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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[BUG] Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'rgb' (X_LINK_ERROR) #149

Closed Huynh-Anh closed 1 year ago

Huynh-Anh commented 2 years ago

Describe the bug Seen similair bugs but solution did not work for me. This is strange because it was working normally two days ago and now it doesnt..

roslaunch depthai_examples stereo_intertial_node.launch

Screenshots

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.1.154:41717/
SUMMARY
========
PARAMETERS
 * /depth_image_to_rgb_pointcloud/queue_size: 10
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /stereo_inertial_publisher/LRchecktresh: 5
 * /stereo_inertial_publisher/angularVelCovariance: 0
 * /stereo_inertial_publisher/confidence: 200
 * /stereo_inertial_publisher/depth_aligned: True
 * /stereo_inertial_publisher/detectionClassesCount: 80
 * /stereo_inertial_publisher/dotProjectormA: 200.0
 * /stereo_inertial_publisher/enableDotProjector: False
 * /stereo_inertial_publisher/enableFloodLight: False
 * /stereo_inertial_publisher/enableSpatialDetection: True
 * /stereo_inertial_publisher/expTime: 20000
 * /stereo_inertial_publisher/extended: False
 * /stereo_inertial_publisher/floodLightmA: 200.0
 * /stereo_inertial_publisher/imuMode: 1
 * /stereo_inertial_publisher/linearAccelCovariance: 0
 * /stereo_inertial_publisher/lrcheck: True
 * /stereo_inertial_publisher/manualExposure: False
 * /stereo_inertial_publisher/mode: depth
 * /stereo_inertial_publisher/monoResolution: 720p
 * /stereo_inertial_publisher/mxId:
 * /stereo_inertial_publisher/nnName: x
 * /stereo_inertial_publisher/poeMode: False
 * /stereo_inertial_publisher/previewHeight: 416
 * /stereo_inertial_publisher/previewWidth: 416
 * /stereo_inertial_publisher/rectify: True
 * /stereo_inertial_publisher/resourceBaseFolder: /home/ubuntu/dai_...
 * /stereo_inertial_publisher/rgbResolution: 1080p
 * /stereo_inertial_publisher/rgbScaleDinominator: 3
 * /stereo_inertial_publisher/rgbScaleNumerator: 2
 * /stereo_inertial_publisher/sensIso: 800
 * /stereo_inertial_publisher/stereo_fps: 15
 * /stereo_inertial_publisher/subpixel: True
 * /stereo_inertial_publisher/syncNN: True
 * /stereo_inertial_publisher/tf_prefix: oak
 * /stereo_inertial_publisher/usb2Mode: False
NODES
  /
    depth_image_convertion_nodelet (nodelet/nodelet)
    depth_image_to_rgb_pointcloud (nodelet/nodelet)
    nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)
    stereo_inertial_publisher (depthai_examples/stereo_inertial_node)
auto-starting new master
process[master]: started with pid [4398]
ROS_MASTER_URI=http://localhost:11311/
setting /run_id to c24da60c-44af-11ed-a0f3-dca632d50a38
process[rosout-1]: started with pid [4409]
started core service [/rosout]
process[oak_state_publisher-2]: started with pid [4416]
process[stereo_inertial_publisher-3]: started with pid [4417]
process[nodelet_manager-4]: started with pid [4419]
process[depth_image_convertion_nodelet-5]: started with pid [4424]
process[depth_image_to_rgb_pointcloud-6]: started with pid [4425]
[ INFO] [1664975722.935901732]: Initializing nodelet with 4 worker threads.
 nnPath ,, /home/ubuntu/dai_ws/src/depthai-ros/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob
[1280 720 1280](tel:12807201280) 720
Listing available devices...
Device Mx ID: 19443010B100DC1200
[19443010B100DC1200] [1.1.2] [11.064] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
Device USB status: SUPER
terminate called after throwing an instance of 'std::runtime_error'
  what():  Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'rgb' (X_LINK_ERROR)'
================================================================================REQUIRED process [stereo_inertial_publisher-3] has died!
process has died [pid 4417, exit code -6, cmd /home/ubuntu/dai_ws/devel/lib/depthai_examples/stereo_inertial_node __name:=stereo_inertial_publisher __log:=/home/ubuntu/.ros/log/c24da60c-44af-11ed-a0f3-dca632d50a38/stereo_inertial_publisher-3.log].
log file: /home/ubuntu/.ros/log/c24da60c-44af-11ed-a0f3-dca632d50a38/stereo_inertial_publisher-3*.log
Initiating shutdown!
================================================================================
[depth_image_to_rgb_pointcloud-6] killing on exit
[depth_image_convertion_nodelet-5] killing on exit
[nodelet_manager-4] killing on exit
[stereo_inertial_publisher-3] killing on exit
[oak_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
[9:17](https://coroglobalworkspace.slack.com/archives/D02KHV614UX/p1664975836152619)
... logging to /home/ubuntu/.ros/log/c24da60c-44af-11ed-a0f3-dca632d50a38/roslaunch-ubuntu-4385.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.1.154:41717/
SUMMARY
========
PARAMETERS
 * /depth_image_to_rgb_pointcloud/queue_size: 10
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /stereo_inertial_publisher/LRchecktresh: 5
 * /stereo_inertial_publisher/angularVelCovariance: 0
 * /stereo_inertial_publisher/confidence: 200
 * /stereo_inertial_publisher/depth_aligned: True
 * /stereo_inertial_publisher/detectionClassesCount: 80
 * /stereo_inertial_publisher/dotProjectormA: 200.0
 * /stereo_inertial_publisher/enableDotProjector: False
 * /stereo_inertial_publisher/enableFloodLight: False
 * /stereo_inertial_publisher/enableSpatialDetection: True
 * /stereo_inertial_publisher/expTime: 20000
 * /stereo_inertial_publisher/extended: False
 * /stereo_inertial_publisher/floodLightmA: 200.0
 * /stereo_inertial_publisher/imuMode: 1
 * /stereo_inertial_publisher/linearAccelCovariance: 0
 * /stereo_inertial_publisher/lrcheck: True
 * /stereo_inertial_publisher/manualExposure: False
 * /stereo_inertial_publisher/mode: depth
 * /stereo_inertial_publisher/monoResolution: 720p
 * /stereo_inertial_publisher/mxId:
 * /stereo_inertial_publisher/nnName: x
 * /stereo_inertial_publisher/poeMode: False
 * /stereo_inertial_publisher/previewHeight: 416
 * /stereo_inertial_publisher/previewWidth: 416
 * /stereo_inertial_publisher/rectify: True
 * /stereo_inertial_publisher/resourceBaseFolder: /home/ubuntu/dai_...
 * /stereo_inertial_publisher/rgbResolution: 1080p
 * /stereo_inertial_publisher/rgbScaleDinominator: 3
 * /stereo_inertial_publisher/rgbScaleNumerator: 2
 * /stereo_inertial_publisher/sensIso: 800
 * /stereo_inertial_publisher/stereo_fps: 15
 * /stereo_inertial_publisher/subpixel: True
 * /stereo_inertial_publisher/syncNN: True
 * /stereo_inertial_publisher/tf_prefix: oak
 * /stereo_inertial_publisher/usb2Mode: False
NODES
  /
    depth_image_convertion_nodelet (nodelet/nodelet)
    depth_image_to_rgb_pointcloud (nodelet/nodelet)
    nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)
    stereo_inertial_publisher (depthai_examples/stereo_inertial_node)
auto-starting new master
process[master]: started with pid [4398]
ROS_MASTER_URI=http://localhost:11311/
setting /run_id to c24da60c-44af-11ed-a0f3-dca632d50a38
process[rosout-1]: started with pid [4409]
started core service [/rosout]
process[oak_state_publisher-2]: started with pid [4416]
process[stereo_inertial_publisher-3]: started with pid [4417]
process[nodelet_manager-4]: started with pid [4419]
process[depth_image_convertion_nodelet-5]: started with pid [4424]
process[depth_image_to_rgb_pointcloud-6]: started with pid [4425]
[ INFO] [1664975722.935901732]: Initializing nodelet with 4 worker threads.
 nnPath ,, /home/ubuntu/dai_ws/src/depthai-ros/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob
[1280 720 1280](tel:12807201280) 720
Listing available devices...
Device Mx ID: 19443010B100DC1200
[19443010B100DC1200] [1.1.2] [11.064] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
Device USB status: SUPER
terminate called after throwing an instance of 'std::runtime_error'
  what():  Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'rgb' (X_LINK_ERROR)'
================================================================================REQUIRED process [stereo_inertial_publisher-3] has died!
process has died [pid 4417, exit code -6, cmd /home/ubuntu/dai_ws/devel/lib/depthai_examples/stereo_inertial_node __name:=stereo_inertial_publisher __log:=/home/ubuntu/.ros/log/c24da60c-44af-11ed-a0f3-dca632d50a38/stereo_inertial_publisher-3.log].
log file: /home/ubuntu/.ros/log/c24da60c-44af-11ed-a0f3-dca632d50a38/stereo_inertial_publisher-3*.log
Initiating shutdown!
================================================================================
[depth_image_to_rgb_pointcloud-6] killing on exit
[depth_image_convertion_nodelet-5] killing on exit
[nodelet_manager-4] killing on exit
[stereo_inertial_publisher-3] killing on exit
[oak_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Erol444 commented 2 years ago

Hi @Huynh-Anh , Did this crash after some time, or directly after starting the demo? Could you try replaceing the USB3 cable? As that's usually the culprit of such errors. Thanks, Erik

Huynh-Anh commented 2 years ago

it happens after maybe 30 seconds ? I changed the cable and got a similar error with Original message 'Couldn't read data from stream: 'preview' (X_LINK_ERROR)

the strange thing is that only happens with the stereo_inertial_node, the other nodes are working ..

saching13 commented 2 years ago

@Huynh-Anh can you check by disabling the Spatial Detection from the launch file and see if it works ? And also which depthai-core is installed here? Can you also share which ROS version, Ubuntu version here

Serafadam commented 1 year ago

Closing due to inactivity, if you think this should remain open, please tag me in a comment here.