USB poblem with apt instalation

[Daniel880]

Hi, I have a problem running ZED-F9P when I install this repository from using apt. I get the following error:

[component_container_mt-1] component_container_mt: ../../libusb/io.c:1497: libusb_submit_transfer: Assertion 'transfer->dev_handle' failed.

When I clone the repository and build the code myself using colcon, everything works fine.

Can you help me with this problem?

[hortovanyi]

I just tried using the apt packages and am getting the same problem. It would seem that this is a build farm issue maybe with libusb ... will investigate more

@gsokoll the last code changes I think stopped throwing an exception in init when dev_handle was a nullptr and returned true/false.. any ideas why this is happening for a libusb transfer?

[hortovanyi]

@Daniel880 can try setting this environment variable export LIBUSB_DEBUG=4 and running the command again. Whats the output say?

[Daniel880]

With LIBUSB_DEBUG=4 there is the following output:

[INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_mt-1]: process started with pid [7681] [INFO] [component_container_mt-2]: process started with pid [7683] [component_container_mt-1] [INFO] [1698829716.653679770] [ublox_dgnss_container]: Load Library: /opt/ros/iron/lib/libublox_dgnss_components.so [component_container_mt-2] [INFO] [1698829716.656022700] [ublox_nav_sat_fix_hp_container]: Load Library: /opt/ros/iron/lib/libublox_nav_sat_fix_hp_components.so [component_container_mt-1] [INFO] [1698829716.657315625] [ublox_dgnss_container]: Found class: rclcpp_components::NodeFactoryTemplate<ublox_dgnss::UbloxDGNSSNode> [component_container_mt-1] [INFO] [1698829716.657365261] [ublox_dgnss_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ublox_dgnss::UbloxDGNSSNode> [component_container_mt-2] [INFO] [1698829716.658406147] [ublox_nav_sat_fix_hp_container]: Found class: rclcpp_components::NodeFactoryTemplate<ublox_nav_sat_fix_hp::UbloxNavSatHpFixNode> [component_container_mt-2] [INFO] [1698829716.658442099] [ublox_nav_sat_fix_hp_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ublox_nav_sat_fix_hp::UbloxNavSatHpFixNode> [component_container_mt-2] [INFO] [1698829716.666146194] [ublox_nav_sat_fix_hp]: starting ublox_nav_sat_fix_hp [component_container_mt-1] [INFO] [1698829716.667155502] [ublox_dgnss]: starting ublox_dgnss [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/ublox_nav_sat_fix_hp' in container '/ublox_nav_sat_fix_hp_container' [component_container_mt-1] [INFO] [1698829716.677200737] [ublox_dgnss]: Parameter DEVICE_SERIAL_STRING not found, will use first ublox device. [component_container_mt-1] [INFO] [1698829716.677346835] [ublox_dgnss]: Parameter FRAME_ID not found, defaulting to 'ubx' frame_id [component_container_mt-1] [INFO] [1698829716.677390943] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_COV_USB [component_container_mt-1] [INFO] [1698829716.677413504] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB [component_container_mt-1] [INFO] [1698829716.677427402] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_NAV_STATUS_USB [component_container_mt-1] [INFO] [1698829716.677438524] [ublox_dgnss]: parameter supplied: CFG_MSGOUT_UBX_RXM_RTCM_USB [component_container_mt-1] [INFO] [1698829716.677449016] [ublox_dgnss]: parameter supplied: CFG_RATE_MEAS [component_container_mt-1] [INFO] [1698829716.677459762] [ublox_dgnss]: parameter supplied: CFG_RATE_NAV [component_container_mt-1] [INFO] [1698829716.677487165] [ublox_dgnss]: parameter supplied: CFG_USBOUTPROT_NMEA [component_container_mt-1] [timestamp] [threadID] facility level [function call] <message> [component_container_mt-1] -------------------------------------------------------------------------------- [component_container_mt-1] [ 0.000028] [00001e20] libusb: debug [libusb_init] libusb v1.0.25.11696 [component_container_mt-1] [ 0.000059] [00001e20] libusb: debug [usbi_add_event_source] add fd 33 events 1 [component_container_mt-1] [ 0.000071] [00001e20] libusb: debug [usbi_io_init] using timer for timeouts [component_container_mt-1] [ 0.000073] [00001e20] libusb: debug [usbi_add_event_source] add fd 34 events 1 [component_container_mt-1] [ 0.000082] [00001e20] libusb: debug [get_kernel_version] reported kernel version is 6.2.0-36-generic [component_container_mt-1] [ 0.000122] [00001e20] libusb: debug [op_init] found usbfs at /dev/bus/usb [component_container_mt-1] [ 0.000125] [00001e20] libusb: debug [op_init] max iso packet length is (likely) 98304 bytes [component_container_mt-1] [ 0.000132] [00001e20] libusb: debug [op_init] sysfs is available [component_container_mt-1] [ 0.000330] [00001e23] libusb: debug [linux_udev_event_thread_main] udev event thread entering [component_container_mt-1] [ 0.002489] [00001e20] libusb: debug [linux_get_device_address] getting address for device: usb1 detached: 0 [component_container_mt-1] [ 0.002497] [00001e20] libusb: debug [linux_get_device_address] scan usb1 [component_container_mt-1] [ 0.002549] [00001e20] libusb: debug [linux_get_device_address] bus=1 dev=1 [component_container_mt-1] [ 0.002554] [00001e20] libusb: debug [linux_enumerate_device] busnum 1 devaddr 1 session_id 257 [component_container_mt-1] [ 0.002557] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 1/1 (session 257) [component_container_mt-1] [ 0.002719] [00001e20] libusb: debug [linux_get_device_address] getting address for device: 1-1 detached: 0 [component_container_mt-1] [ 0.002725] [00001e20] libusb: debug [linux_get_device_address] scan 1-1 [component_container_mt-1] [ 0.002766] [00001e20] libusb: debug [linux_get_device_address] bus=1 dev=2 [component_container_mt-1] [ 0.002770] [00001e20] libusb: debug [linux_enumerate_device] busnum 1 devaddr 2 session_id 258 [component_container_mt-1] [ 0.002773] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 1/2 (session 258) [component_container_mt-1] [ 0.002823] [00001e20] libusb: debug [linux_get_parent_info] dev 0x7fd0b44fad10 (1-1) has parent 0x7fd0b45155f0 (usb1) port 1 [component_container_mt-1] [ 0.002930] [00001e20] libusb: debug [linux_get_device_address] getting address for device: 1-6 detached: 0 [component_container_mt-1] [ 0.002934] [00001e20] libusb: debug [linux_get_device_address] scan 1-6 [component_container_mt-1] [ 0.002975] [00001e20] libusb: debug [linux_get_device_address] bus=1 dev=3 [component_container_mt-1] [ 0.002980] [00001e20] libusb: debug [linux_enumerate_device] busnum 1 devaddr 3 session_id 259 [component_container_mt-1] [ 0.002982] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 1/3 (session 259) [component_container_mt-1] [ 0.003020] [00001e20] libusb: debug [linux_get_parent_info] dev 0x7fd0b44fa980 (1-6) has parent 0x7fd0b45155f0 (usb1) port 6 [component_container_mt-1] [ 0.003142] [00001e20] libusb: debug [linux_get_device_address] getting address for device: 1-7 detached: 0 [component_container_mt-1] [ 0.003146] [00001e20] libusb: debug [linux_get_device_address] scan 1-7 [component_container_mt-1] [ 0.003184] [00001e20] libusb: debug [linux_get_device_address] bus=1 dev=4 [component_container_mt-1] [ 0.003187] [00001e20] libusb: debug [linux_enumerate_device] busnum 1 devaddr 4 session_id 260 [component_container_mt-1] [ 0.003190] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 1/4 (session 260) [component_container_mt-1] [ 0.003227] [00001e20] libusb: debug [linux_get_parent_info] dev 0x7fd0b44faa10 (1-7) has parent 0x7fd0b45155f0 (usb1) port 7 [component_container_mt-1] [ 0.003330] [00001e20] libusb: debug [linux_get_device_address] getting address for device: 1-8 detached: 0 [component_container_mt-1] [ 0.003334] [00001e20] libusb: debug [linux_get_device_address] scan 1-8 [component_container_mt-1] [ 0.003370] [00001e20] libusb: debug [linux_get_device_address] bus=1 dev=5 [component_container_mt-1] [ 0.003374] [00001e20] libusb: debug [linux_enumerate_device] busnum 1 devaddr 5 session_id 261 [component_container_mt-1] [ 0.003376] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 1/5 (session 261) [component_container_mt-1] [ 0.003422] [00001e20] libusb: debug [linux_get_parent_info] dev 0x7fd0b4515510 (1-8) has parent 0x7fd0b45155f0 (usb1) port 8 [component_container_mt-1] [ 0.003520] [00001e20] libusb: debug [linux_get_device_address] getting address for device: usb2 detached: 0 [component_container_mt-1] [ 0.003525] [00001e20] libusb: debug [linux_get_device_address] scan usb2 [component_container_mt-1] [ 0.003562] [00001e20] libusb: debug [linux_get_device_address] bus=2 dev=1 [component_container_mt-1] [ 0.003565] [00001e20] libusb: debug [linux_enumerate_device] busnum 2 devaddr 1 session_id 513 [component_container_mt-1] [ 0.003568] [00001e20] libusb: debug [linux_enumerate_device] allocating new device for 2/1 (session 513) [component_container_mt-1] [ 0.003702] [00001e20] libusb: warning [libusb_init] installing new context as implicit default [component_container_mt-1] [ 0.003730] [00001e20] libusb: debug [libusb_hotplug_register_callback] new hotplug cb 0x7fd0b44fa900 with handle 1 [component_container_mt-1] [ 0.003733] [00001e20] libusb: debug [libusb_get_device_list] [component_container_mt-1] [ 0.003756] [00001e20] libusb: debug [libusb_hotplug_register_callback] new hotplug cb 0x7fd0b44fa8a0 with handle 2 [component_container_mt-1] component_container_mt: ../../libusb/io.c:1497: libusb_submit_transfer: Assertion 'transfer->dev_handle' failed. [ERROR] [component_container_mt-1]: process has died [pid 7681, exit code -6, cmd '/opt/ros/iron/lib/rclcpp_components/component_container_mt --ros-args -r __node:=ublox_dgnss_container -r __ns:=/'].

And two screenshots with program compiled from source and installed with apt.

apt:

from source:

[hortovanyi]

@Daniel880 thank you for that. Its the same issue I'm facing. Working through it

Are you just trying to connect one USB F9P device?

[Daniel880]

Only one device. Exactly this board: https://www.sparkfun.com/products/16481

But what is interesting is that when I run compiled code without a plugged device, I get the same error as with the apt version. Additionally, the second observation is that when I use the apt version, there is no difference in output with or without the device plugged.

The third observation is that, when I delete udev rule, there is no difference in apt version output, but in compiled version there is an error about write permission to device.

[hortovanyi]

@Daniel880 we added changes to be able to specify which usb device to connect to with a usb string. It can be set via u-center. That way we can determine between 2 or more usb gps devices connected to the one device.

I'm debugging the code now ... the 0.4.4 version doesnt have these changes in it https://github.com/aussierobots/ublox_dgnss/releases/tag/0.4.4

[hortovanyi]

@Daniel880 the last changes I pushed to the repo look promising - my driver is working again

[gsokoll]

@Daniel880 can you tell us what verion of ROS and OS you're running please?

As @hortovanyi mentioned, the last release added functionality to run multiple instances of the ublox_dgnss node with different ublox devices and this seems to have introduced the issues. But I have not been able to replicate the errors you see, unless I launch the node without any device attached.

[Daniel880]

Ubuntu 22.04.3 with 6.2.0-36-generic kernel ROS Iron version 0.10.0-3jammy.20231010.203644 installed with apt

Now I am using ThinkPad E450 laptop but I also had this problem with my PC, also running the same ubuntu and ros.

[hortovanyi]

@gsokoll I've worked out what's happening with no device attached - it seems the hot plug attach is causing a transfer to be initiated to the null usb device - that then triggers the assert in libusb which throws the segfault. Not sure how to fix this as yet. It used to throw a red error if no gps usb device was attached.

But I have not been able to replicate the errors you see, unless I launch the node without any device attached.

[hortovanyi]

@Daniel880 can you confirm you can use and run the code from the latest source?

[hortovanyi]

@Daniel880 new release 0.5.2 fixes the problem - apt packages have been updated. Will close this issue if I dont hear anything back to the contrary from you within the next few days. Thank you for raising this.