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iory / docker-ros-k4a

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Azure Kinect process dies due to capturesync_drop #15

Open Kanazawanaoaki opened 5 months ago

Kanazawanaoaki commented 5 months ago 
$ rostopic hz /k4a/depth_to_rgb/image_raw/compressed
$ rostopic echo /k4a/depth_to_rgb/camera_info
$ rostopic hz /k4a/depth_to_rgb/image_raw

The Azure Kinect process may die when looking at a topic as shown above.

Looking at the log at that time, https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1750 seems to apply to the situation as well.

k4a may have a dead process after a while after startup, which may be the same problem.

Changing the color camera format to YUV2 as described in https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1750#issuecomment-1911329931 may solve the problem.

Kanazawanaoaki commented 5 months ago

I tried changing the color format to YUV2 (https://github.com/Kanazawanaoaki/docker-ros-k4a/commit/7d48478d83571ec88978b81cf99fa66821d6b450) , building, and restarting. However, the aforementioned error still occurs when subscribing, and the issue persists.

Kanazawanaoaki commented 5 months ago

It seems like we are encountering this error when subscribing image_raw topic inside pr1040n.
This error appears to occur specifically when subscribing to topics related to depth_to_rgb, such as /k4a/depth_to_rgb/image_raw.

https://drive.google.com/file/d/1ZHhnwzf-37qhPmmCI83Kor07MAaz6S-P/view?usp=drive_link

https://github.com/iory/docker-ros-k4a/assets/38127823/f96eea55-1504-4e30-9c7c-baa949b046d1