camera_frame_id: raspicam
 * /raspicam_node/camera_id: 0
 * /raspicam_node/camera_info_url: package://raspica...
 * /raspicam_node/camera_name: camerav1_1280x720
 * /raspicam_node/enable_imv: False
 * /raspicam_node/enable_raw: False
 * /raspicam_node/framerate: 90
 * /raspicam_node/height: 720
 * /raspicam_node/private_topics: True
 * /raspicam_node/width: 1280
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /
    raspicam_node (raspicam_node/raspicam_node)

ROS_MASTER_URI=http://localhost:11311

process[raspicam_node-1]: started with pid [3276]
[raspicam_node-1] process has died [pid 3276, exit code -7, cmd /home/ubuntu/catkin_ws/devel/lib/raspicam_node/raspicam_node __name:=raspicam_node __log:=/home/ubuntu/.ros/log/fe0c4e24-5e06-11ea-99bc-dca632551d25/raspicam_node-1.log].
log file: /home/ubuntu/.ros/log/fe0c4e24-5e06-11ea-99bc-dca632551d25/raspicam_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Maybe needs to be created camera_info component ?

besttangent commented 4 years ago

make[2]: *** [/home/visualnav/catkin_ws/devel/.private/raspicam_node/lib/raspicam_node/raspicam_node] Error 1

Hi,did you solve this problem?I met this problem,too.

Fan-loewe commented 4 years ago

Camera does not work raspistill: command not found

Hello, did you solve the problem? I also met that :)

pardhuAj commented 2 years ago

Hi,

I'm also trying to get the node to work on mate 18.04. I've followed the above suggestions but am getting a different error when building with catkin_make:

CMake Error at raspicam_node/CMakeLists.txt:29 (MESSAGE): Could not find mmal libraries

-- Configuring incomplete, errors occurred! See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

Hope somebody can help me how to fix this issue, I'm not the very best at these things

Hi, I am also facing the same issue. Were you able to figure it out?

anfederman commented 2 years ago

The mmal libraries are needed by raspicam follow instructions to get raspistill working on the raspberry pi.

Also I suggest you skip melodic and got to Noetic. There are instructions on installing the needed drivers in discourse.

Raspicam has been shown to work on both arm 32 and 64 Ubuntu focal.

On Thu, Mar 3, 2022, 2:07 PM Pardha Sai Krishna Ala < @.***> wrote:

Hi,

I'm also trying to get the node to work on mate 18.04. I've followed the above suggestions but am getting a different error when building with catkin_make:

CMake Error at raspicam_node/CMakeLists.txt:29 (MESSAGE): Could not find mmal libraries

-- Configuring incomplete, errors occurred! See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

Hope somebody can help me how to fix this issue, I'm not the very best at these things

Hi, I am also facing the same issue. Were you able to figure it out?

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