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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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[BelKa][Spot] Critical error "right camera not detected" has been happening. #1924

Closed sktometometo closed 1 month ago

sktometometo commented 1 month ago

I have been getting the error "right camera not detected" on BelKa from the evening of today(2024/10/14).

I will decribe the situtation with more details later.

From the evening of today, Spot became to show error below.

Screenshot_20241014_181258_com bostondynamics spot

With this error, spot cannot move without "Degraded perception" option below. (I have added this option to spot_ros)

Screenshot_20241014_195049_com bostondynamics spot

But with this option, there is a posibility that spot will hit the environment. (I have confirmed that with this option BelKa can move but it will hit the obstable on the right side of it.)

I have tested SpotCheck. But it was interuppeted during it. It seems that "No camera" problem causes this.

Screenshot_20241014_182439_com bostondynamics spot

And for AutoWalk, existing graph cannot be uploaded to Spot due to the error below. It said that map requires LiDAR and currently robot does not have it. But the robot actually does recognizes LiDAR (ROS topic is published with spot_ros). So I think this error came from that the difference of sensors between recorded map and current robot. (Recorded data includes right camera points but current robot doesn't)

Screenshot_20241014_195358_com bostondynamics spot

So I have tried to record the graph with current configuration, But recording didn't start with the error below.

Screenshot_20241014_195342_com bostondynamics spot

sktometometo commented 1 month ago

I have reported this error to BD yesterday and I have got a response.

Hi [@K. Shinjo](https://support.bostondynamics.com/0054X00000DZkfb?fromEmail=1&s1oid=00D6g000005391y&s1nid=0DB6g000000GoPd&s1uid=0054X00000DZkfb&s1ext=0&emkind=chatterPostNotification&emtm=1728910070477)​ ,

thank you for reaching out and I am sorry to hear your right camera is not detected.

In the logs you are uploading I can see that you also receive a p1 system monitor fault, which is thrown if the CPU temperature of one of the computers is exceeding a certain threshold. This could cause the CPU not being able to process the camera feed of one or more cameras.

Could you[ inspect and clean cooling fan filters](https://support.bostondynamics.com/s/article/Clean-and-Maintain-Spot-70763#Inspectandcleancoolingfanfilters) on Spot's bottom like in the provided instructions, please?

Also: I saw you are running software version v3.3.0. It could help to update to the either the most up-to-date minor or major release without skipping intermediate versions?

Let me know if you have any questions, please.

Best regards

Patrick B.

Technical Support (Spot)

And this error does not occur today.