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ensenso / ros_driver

Official ROS driver for Ensenso stereo cameras.
http://wiki.ros.org/ensenso_driver
BSD 3-Clause "New" or "Revised" License
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C-Series Capture Timeout #118

Closed belalhmedan90 closed 7 months ago

belalhmedan90 commented 9 months ago

Hi,

When I run: roslaunch ensenso_camera register_depth_image.launch I get an exception. Im using ROS1, ubuntu 20.04, Camera type: C75-8-M

process[DIP_Register-6]: started with pid [58579]
[ INFO] [2023-11-29 14:56:34]: waitForService: Service [/manager_/load_nodelet] has not been advertised, waiting...
[ INFO] [2023-11-29 14:56:34]: Loading nodelet /mono/Ensenso_ of type ensenso_camera/mono_camera_node to manager /manager_ with the following remappings:
[ INFO] [2023-11-29 14:56:34]: waitForService: Service [/manager_/load_nodelet] has not been advertised, waiting...
[ INFO] [2023-11-29 14:56:34]: Initializing nodelet with 12 worker threads.
[ INFO] [2023-11-29 14:56:34]: Loading nodelet /DIP_Register of type depth_image_proc/register to manager /manager_ with the following remappings:
[ INFO] [2023-11-29 14:56:34]: /depth/camera_info -> /stereo/depth/camera_info
[ INFO] [2023-11-29 14:56:34]: /depth/image_rect -> /stereo/depth/image
[ INFO] [2023-11-29 14:56:34]: /depth_registered/camera_info -> /mono/depth/camera_info
[ INFO] [2023-11-29 14:56:34]: /depth_registered/image_rect -> /mono/depth/image
[ INFO] [2023-11-29 14:56:34]: /rgb/camera_info -> /mono/rectified/camera_info
[ INFO] [2023-11-29 14:56:34]: waitForService: Service [/manager_/load_nodelet] is now available.
[ INFO] [2023-11-29 14:56:34]: waitForService: Service [/manager_/load_nodelet] is now available.
[ INFO] [2023-11-29 14:56:36]: Opened camera with serial number '232155'.
[ INFO] [2023-11-29 14:56:37]: Opened camera with serial number '232155-Color'.
[ERROR] [2023-11-29 14:56:38]: NxLibException 17 (ExecutionFailed) for item /Execute/232155-Color
[ERROR] [2023-11-29 14:56:38]: CaptureTimeout: Image capture timed out.

Can you please tell me how can I solve that please? thanks.

belalhmedan90 commented 7 months ago

I'm using the sdk3.6 branch as I have upgraded my Ensenso SDK to 3.6

benthie commented 7 months ago

Ah, okay. The sdk3.6 branch is just a temporary branch which updates the SDK versions tested by the CI. It does not contain the fixes regarding the mono capture timeout.

Please use the mono-capture-timeout branch for now. As soon as we have released a new version of this driver including the fixes I will post it here. From there on you can use the master branch.

belalhmedan90 commented 7 months ago

This problem appeared again: roslaunch ensenso_camera color_point_cloud.launch from my customized launch file, I'm using the correct branch now mono-capture-timeout:

SUMMARY
========

PARAMETERS
 * /Ensenso_request_data_linked/mono_ns: mono
 * /Ensenso_request_data_linked/stereo_ns: stereo
 * /color_point_cloud/mono_ns: mono
 * /color_point_cloud/mono_serial: 233076-Color
 * /color_point_cloud/stereo_ns: stereo
 * /mono/Ensenso_233076_Color/capture_timeout: 2000
 * /mono/Ensenso_233076_Color/link_frame: optical_frame_233076
 * /mono/Ensenso_233076_Color/serial: 233076-Color
 * /mono/Ensenso_233076_Color/settings: /home/belalhmedan...
 * /mono/Ensenso_233076_Color/wait_for_camera: False
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /stereo/Ensenso_233076/camera_frame: 
 * /stereo/Ensenso_233076/link_frame: optical_frame_233076
 * /stereo/Ensenso_233076/serial: 233076
 * /stereo/Ensenso_233076/settings: /home/belalhmedan...
 * /stereo/Ensenso_233076/target_frame: 
 * /stereo/Ensenso_233076/tcp_port: 25000
 * /stereo/Ensenso_233076/threads: -1
 * /stereo/Ensenso_233076/wait_for_camera: False

NODES
  /
    Ensenso_request_data_linked (ensenso_camera/request_data_linked)
    color_point_cloud (ensenso_camera/color_point_cloud)
    manager_ (nodelet/nodelet)
  /mono/
    Ensenso_233076_Color (nodelet/nodelet)
  /stereo/
    Ensenso_233076 (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [500891]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a3f77cdc-c028-11ee-81c7-33c216a155c9
process[rosout-1]: started with pid [500913]
started core service [/rosout]
process[manager_-2]: started with pid [500920]
process[stereo/Ensenso_233076-3]: started with pid [500921]
process[mono/Ensenso_233076_Color-4]: started with pid [500922]
process[Ensenso_request_data_linked-5]: started with pid [500923]
process[color_point_cloud-6]: started with pid [500924]
[ INFO] [2024-01-31 11:05:28]: Loading nodelet /stereo/Ensenso_233076 of type ensenso_camera/stereo_camera_node to manager /manager_ with the following remappings:
[ INFO] [2024-01-31 11:05:28]: waitForService: Service [/manager_/load_nodelet] has not been advertised, waiting...
[ INFO] [2024-01-31 11:05:28]: Loading nodelet /mono/Ensenso_233076_Color of type ensenso_camera/mono_camera_node to manager /manager_ with the following remappings:
[ INFO] [2024-01-31 11:05:28]: waitForService: Service [/manager_/load_nodelet] has not been advertised, waiting...
[ INFO] [2024-01-31 11:05:28]: Initializing nodelet with 12 worker threads.
[ INFO] [2024-01-31 11:05:28]: waitForService: Service [/manager_/load_nodelet] is now available.
[ INFO] [2024-01-31 11:05:28]: waitForService: Service [/manager_/load_nodelet] is now available.
[ INFO] [2024-01-31 11:05:29]: Opened TCP port 25000 on the NxLib.
[ INFO] [2024-01-31 11:05:30]: Opened camera with serial number '233076'.
[ INFO] [2024-01-31 11:05:30]: Loaded settings from '/home/belalhmedan/ids_ws/src/ensenso_camera/config/c_57_6_S_stereo_params.json'.
[ INFO] [2024-01-31 11:05:31]: Opened camera with serial number '233076-Color'.
[ INFO] [2024-01-31 11:05:32]: Loaded settings from '/home/belalhmedan/ids_ws/src/ensenso_camera/config/c_57_6_S_mono_params.json'.
[ INFO] [2024-01-31 11:05:34]: Timeout set to 2000
[ERROR] [2024-01-31 11:05:36]: NxLibException 17 (ExecutionFailed) for item /Execute/233076-Color
[ERROR] [2024-01-31 11:05:36]: CaptureTimeout: Waiting for images timed out.
[ INFO] [2024-01-31 11:05:36]: Timeout set to 2000
[WARN] [2024-01-31 12:05:38]: Mono action was not successful.
[ERROR] [2024-01-31 12:05:38]: Error while acquiring mono data! (Error 17: ExecutionFailed)
[ INFO] [2024-01-31 11:05:38]: Timeout set to 2000

please find the .nxlogs

benthie commented 7 months ago

Hmm, I don't see any capture timeouts in the log file. Are you sure you recorded while the node threw the exception?

belalhmedan90 commented 7 months ago

Hmm, I don't see any capture timeouts in the log file. Are you sure you recorded while the node threw the exception?

Yes, I recorded this nxlogs while the node is running, however I can record a new file.

benthie commented 7 months ago

The mono camera capture timeout has been merged and is now part of the new v2.1.2 release.