[BUG] {OAK-D Lite Camera not working}

[Grigor-Pahlevanyan]

Hi,

I am using the OAK-D-LITE camera on NVIDIA Jetson Nano single board computer. I am using ROS Noetic on Ubuntu 20.04.5 LTS. I've went through the setup procedure (steps 1 - 8) successfully, but the camera doesn't turn on for all the programs that I run.

Below are some screenshots.

As you can see above, I've tried many different applications, but they have all failed the same way. Seems like there might be a missing Camera Publisher Topic? Please let me know what needs to be done to resolve this problem. Thank you.

[Serafadam]

Hi, can you run the demo script without issues?

[Grigor-Pahlevanyan]

Hi, yes the demo works. There is a small numpy & wheel version error but that didn't stop it from working.

[Grigor-Pahlevanyan]

@Serafadam would you please help resolve this issue?

[Grigor-Pahlevanyan]

I accedentally closed and re-opened, but the issue is still not fixed, so I would appreciate any help.

[Serafadam]

Hi:

1. Did you run echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc?
2. Is the repo on latest branch?
3. Can you run the code after running export DEPTHAI_DEBUG=1?

[Grigor-Pahlevanyan]

@Serafadam

1. The repo is on the latest noetic branch.
2. I installed it using the steps under "Install from Source" I didn't use the docker, not sure if that makes a difference.

I just tried running echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc but still failed. When I ran export DEPTHAI_DEBUG=1 and then roslaunch calibration.launch I got the following in my terminal:

jetson@nano:~/dai_ws/src/depthai-ros/depthai_ros_driver/launch$ export DEPTHAI_DEBUG=1
jetson@nano:~/dai_ws/src/depthai-ros/depthai_ros_driver/launch$ roslaunch calibration.launch 
... logging to /home/jetson/.ros/log/09af049e-c36f-11ed-b2eb-834c74ef89e8/roslaunch-nano-13960.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://nano:43309/

SUMMARY
========

PARAMETERS
 * /oak/camera_i_nn_type: none
 * /oak/camera_i_pipeline_type: RGBStereo
 * /oak/left_i_publish_topic: True
 * /oak/right_i_publish_topic: True
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    calibrator (camera_calibration/cameracalibrator.py)
    oak (nodelet/nodelet)
    oak_nodelet_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [13996]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 09af049e-c36f-11ed-b2eb-834c74ef89e8
process[rosout-1]: started with pid [14012]
started core service [/rosout]
process[oak_nodelet_manager-2]: started with pid [14020]
process[oak-3]: started with pid [14030]
process[calibrator-4]: started with pid [14031]
[ INFO] [1678911721.434533293]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1678911721.472428718]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1678911721.643295819]: Initializing nodelet with 4 worker threads.
[ INFO] [1678911721.674412945]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[2023-03-15 16:22:04.815] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2023-03-15 16:22:04.815] [debug] Library information - version: 2.19.1, commit:  from , build: 2022-11-28 18:23:08 +0000
[2023-03-15 16:22:04.820] [debug] Initialize - finished
[ INFO] [1678911724.854235420]: No ip/mxid/usb_id specified, connecting to the next available device.
[2023-03-15 16:22:05.088] [debug] Device - OpenVINO version: 2022.1
[2023-03-15 16:22:05.094] [debug] Device - BoardConfig: {"emmc":null,"gpio":[],"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"maxSpeed":4,"pid":63035,"vid":999},"usb3PhyInternalClock":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 0e b9 05 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 b9 02 00 01 ba 00 be be bb 00 bb 00 be be be
0020: be be be 01
[2023-03-15 16:22:05.550] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.21.tar.xz' open: 18ms, archive read: 709ms
[2023-03-15 16:22:06.991] [debug] Resources - Archive 'depthai-device-fwp-adbcc016c8bd5a5580a26d8b6250f77160203666.tar.xz' open: 12ms, archive read: 2150ms
[2023-03-15 16:22:07.891] [debug] Searching for booted device: DeviceInfo(name=1.2, mxid=19443010F1FBF71200, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[19443010F1FBF71200] [1.2] [0.832] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304419 should be: 0xFEC083B1
GPIO boot mode 0x16, interface USBD
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 10
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
eeprom configuration version: 55AA0006
Reading VERSION 6 --- ->
eeprom configuration load from user area, status: 0
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: ff ff ff
Invalid Flash JEDEC ID... No NOR available
Could not register the spi device
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Is booted from flash by bootloader: 0
Networking not available...
=== Enumerating on socket: Cam_A / RGB / Center
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
  >> Registered camera IMX214R0 (imx214) as /dev/Camera_0
Adding socket 0: cam 4. Sen name: IMX214
=== Enumerating on socket: Cam_B / Left
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
  >> Registered camera MV200 (ov7750) as /dev/Camera_1
Adding socket 1: cam 6. Sen name: OV7251
=== Enumerating on socket: Cam_C / Right
Probe failed I2C2 0x62 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
  >> Registered camera MV200 (ov7750) as /dev/Camera_2
Adding socket 2: cam 6. Sen name: OV7251
Initializing XLink...
UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
initial keepalive, countdown: 9
Done!
Usb connection speed: Super - USB 3.0
Temperature: Driver registered.
Temperature: Initialized 
[19443010F1FBF71200] [1.2] [0.837] [system] [info] Memory Usage - DDR: 0.12 / 340.61 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 6.99 / 77.48 MiB, LeonRT Heap: 2.89 / 41.35 MiB
[19443010F1FBF71200] [1.2] [0.837] [system] [info] Temperatures - Average: 33.27 °C, CSS: 33.93 °C, MSS 32.97 °C, UPA: 33.21 °C, DSS: 32.97 °C
[19443010F1FBF71200] [1.2] [0.837] [system] [info] Cpu Usage - LeonOS 47.12%, LeonRT: 1.76%
[19443010F1FBF71200] [1.2] [0.843] [system] [warning] PRINT:LeonCss: driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[ INFO] [1678911728.754048564]: Camera with MXID: 19443010F1FBF71200 and Name: 1.2 connected!
[19443010F1FBF71200] [1.2] [0.854] [system] [warning] PRINT:LeonCss: I: [Timesync] [   2179458] [XLin] startSync:130     Timesync | Callback not set
[ INFO] [1678911728.765499393]: USB SPEED: SUPER
[19443010F1FBF71200] [1.2] [0.876] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents
[19443010F1FBF71200] [1.2] [0.909] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 6 --- ->
[ INFO] [1678911728.821036734]: Device type: OAK-D-LITE
[ WARN] [1678911728.826087813]: Device has no IR drivers
[ INFO] [1678911728.866228787]: Pipeline type: RGBStereo
[ INFO] [1678911729.124805356]: Finished setting up pipeline.
[2023-03-15 16:22:09.133] [debug] Schema dump: {"connections":[{"node1Id":9,"node1Output":"out","node1OutputGroup":"","node2Id":10,"node2Input":"in","node2InputGroup":""},{"node1Id":8,"node1Output":"out","node1OutputGroup":"","node2Id":6,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":6,"node1Output":"out","node1OutputGroup":"","node2Id":7,"node2Input":"in","node2InputGroup":""},{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":3,"node1Output":"out","node1OutputGroup":"","node2Id":4,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":0,"node1Output":"isp","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,23,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,1,0,129,160,1,129,160,1,133,0,5,133,208,2,255,255,0,136,0,0,112,66,136,0,0,128,191,136,0,0,128,191,1,185,4,2,3,2,3,3,3,4,4,4]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,114,103,98,95,105,115,112,0]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,11,114,103,98,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,7,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,1,255,0,136,0,0,240,65,3,3]}],[4,{"id":4,"ioInfo":[[["","in"],{"blocking":true,"group":"","name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,9,108,101,102,116,95,109,111,110,111,0]}],[5,{"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,12,108,101,102,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[6,{"id":6,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,7,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,2,255,0,136,0,0,240,65,3,3]}],[7,{"id":7,"ioInfo":[[["","in"],{"blocking":true,"group":"","name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,10,114,105,103,104,116,95,109,111,110,111,0]}],[8,{"id":8,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,13,114,105,103,104,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[9,{"id":9,"ioInfo":[[["","out"],{"blocking":false,"group":"","name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"IMU","properties":[185,4,186,2,185,5,0,0,0,129,144,1,20,185,5,0,0,0,129,144,1,21,1,10,0]}],[10,{"id":10,"ioInfo":[[["","in"],{"blocking":true,"group":"","name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,105,109,117,95,105,109,117,0]}]]}
[2023-03-15 16:22:09.134] [debug] Asset map dump: {"map":{}}
[19443010F1FBF71200] [1.2] [1.283] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [1.283] [MonoCamera(6)] [info] Using board socket: 2, id: 2
[19443010F1FBF71200] [1.2] [1.283] [MonoCamera(3)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [1.284] [MonoCamera(3)] [info] Using board socket: 1, id: 1
[19443010F1FBF71200] [1.2] [1.294] [system] [warning] PRINT:LeonMss: Calculating resources 
Number of cmx slices available 16 
[19443010F1FBF71200] [1.2] [1.285] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '16384'B
[19443010F1FBF71200] [1.2] [1.320] [system] [info] ImageManip internal buffer size '258560'B, shave buffer size '34816'B
[19443010F1FBF71200] [1.2] [1.320] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] 
MonoCamera allocated resources: no shaves; cmx slices: [13-15] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 

[19443010F1FBF71200] [1.2] [1.327] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created
[19443010F1FBF71200] [1.2] [1.547] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 8
[19443010F1FBF71200] [1.2] [1.838] [system] [info] Memory Usage - DDR: 0.19 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 7.52 / 77.48 MiB, LeonRT Heap: 2.94 / 41.35 MiB
[19443010F1FBF71200] [1.2] [1.838] [system] [info] Temperatures - Average: 33.51 °C, CSS: 34.16 °C, MSS 32.97 °C, UPA: 33.93 °C, DSS: 32.97 °C
[19443010F1FBF71200] [1.2] [1.838] [system] [info] Cpu Usage - LeonOS 5.76%, LeonRT: 5.09%
[19443010F1FBF71200] [1.2] [1.855] [system] [warning] PRINT:LeonCss: XLinkIn | Created plgPool as shared: 1
XLinkIn | Created plgPool as shared: 1
XLinkIn | Created plgPool as shared: 1
[1970-01-01 00:00:01.850] [info] Time taken to build the pipeline: 569ms
[19443010F1FBF71200] [1.2] [1.855] [system] [warning] PRINT:LeonMss: LRT - build pipeline call
[19443010F1FBF71200] [1.2] [1.858] [system] [warning] ColorCamera IMX214: capping FPS for selected resolution to 35
[19443010F1FBF71200] [1.2] [1.866] [system] [warning] PRINT:LeonCss: Broadcast7251: Successfully registered camera MV200 (ov7750) as /dev/Camera_bcast0
== SW-SYNC: 0, cam mask 0x7
!!! Master Slave config is: single_master_slave !!!
Starting camera 0
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 0" sent

[19443010F1FBF71200] [1.2] [1.877] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x88238e40
[E] hai_cm_driver_load_dtp():852: Features for camera IMX214R0 (imx214) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[E] camera_control_start():347: Camera_id = 0 started.

[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000
[19443010F1FBF71200] [1.2] [1.888] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[19443010F1FBF71200] [1.2] [1.899] [system] [warning] PRINT:LeonCss: [E] callback():123: Camera CB START_DONE event.
[E] app_guzzi_command_callback():173: command->id:5
[E] camera_control_focus_trigger():591: Focus trigger succeeded camera_id = 0.

[E] app_guzzi_command_callback():218: command "5 0" sent

Starting camera 1
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 1" sent

[E] iq_debug_create():161: iq_debug address 0x87d906c0
[E] hai_cm_driver_load_dtp():852: Features for camera MV200 (ov7750) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414:
[19443010F1FBF71200] [1.2] [1.910] [system] [warning] PRINT:LeonCss:  //VIV HAL: Undefined lights DTP ID 0
[E] camera_control_start():347: Camera_id = 1 started.

[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x480 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x480 at 0x0 fps min 0.000000 max 30.000000
inc_camera_process set exposure and gain
osDrvImx214Control:514: Start stream
[19443010F1FBF71200] [1.2] [1.943] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 6 --- ->
[19443010F1FBF71200] [1.2] [1.955] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[E] callback():123: Camera CB START_DONE event.
Starting camera 2
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 2" sent

[19443010F1FBF71200] [1.2] [1.955] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[19443010F1FBF71200] [1.2] [1.966] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x878f6fc0
[E] hai_cm_driver_load_dtp():852: Features for camera MV200 (ov7750) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[19443010F1FBF71200] [1.2] [1.977] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 2 started.

[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x480 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x480 at 0x0 fps min 0.000000 max 30.000000
inc_camera_process set exposure and gain
[19443010F1FBF71200] [1.2] [2.021] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient
[E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient
[E] callback():123: Camera CB START_DONE event.
Starting Guzzi command handling loop...
[19443010F1FBF71200] [1.2] [2.032] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain
[19443010F1FBF71200] [1.2] [2.065] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[19443010F1FBF71200] [1.2] [2.076] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[19443010F1FBF71200] [1.2] [2.839] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [2.839] [system] [info] Temperatures - Average: 34.70 °C, CSS: 36.06 °C, MSS 33.69 °C, UPA: 34.40 °C, DSS: 34.64 °C
[19443010F1FBF71200] [1.2] [2.839] [system] [info] Cpu Usage - LeonOS 50.05%, LeonRT: 7.44%
[19443010F1FBF71200] [1.2] [3.088] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 6 --- ->
[19443010F1FBF71200] [1.2] [3.594] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 6 --- ->
[ INFO] [1678911731.588810453]: Camera ready!
[19443010F1FBF71200] [1.2] [3.840] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [3.840] [system] [info] Temperatures - Average: 34.40 °C, CSS: 35.35 °C, MSS 33.69 °C, UPA: 34.40 °C, DSS: 34.16 °C
[19443010F1FBF71200] [1.2] [3.840] [system] [info] Cpu Usage - LeonOS 26.92%, LeonRT: 3.30%
[19443010F1FBF71200] [1.2] [4.841] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [4.841] [system] [info] Temperatures - Average: 34.40 °C, CSS: 35.83 °C, MSS 34.16 °C, UPA: 34.16 °C, DSS: 33.45 °C
[19443010F1FBF71200] [1.2] [4.841] [system] [info] Cpu Usage - LeonOS 21.69%, LeonRT: 1.34%
[19443010F1FBF71200] [1.2] [5.842] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [5.842] [system] [info] Temperatures - Average: 34.10 °C, CSS: 35.11 °C, MSS 33.69 °C, UPA: 33.93 °C, DSS: 33.69 °C
[19443010F1FBF71200] [1.2] [5.842] [system] [info] Cpu Usage - LeonOS 21.56%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [6.843] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [6.843] [system] [info] Temperatures - Average: 34.64 °C, CSS: 35.59 °C, MSS 34.40 °C, UPA: 34.16 °C, DSS: 34.40 °C
[19443010F1FBF71200] [1.2] [6.843] [system] [info] Cpu Usage - LeonOS 21.61%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [7.844] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [7.844] [system] [info] Temperatures - Average: 34.34 °C, CSS: 35.59 °C, MSS 34.40 °C, UPA: 33.69 °C, DSS: 33.69 °C
[19443010F1FBF71200] [1.2] [7.844] [system] [info] Cpu Usage - LeonOS 21.67%, LeonRT: 1.34%
[19443010F1FBF71200] [1.2] [8.845] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [8.845] [system] [info] Temperatures - Average: 34.52 °C, CSS: 35.59 °C, MSS 33.93 °C, UPA: 34.64 °C, DSS: 33.93 °C
[19443010F1FBF71200] [1.2] [8.845] [system] [info] Cpu Usage - LeonOS 21.65%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [9.846] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [9.846] [system] [info] Temperatures - Average: 34.82 °C, CSS: 36.53 °C, MSS 34.64 °C, UPA: 33.93 °C, DSS: 34.16 °C
[19443010F1FBF71200] [1.2] [9.846] [system] [info] Cpu Usage - LeonOS 21.75%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [10.847] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [10.847] [system] [info] Temperatures - Average: 34.82 °C, CSS: 35.59 °C, MSS 34.64 °C, UPA: 34.64 °C, DSS: 34.40 °C
[19443010F1FBF71200] [1.2] [10.847] [system] [info] Cpu Usage - LeonOS 21.93%, LeonRT: 1.33%
[19443010F1FBF71200] [1.2] [11.848] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [11.848] [system] [info] Temperatures - Average: 35.29 °C, CSS: 36.53 °C, MSS 35.11 °C, UPA: 34.64 °C, DSS: 34.88 °C
[19443010F1FBF71200] [1.2] [11.848] [system] [info] Cpu Usage - LeonOS 21.77%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [12.849] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [12.849] [system] [info] Temperatures - Average: 34.82 °C, CSS: 36.30 °C, MSS 34.16 °C, UPA: 34.16 °C, DSS: 34.64 °C
[19443010F1FBF71200] [1.2] [12.849] [system] [info] Cpu Usage - LeonOS 21.58%, LeonRT: 1.32%
[19443010F1FBF71200] [1.2] [13.850] [system] [info] Memory Usage - DDR: 135.53 / 340.61 MiB, CMX: 2.37 / 2.50 MiB, LeonOS Heap: 49.39 / 77.48 MiB, LeonRT Heap: 4.14 / 41.35 MiB
[19443010F1FBF71200] [1.2] [13.850] [system] [info] Temperatures - Average: 34.82 °C, CSS: 36.06 °C, MSS 34.64 °C, UPA: 34.16 °C, DSS: 34.40 °C
[19443010F1FBF71200] [1.2] [13.850] [system] [info] Cpu Usage - LeonOS 21.68%, LeonRT: 1.33%

Here is how my bashrc looks like in case there is anything wrong in here:

Here is the overall setup of the directories.

Please let me know what you think may be the issue. I can try deleting everything and re-doing but don't think that would make much of a difference. Would it be possible to schedule a meeting with you if I am still unable to resolve the issue?

Thanks, Grigor

[Serafadam]

Hi Grigor, Hmm, according to those logs everything should be fine :thinking: I'll setup my Nano today/tomorrow and check it out, until that some additional quick questions:

1. When running nodes, are you able to see images using rqt/rqt_image_view? Or can you echo them (for example rostopic echo /oak/rgb/image_raw?
2. Can you publish some random image with image_publishe` and display it in rviz or rqt?
3. Is this a fresh ROS/System install? Are you working with some other packages here and do they work without problems?
4. Could you try running docker run -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev --runtime nvidia --network host luxonis/depthai-ros:noetic-latest roslaunch depthai_ros_driver camera.launch and see if it works using prebuilt image?

[Grigor-Pahlevanyan]

Hi @Serafadam

1. I am not able to see image using rqt/rqt_image_view. Here are some screenshots.

1.b. Using echo doesn't output any data either. So its clear that the data is missing.

2. Random image publishing with rqt does work. Below is a screenshot.

3. This is a fairly fresh install of ROS (installed it 2 months ago). I started learning ROS recently and have created packages myself that didn't involve any cameras.

4. Here is what I get by running docker run -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev --runtime nvidia --network host luxonis/depthai-ros:noetic-latest roslaunch depthai_ros_driver camera.launch. So pretty much running it with the docker made no difference, if I launch camera.launch manually like roslaunch camera.launch it fails the same way.

jetson@nano:~$ sudo docker run -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev --runtime nvidia --network host luxonis/depthai-ros:noetic-latest roslaunch depthai_ros_driver camera.launch
Unable to find image 'luxonis/depthai-ros:noetic-latest' locally
noetic-latest: Pulling from luxonis/depthai-ros
70cf24b16239: Already exists 
69c8f9dc3300: Already exists 
f3873cd7c37c: Already exists 
11990ca89946: Already exists 
b170ac8cf943: Already exists 
a80cc2bb1bc5: Already exists 
ae0dc1f7d500: Already exists 
7f807d9f223f: Already exists 
000cc58540f3: Already exists 
8ceb784b7cdf: Already exists 
daa96515c599: Pull complete 
180c38a74734: Pull complete 
d939d422db96: Pull complete 
15163b2694f7: Pull complete 
0dd83b25972c: Pull complete 
269f117ab5b1: Pull complete 
1b1df3fed04b: Pull complete 
d32a67a957d2: Pull complete 
098cdcae5016: Pull complete 
Digest: sha256:a6a536ae5e82ecff94e3de23ff1873f4518624c4ec755a941b3e7b376d7f8e3b
Status: Downloaded newer image for luxonis/depthai-ros:noetic-latest
... logging to /root/.ros/log/4eb40258-c462-11ed-b70b-3f4138b53589/roslaunch-nano-1.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://nano:38601/

SUMMARY
========

PARAMETERS
 * /oak/camera_i_enable_imu: True
 * /oak/camera_i_enable_ir: True
 * /oak/camera_i_floodlight_brightness: 0.0
 * /oak/camera_i_ip: 
 * /oak/camera_i_laser_dot_brightness: 800.0
 * /oak/camera_i_mx_id: 
 * /oak/camera_i_nn_type: spatial
 * /oak/camera_i_pipeline_type: RGBD
 * /oak/camera_i_usb_port_id: 
 * /oak/camera_i_usb_speed: SUPER_PLUS
 * /oak/imu_i_max_q_size: 30
 * /oak/left_i_board_socket_id: 1
 * /oak/left_i_calibration_file: 
 * /oak/left_i_fps: 30.0
 * /oak/left_i_height: 720
 * /oak/left_i_low_bandwidth: False
 * /oak/left_i_low_bandwidth_quality: 50
 * /oak/left_i_max_q_size: 30
 * /oak/left_i_preview_size: 416
 * /oak/left_i_publish_topic: False
 * /oak/left_i_resolution: 720
 * /oak/left_i_set_isp_scale: True
 * /oak/left_i_width: 1280
 * /oak/left_r_exposure: 1000
 * /oak/left_r_focus: 1
 * /oak/left_r_iso: 800
 * /oak/left_r_keep_preview_aspect_ratio: True
 * /oak/left_r_set_man_exposure: False
 * /oak/left_r_set_man_focus: False
 * /oak/left_r_set_man_whitebalance: False
 * /oak/left_r_whitebalance: 3300
 * /oak/nn_i_nn_config_path: depthai_ros_drive...
 * /oak/rgb/image_raw/compressed/format: jpeg
 * /oak/rgb/image_raw/compressed/jpeg_optimize: False
 * /oak/rgb/image_raw/compressed/jpeg_progressive: False
 * /oak/rgb/image_raw/compressed/jpeg_quality: 80
 * /oak/rgb/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/rgb/image_raw/compressed/png_level: 9
 * /oak/rgb/image_raw/compressedDepth/depth_max: 10.0
 * /oak/rgb/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/rgb/image_raw/compressedDepth/format: png
 * /oak/rgb/image_raw/compressedDepth/png_level: 9
 * /oak/rgb/image_raw/theora/keyframe_frequency: 64
 * /oak/rgb/image_raw/theora/optimize_for: 1
 * /oak/rgb/image_raw/theora/quality: 31
 * /oak/rgb/image_raw/theora/target_bitrate: 800000
 * /oak/rgb_i_board_socket_id: 0
 * /oak/rgb_i_calibration_file: 
 * /oak/rgb_i_enable_preview: False
 * /oak/rgb_i_fps: 60.0
 * /oak/rgb_i_height: 720
 * /oak/rgb_i_interleaved: True
 * /oak/rgb_i_keep_preview_aspect_ratio: True
 * /oak/rgb_i_low_bandwidth: False
 * /oak/rgb_i_low_bandwidth_quality: 50
 * /oak/rgb_i_max_q_size: 30
 * /oak/rgb_i_preview_size: 416
 * /oak/rgb_i_publish_topic: True
 * /oak/rgb_i_resolution: 1080
 * /oak/rgb_i_set_isp_scale: True
 * /oak/rgb_i_width: 1280
 * /oak/rgb_r_exposure: 1000
 * /oak/rgb_r_focus: 1
 * /oak/rgb_r_iso: 800
 * /oak/rgb_r_keep_preview_aspect_ratio: True
 * /oak/rgb_r_set_man_exposure: False
 * /oak/rgb_r_set_man_focus: False
 * /oak/rgb_r_set_man_whitebalance: False
 * /oak/rgb_r_whitebalance: 3300
 * /oak/right_i_board_socket_id: 2
 * /oak/right_i_calibration_file: 
 * /oak/right_i_fps: 30.0
 * /oak/right_i_height: 720
 * /oak/right_i_low_bandwidth: False
 * /oak/right_i_low_bandwidth_quality: 50
 * /oak/right_i_max_q_size: 30
 * /oak/right_i_preview_size: 416
 * /oak/right_i_publish_topic: False
 * /oak/right_i_resolution: 720
 * /oak/right_i_set_isp_scale: True
 * /oak/right_i_width: 1280
 * /oak/right_r_exposure: 1000
 * /oak/right_r_focus: 1
 * /oak/right_r_iso: 800
 * /oak/right_r_keep_preview_aspect_ratio: True
 * /oak/right_r_set_man_exposure: False
 * /oak/right_r_set_man_focus: False
 * /oak/right_r_set_man_whitebalance: False
 * /oak/right_r_whitebalance: 3300
 * /oak/stereo/image_raw/compressed/format: jpeg
 * /oak/stereo/image_raw/compressed/jpeg_optimize: False
 * /oak/stereo/image_raw/compressed/jpeg_progressive: False
 * /oak/stereo/image_raw/compressed/jpeg_quality: 80
 * /oak/stereo/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/stereo/image_raw/compressed/png_level: 9
 * /oak/stereo/image_raw/compressedDepth/depth_max: 10.0
 * /oak/stereo/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/stereo/image_raw/compressedDepth/format: png
 * /oak/stereo/image_raw/compressedDepth/png_level: 9
 * /oak/stereo/image_raw/theora/keyframe_frequency: 64
 * /oak/stereo/image_raw/theora/optimize_for: 1
 * /oak/stereo/image_raw/theora/quality: 31
 * /oak/stereo/image_raw/theora/target_bitrate: 800000
 * /oak/stereo_i_align_depth: True
 * /oak/stereo_i_bilateral_sigma: 0
 * /oak/stereo_i_board_socket_id: 0
 * /oak/stereo_i_calibration_file: 
 * /oak/stereo_i_decimation_filter_decimation_factor: 1
 * /oak/stereo_i_decimation_filter_decimation_mode: PIXEL_SKIPPING
 * /oak/stereo_i_depth_filter_size: 5
 * /oak/stereo_i_depth_preset: HIGH_ACCURACY
 * /oak/stereo_i_enable_decimation_filter: False
 * /oak/stereo_i_enable_distoartion_correction: False
 * /oak/stereo_i_enable_spatial_filter: False
 * /oak/stereo_i_enable_temporal_filter: False
 * /oak/stereo_i_enable_threshold_filter: False
 * /oak/stereo_i_extended_disp: False
 * /oak/stereo_i_height: 720
 * /oak/stereo_i_low_bandwidth: False
 * /oak/stereo_i_low_bandwidth_quality: 50
 * /oak/stereo_i_lr_check: True
 * /oak/stereo_i_lrc_threshold: 10
 * /oak/stereo_i_max_q_size: 30
 * /oak/stereo_i_rectify_edge_fill_color: 0
 * /oak/stereo_i_spatial_filter_alpha: 0.5
 * /oak/stereo_i_spatial_filter_delta: 20
 * /oak/stereo_i_spatial_filter_hole_filling_radius: 2
 * /oak/stereo_i_spatial_filter_iterations: 1
 * /oak/stereo_i_stereo_conf_threshold: 255
 * /oak/stereo_i_temporal_filter_alpha: 0.4
 * /oak/stereo_i_temporal_filter_delta: 20
 * /oak/stereo_i_temporal_filter_persistency: VALID_2_IN_LAST_4
 * /oak/stereo_i_threshold_filter_max_range: 15000
 * /oak/stereo_i_threshold_filter_min_range: 400
 * /oak/stereo_i_width: 1280
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    oak (nodelet/nodelet)
    oak_nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[oak_state_publisher-1]: started with pid [52]
process[oak_nodelet_manager-2]: started with pid [53]
process[oak-3]: started with pid [54]
[ INFO] [1679017006.529719597]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1679017006.573517727]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1679017006.628774556]: Initializing nodelet with 4 worker threads.
[ INFO] [1679017006.647692382]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[ INFO] [1679017009.516196974]: No ip/mxid/usb_id specified, connecting to the next available device.
[ INFO] [1679017012.305862126]: Camera with MXID: 19443010F1FBF71200 and Name: 1.2 connected!
[ INFO] [1679017012.307575446]: USB SPEED: SUPER
[ INFO] [1679017012.343307249]: Device type: OAK-D-LITE
[ WARN] [1679017012.346836184]: Device has no IR drivers
[ INFO] [1679017012.356968602]: Pipeline type: RGBD
[ INFO] [1679017012.630163781]: NN Family: mobilenet
[ INFO] [1679017013.034977321]: Finished setting up pipeline.
[19443010F1FBF71200] [1.2] [1.759] [MonoCamera(4)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [1.759] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[FATAL] [1679017016.462600271]: Failed to load nodelet '/oak` of type `depthai_ros_driver/Camera` to manager `oak_nodelet_manager'
[oak_nodelet_manager-2] process has died [pid 53, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager /nodelet_manager/load_nodelet:=oak/nodelet_manager/load_nodelet /nodelet_manager/unload_nodelet:=oak/nodelet_manager/unload_nodelet /nodelet_manager/list:=oak/nodelet_manager/list __name:=oak_nodelet_manager __log:=/root/.ros/log/4eb40258-c462-11ed-b70b-3f4138b53589/oak_nodelet_manager-2.log].
log file: /root/.ros/log/4eb40258-c462-11ed-b70b-3f4138b53589/oak_nodelet_manager-2*.log
================================================================================REQUIRED process [oak-3] has died!
process has died [pid 54, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driver/Camera oak_nodelet_manager __name:=oak __log:=/root/.ros/log/4eb40258-c462-11ed-b70b-3f4138b53589/oak-3.log].
log file: /root/.ros/log/4eb40258-c462-11ed-b70b-3f4138b53589/oak-3*.log
Initiating shutdown!
================================================================================
[oak-3] killing on exit
[oak_state_publisher-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
jetson@nano:~$ 

Please let me know if you are able to figure out the issue with your Jetson Nano. If not do let me know I am open for a meeting.

[Serafadam]

I was able to get it working on my Nano (Ubuntu 18.04, I used docker to mimic fresh setup on 20.04), so it's not a general issue. Other ideas that I have:

1. Can you see anything on /oak/rgb/image_raw/compressed topic?
2. Are you using power adapter?
3. Are your apt packages up-to-date?
4. Maybe for some reason some crucial package has not been installed, you can try running sudo curl -fL https://docs.luxonis.com/install_dependencies.sh | bash
5. Let's try stereo_inertial_node in docker, run: xhost +local:docker then docker run -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev --runtime nvidia --network host luxonis/depthai-ros:noetic-latest roslaunch depthai_examples stereo_inertial_node.launch
6. If it still doesn't work, I would try reinstalling the system and trying it out on a fresh one (maybe starting with docker approach) if that's not a problem. I'll also consult my colleagues on that issue and post if there are any additional ideas, we can set up a meeting, but after trying steps above as we'll have some additional information.

[Grigor-Pahlevanyan]

@Serafadam I am going to start completely from scratch and see if it works this time around. The options you've mentioned above still failed. I am not using a power adapter by the way. Its connected by 1 USB C which deals both with power and data transfer. It is also connected to the USB 3 port so that shouldn't be the problem either. The camera image does work on the demo that I tried earlier so that would eliminate the connector from being the problem.

Where did you get your Ubuntu image from for the Jetson. I got mine from: https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image

Maybe that could be the issue, I am going to get a new image of Ubuntu 20.04 from the official website. If that fails, I might try again from the NVIDIA website, I'm just not sure if this is ubuntu or what version it is. https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write

Please let me know if which one do you think would be the better one to go with. I will contact you once both options fail.

Thanks.

[saching13]

@Grigor-Pahlevanyan can you prefix the execution commands with DEPTHAI_LEVEL=debug and share the logs.

[Grigor-Pahlevanyan]

@saching13 I've already deleted the OS. Will re-install it and if it still fails will try that.

[MAVProxyUser]

"noetic" eek! That is old. Bump your jetpack version, hand compile humble. And use newer branches/ From a fresh 5.1 Jetpack install (via sdkmanager https://developer.nvidia.com/drive/sdk-manager)

sudo apt-get remove python2.7 libpython2.7-dev python2-minimal python2.7-minimal     libpython2.7 
sudo apt-get remove libpython3.9-minimal libpython3.9-stdlib python3.9 python3.9-minimal python3.9-vpi2
sudo apt-get install python-is-python3

https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/main/install_dependencies.sh | sudo bash
wget https://github.com/Kitware/CMake/releases/download/v3.26.0-rc1/cmake-3.26.0-rc1.tar.gz
tar -zxvf cmake-3.26.0-rc1.tar.gz
cd cmake-3.26.0-rc1/
./configure ; sudo make install

In the luxonis ros workspace, ensure you have:

ubuntu@ubuntu:~/luxonis_oak_ws/src$ git clone https://github.com/ros-perception/vision_msgs.git
ubuntu@ubuntu:~/luxonis_oak_ws/src$ git clone https://github.com/ros-perception/vision_opencv.git -b humble
ubuntu@ubuntu:~/luxonis_oak_ws/src$ git clone https://github.com/ros/xacro.git -b ros2
ubuntu@ubuntu:~/luxonis_oak_ws/src$ git clone https://github.com/ros-perception/image_pipeline.git -b humble

And colcon build the luxonis code for humble!!! https://github.com/luxonis/depthai-ros/tree/humble

[MAVProxyUser]

Hi, yes the demo works. There is a small numpy & wheel version error but that didn't stop it from working.

From my experience on OSX, this is not what the Demo looks like. This is a partial demo window.

[Grigor-Pahlevanyan]

I have re-installed everything a couple times. Tried various methods, but still failing. Please let me know on what can be done to solve the issue.

Updates:

1. I have installed Ubuntu 18.04, but that doesn't support ROS Noetic. So instead of using a docker I tried Ubuntu 20.04.
2. @Serafadam Installed Ubuntu 20.04 from https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image which is what I had initially. Ubuntu 20.04 from the official Ubuntu website doesn't load on the Jetson. By the way, mine is a Jetson Nano 2GB not 4GB not sure if that could be an issue.
3. Here are more logs

Running catkin_make (may help in debugging)

jetson@nano:~/dai_ws$ catkin_make_isolated -l1 -j1
Base path: /home/jetson/dai_ws
Source space: /home/jetson/dai_ws/src
Build space: /home/jetson/dai_ws/build_isolated
Devel space: /home/jetson/dai_ws/devel_isolated
Install space: /home/jetson/dai_ws/install_isolated
Additional make Arguments: -l1 -j1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 5 packages in topological order:
~~  - depthai-ros
~~  - depthai_ros_msgs
~~  - depthai_bridge
~~  - depthai_examples
~~  - depthai_ros_driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

==> Processing catkin package: 'depthai-ros'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/jetson/dai_ws/build_isolated/depthai-ros'
==> make -l1 -j1 in '/home/jetson/dai_ws/build_isolated/depthai-ros'
<== Finished processing package [1 of 5]: 'depthai-ros'

==> Processing catkin package: 'depthai_ros_msgs'
==> Building with env: '/home/jetson/dai_ws/devel_isolated/depthai-ros/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/jetson/dai_ws/build_isolated/depthai_ros_msgs'
==> make -l1 -j1 in '/home/jetson/dai_ws/build_isolated/depthai_ros_msgs'
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<== Finished processing package [2 of 5]: 'depthai_ros_msgs'

==> Processing catkin package: 'depthai_bridge'
==> Building with env: '/home/jetson/dai_ws/devel_isolated/depthai_ros_msgs/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/jetson/dai_ws/build_isolated/depthai_bridge'
==> make -l1 -j1 in '/home/jetson/dai_ws/build_isolated/depthai_bridge'
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<== Finished processing package [3 of 5]: 'depthai_bridge'

==> Processing catkin package: 'depthai_examples'
==> Creating build directory: 'build_isolated/depthai_examples'
==> Building with env: '/home/jetson/dai_ws/devel_isolated/depthai_bridge/env.sh'
==> cmake /home/jetson/dai_ws/src/depthai-ros/depthai_examples -DCATKIN_DEVEL_PREFIX=/home/jetson/dai_ws/devel_isolated/depthai_examples -DCMAKE_INSTALL_PREFIX=/home/jetson/dai_ws/install_isolated -G Unix Makefiles in '/home/jetson/dai_ws/build_isolated/depthai_examples'
-- The CXX compiler identification is GNU 8.4.0
-- The C compiler identification is GNU 8.4.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found suitable exact version "10.2") 
-- Using CATKIN_DEVEL_PREFIX: /home/jetson/dai_ws/devel_isolated/depthai_examples
-- Using CMAKE_PREFIX_PATH: /home/jetson/dai_ws/devel_isolated/depthai_bridge;/home/jetson/dai_ws/devel_isolated/depthai_ros_msgs;/home/jetson/dai_ws/devel_isolated/depthai-ros;/opt/ros/noetic
-- This workspace overlays: /home/jetson/dai_ws/devel_isolated/depthai_bridge;/home/jetson/dai_ws/devel_isolated/depthai_ros_msgs;/home/jetson/dai_ws/devel_isolated/depthai-ros;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jetson/dai_ws/build_isolated/depthai_examples/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Installing devel-space wrapper /home/jetson/dai_ws/src/depthai-ros/depthai_examples/scripts/markerPublisher.py to /home/jetson/dai_ws/devel_isolated/depthai_examples/share/depthai_examples/markerPublisher
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jetson/dai_ws/build_isolated/depthai_examples
==> make -l1 -j1 in '/home/jetson/dai_ws/build_isolated/depthai_examples'
Scanning dependencies of target depthai_ros_msgs_generate_messages_lisp
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<== Finished processing package [4 of 5]: 'depthai_examples'

==> Processing catkin package: 'depthai_ros_driver'
==> Creating build directory: 'build_isolated/depthai_ros_driver'
==> Building with env: '/home/jetson/dai_ws/devel_isolated/depthai_examples/env.sh'
==> cmake /home/jetson/dai_ws/src/depthai-ros/depthai_ros_driver -DCATKIN_DEVEL_PREFIX=/home/jetson/dai_ws/devel_isolated/depthai_ros_driver -DCMAKE_INSTALL_PREFIX=/home/jetson/dai_ws/install_isolated -G Unix Makefiles in '/home/jetson/dai_ws/build_isolated/depthai_ros_driver'
-- The C compiler identification is GNU 8.4.0
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-- Check for working C compiler: /usr/bin/cc
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-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
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-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jetson/dai_ws/build_isolated/depthai_ros_driver/test_results
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-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jetson/dai_ws/build_isolated/depthai_ros_driver
==> make -l1 -j1 in '/home/jetson/dai_ws/build_isolated/depthai_ros_driver'
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[100%] Built target depthai_ros_driver
<== Finished processing package [5 of 5]: 'depthai_ros_driver'

Running stereo_inertial_node.launch on new ROS Noetic install.

jetson@nano:~$ roslaunch depthai_examples stereo_inertial_node.launch 
... logging to /home/jetson/.ros/log/3f5cbd3c-c5f1-11ed-9bee-9f20d6c385a9/roslaunch-nano-9169.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://nano:46763/

SUMMARY
========

PARAMETERS
 * /depth_image_to_rgb_pointcloud/queue_size: 10
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /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/jetson/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)
    rviz (rviz/rviz)
    stereo_inertial_publisher (depthai_examples/stereo_inertial_node)

ROS_MASTER_URI=http://localhost:11311

process[oak_state_publisher-1]: started with pid [9195]
process[stereo_inertial_publisher-2]: started with pid [9196]
process[nodelet_manager-3]: started with pid [9197]
process[depth_image_convertion_nodelet-4]: started with pid [9198]
process[depth_image_to_rgb_pointcloud-5]: started with pid [9199]
process[rviz-6]: started with pid [9200]
[ INFO] [1679187626.186507668]: Initializing nodelet with 4 worker threads.
 nnPath ,, /home/jetson/dai_ws/src/depthai-ros/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob
1280 720 1280 720
Listing available devices...
Device Mx ID: 19443010F1FBF71200
[ERROR] [1679187632.618924161]: PluginlibFactory: The plugin for class 'rviz_imu_plugin/Imu' failed to load.  Error: According to the loaded plugin descriptions the class rviz_imu_plugin/Imu with base class type rviz::Display does not exist. Declared types are  rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu
[19443010F1FBF71200] [1.2] [1.430] [MonoCamera(2)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [1.430] [MonoCamera(1)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [2.013] [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

Running Camera.launch

jetson@nano:~$ roslaunch depthai_ros_driver camera.launch 
... logging to /home/jetson/.ros/log/c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9/roslaunch-nano-14004.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://nano:32975/

SUMMARY
========

PARAMETERS
 * /oak/camera_i_enable_imu: True
 * /oak/camera_i_enable_ir: True
 * /oak/camera_i_floodlight_brightness: 0.0
 * /oak/camera_i_ip: 
 * /oak/camera_i_laser_dot_brightness: 800.0
 * /oak/camera_i_mx_id: 
 * /oak/camera_i_nn_type: spatial
 * /oak/camera_i_pipeline_type: RGBD
 * /oak/camera_i_usb_port_id: 
 * /oak/camera_i_usb_speed: SUPER_PLUS
 * /oak/imu_i_max_q_size: 30
 * /oak/left_i_board_socket_id: 1
 * /oak/left_i_calibration_file: 
 * /oak/left_i_fps: 30.0
 * /oak/left_i_height: 720
 * /oak/left_i_low_bandwidth: False
 * /oak/left_i_low_bandwidth_quality: 50
 * /oak/left_i_max_q_size: 30
 * /oak/left_i_preview_size: 416
 * /oak/left_i_publish_topic: False
 * /oak/left_i_resolution: 720
 * /oak/left_i_set_isp_scale: True
 * /oak/left_i_width: 1280
 * /oak/left_r_exposure: 1000
 * /oak/left_r_focus: 1
 * /oak/left_r_iso: 800
 * /oak/left_r_keep_preview_aspect_ratio: True
 * /oak/left_r_set_man_exposure: False
 * /oak/left_r_set_man_focus: False
 * /oak/left_r_set_man_whitebalance: False
 * /oak/left_r_whitebalance: 3300
 * /oak/nn_i_nn_config_path: depthai_ros_drive...
 * /oak/rgb/image_raw/compressed/format: jpeg
 * /oak/rgb/image_raw/compressed/jpeg_optimize: False
 * /oak/rgb/image_raw/compressed/jpeg_progressive: False
 * /oak/rgb/image_raw/compressed/jpeg_quality: 80
 * /oak/rgb/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/rgb/image_raw/compressed/png_level: 9
 * /oak/rgb/image_raw/compressedDepth/depth_max: 10.0
 * /oak/rgb/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/rgb/image_raw/compressedDepth/format: png
 * /oak/rgb/image_raw/compressedDepth/png_level: 9
 * /oak/rgb/image_raw/theora/keyframe_frequency: 64
 * /oak/rgb/image_raw/theora/optimize_for: 1
 * /oak/rgb/image_raw/theora/quality: 31
 * /oak/rgb/image_raw/theora/target_bitrate: 800000
 * /oak/rgb_i_board_socket_id: 0
 * /oak/rgb_i_calibration_file: 
 * /oak/rgb_i_enable_preview: False
 * /oak/rgb_i_fps: 60.0
 * /oak/rgb_i_height: 720
 * /oak/rgb_i_interleaved: True
 * /oak/rgb_i_keep_preview_aspect_ratio: True
 * /oak/rgb_i_low_bandwidth: False
 * /oak/rgb_i_low_bandwidth_quality: 50
 * /oak/rgb_i_max_q_size: 30
 * /oak/rgb_i_preview_size: 416
 * /oak/rgb_i_publish_topic: True
 * /oak/rgb_i_resolution: 1080
 * /oak/rgb_i_set_isp_scale: True
 * /oak/rgb_i_width: 1280
 * /oak/rgb_r_exposure: 1000
 * /oak/rgb_r_focus: 1
 * /oak/rgb_r_iso: 800
 * /oak/rgb_r_keep_preview_aspect_ratio: True
 * /oak/rgb_r_set_man_exposure: False
 * /oak/rgb_r_set_man_focus: False
 * /oak/rgb_r_set_man_whitebalance: False
 * /oak/rgb_r_whitebalance: 3300
 * /oak/right_i_board_socket_id: 2
 * /oak/right_i_calibration_file: 
 * /oak/right_i_fps: 30.0
 * /oak/right_i_height: 720
 * /oak/right_i_low_bandwidth: False
 * /oak/right_i_low_bandwidth_quality: 50
 * /oak/right_i_max_q_size: 30
 * /oak/right_i_preview_size: 416
 * /oak/right_i_publish_topic: False
 * /oak/right_i_resolution: 720
 * /oak/right_i_set_isp_scale: True
 * /oak/right_i_width: 1280
 * /oak/right_r_exposure: 1000
 * /oak/right_r_focus: 1
 * /oak/right_r_iso: 800
 * /oak/right_r_keep_preview_aspect_ratio: True
 * /oak/right_r_set_man_exposure: False
 * /oak/right_r_set_man_focus: False
 * /oak/right_r_set_man_whitebalance: False
 * /oak/right_r_whitebalance: 3300
 * /oak/stereo/image_raw/compressed/format: jpeg
 * /oak/stereo/image_raw/compressed/jpeg_optimize: False
 * /oak/stereo/image_raw/compressed/jpeg_progressive: False
 * /oak/stereo/image_raw/compressed/jpeg_quality: 80
 * /oak/stereo/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/stereo/image_raw/compressed/png_level: 9
 * /oak/stereo/image_raw/compressedDepth/depth_max: 10.0
 * /oak/stereo/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/stereo/image_raw/compressedDepth/format: png
 * /oak/stereo/image_raw/compressedDepth/png_level: 9
 * /oak/stereo/image_raw/theora/keyframe_frequency: 64
 * /oak/stereo/image_raw/theora/optimize_for: 1
 * /oak/stereo/image_raw/theora/quality: 31
 * /oak/stereo/image_raw/theora/target_bitrate: 800000
 * /oak/stereo_i_align_depth: True
 * /oak/stereo_i_bilateral_sigma: 0
 * /oak/stereo_i_board_socket_id: 0
 * /oak/stereo_i_calibration_file: 
 * /oak/stereo_i_decimation_filter_decimation_factor: 1
 * /oak/stereo_i_decimation_filter_decimation_mode: PIXEL_SKIPPING
 * /oak/stereo_i_depth_filter_size: 5
 * /oak/stereo_i_depth_preset: HIGH_ACCURACY
 * /oak/stereo_i_enable_decimation_filter: False
 * /oak/stereo_i_enable_distoartion_correction: False
 * /oak/stereo_i_enable_spatial_filter: False
 * /oak/stereo_i_enable_temporal_filter: False
 * /oak/stereo_i_enable_threshold_filter: False
 * /oak/stereo_i_extended_disp: False
 * /oak/stereo_i_height: 720
 * /oak/stereo_i_low_bandwidth: False
 * /oak/stereo_i_low_bandwidth_quality: 50
 * /oak/stereo_i_lr_check: True
 * /oak/stereo_i_lrc_threshold: 10
 * /oak/stereo_i_max_q_size: 30
 * /oak/stereo_i_rectify_edge_fill_color: 0
 * /oak/stereo_i_spatial_filter_alpha: 0.5
 * /oak/stereo_i_spatial_filter_delta: 20
 * /oak/stereo_i_spatial_filter_hole_filling_radius: 2
 * /oak/stereo_i_spatial_filter_iterations: 1
 * /oak/stereo_i_stereo_conf_threshold: 255
 * /oak/stereo_i_temporal_filter_alpha: 0.4
 * /oak/stereo_i_temporal_filter_delta: 20
 * /oak/stereo_i_temporal_filter_persistency: VALID_2_IN_LAST_4
 * /oak/stereo_i_threshold_filter_max_range: 15000
 * /oak/stereo_i_threshold_filter_min_range: 400
 * /oak/stereo_i_width: 1280
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    oak (nodelet/nodelet)
    oak_nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [14024]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9
process[rosout-1]: started with pid [14039]
started core service [/rosout]
process[oak_state_publisher-2]: started with pid [14056]
process[oak_nodelet_manager-3]: started with pid [14057]
process[oak-4]: started with pid [14058]
[ INFO] [1679188209.575457856]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1679188209.644023231]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1679188209.712346308]: Initializing nodelet with 4 worker threads.
[ INFO] [1679188209.758571172]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[ INFO] [1679188211.190647203]: No ip/mxid/usb_id specified, connecting to the next available device.
[ INFO] [1679188214.409812715]: Camera with MXID: 19443010F1FBF71200 and Name: 1.2 connected!
[ INFO] [1679188214.411420410]: USB SPEED: SUPER
[ INFO] [1679188214.438844302]: Device type: OAK-D-LITE
[ WARN] [1679188214.442217873]: Device has no IR drivers
[ INFO] [1679188214.456498061]: Pipeline type: RGBD
[ INFO] [1679188214.907945214]: NN Family: mobilenet
[ INFO] [1679188215.593183826]: Finished setting up pipeline.
[19443010F1FBF71200] [1.2] [2.249] [MonoCamera(4)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [2.249] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [2.847] [system] [warning] ColorCamera IMX214: capping FPS for selected resolution to 35
[FATAL] [1679188218.563329485]: Failed to load nodelet '/oak` of type `depthai_ros_driver/Camera` to manager `oak_nodelet_manager'
[oak_nodelet_manager-3] process has died [pid 14057, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager /nodelet_manager/load_nodelet:=oak/nodelet_manager/load_nodelet /nodelet_manager/unload_nodelet:=oak/nodelet_manager/unload_nodelet /nodelet_manager/list:=oak/nodelet_manager/list __name:=oak_nodelet_manager __log:=/home/jetson/.ros/log/c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9/oak_nodelet_manager-3.log].
log file: /home/jetson/.ros/log/c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9/oak_nodelet_manager-3*.log
================================================================================REQUIRED process [oak-4] has died!
process has died [pid 14058, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driver/Camera oak_nodelet_manager __name:=oak __log:=/home/jetson/.ros/log/c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9/oak-4.log].
log file: /home/jetson/.ros/log/c8dcf33c-c5f2-11ed-9bee-9f20d6c385a9/oak-4*.log
Initiating shutdown!
================================================================================
[oak-4] 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

@saching13 Running DEPTHAI_LEVEL=debug rosrun depthai_examples stereo_inertial_node

etson@nano:~$ DEPTHAI_LEVEL=debug rosrun depthai_examples stereo_inertial_node 
[ERROR] [1679188554.204407952]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...

^C Bad parameters -> 33
terminate called after throwing an instance of 'std::runtime_error'
  what():  Couldn't find %d of the parameters
Aborted (core dumped)
jetson@nano:~$ DEPTHAI_LEVEL=debug roslaunch depthai_ros_driver camera.launch
... logging to /home/jetson/.ros/log/df2a854a-c5f3-11ed-9bee-9f20d6c385a9/roslaunch-nano-17064.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://nano:40775/

SUMMARY
========

PARAMETERS
 * /oak/camera_i_enable_imu: True
 * /oak/camera_i_enable_ir: True
 * /oak/camera_i_floodlight_brightness: 0.0
 * /oak/camera_i_ip: 
 * /oak/camera_i_laser_dot_brightness: 800.0
 * /oak/camera_i_mx_id: 
 * /oak/camera_i_nn_type: spatial
 * /oak/camera_i_pipeline_type: RGBD
 * /oak/camera_i_usb_port_id: 
 * /oak/camera_i_usb_speed: SUPER_PLUS
 * /oak/imu_i_max_q_size: 30
 * /oak/left_i_board_socket_id: 1
 * /oak/left_i_calibration_file: 
 * /oak/left_i_fps: 30.0
 * /oak/left_i_height: 720
 * /oak/left_i_low_bandwidth: False
 * /oak/left_i_low_bandwidth_quality: 50
 * /oak/left_i_max_q_size: 30
 * /oak/left_i_preview_size: 416
 * /oak/left_i_publish_topic: False
 * /oak/left_i_resolution: 720
 * /oak/left_i_set_isp_scale: True
 * /oak/left_i_width: 1280
 * /oak/left_r_exposure: 1000
 * /oak/left_r_focus: 1
 * /oak/left_r_iso: 800
 * /oak/left_r_keep_preview_aspect_ratio: True
 * /oak/left_r_set_man_exposure: False
 * /oak/left_r_set_man_focus: False
 * /oak/left_r_set_man_whitebalance: False
 * /oak/left_r_whitebalance: 3300
 * /oak/nn_i_nn_config_path: depthai_ros_drive...
 * /oak/rgb/image_raw/compressed/format: jpeg
 * /oak/rgb/image_raw/compressed/jpeg_optimize: False
 * /oak/rgb/image_raw/compressed/jpeg_progressive: False
 * /oak/rgb/image_raw/compressed/jpeg_quality: 80
 * /oak/rgb/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/rgb/image_raw/compressed/png_level: 9
 * /oak/rgb/image_raw/compressedDepth/depth_max: 10.0
 * /oak/rgb/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/rgb/image_raw/compressedDepth/format: png
 * /oak/rgb/image_raw/compressedDepth/png_level: 9
 * /oak/rgb/image_raw/theora/keyframe_frequency: 64
 * /oak/rgb/image_raw/theora/optimize_for: 1
 * /oak/rgb/image_raw/theora/quality: 31
 * /oak/rgb/image_raw/theora/target_bitrate: 800000
 * /oak/rgb_i_board_socket_id: 0
 * /oak/rgb_i_calibration_file: 
 * /oak/rgb_i_enable_preview: False
 * /oak/rgb_i_fps: 60.0
 * /oak/rgb_i_height: 720
 * /oak/rgb_i_interleaved: True
 * /oak/rgb_i_keep_preview_aspect_ratio: True
 * /oak/rgb_i_low_bandwidth: False
 * /oak/rgb_i_low_bandwidth_quality: 50
 * /oak/rgb_i_max_q_size: 30
 * /oak/rgb_i_preview_size: 416
 * /oak/rgb_i_publish_topic: True
 * /oak/rgb_i_resolution: 1080
 * /oak/rgb_i_set_isp_scale: True
 * /oak/rgb_i_width: 1280
 * /oak/rgb_r_exposure: 1000
 * /oak/rgb_r_focus: 1
 * /oak/rgb_r_iso: 800
 * /oak/rgb_r_keep_preview_aspect_ratio: True
 * /oak/rgb_r_set_man_exposure: False
 * /oak/rgb_r_set_man_focus: False
 * /oak/rgb_r_set_man_whitebalance: False
 * /oak/rgb_r_whitebalance: 3300
 * /oak/right_i_board_socket_id: 2
 * /oak/right_i_calibration_file: 
 * /oak/right_i_fps: 30.0
 * /oak/right_i_height: 720
 * /oak/right_i_low_bandwidth: False
 * /oak/right_i_low_bandwidth_quality: 50
 * /oak/right_i_max_q_size: 30
 * /oak/right_i_preview_size: 416
 * /oak/right_i_publish_topic: False
 * /oak/right_i_resolution: 720
 * /oak/right_i_set_isp_scale: True
 * /oak/right_i_width: 1280
 * /oak/right_r_exposure: 1000
 * /oak/right_r_focus: 1
 * /oak/right_r_iso: 800
 * /oak/right_r_keep_preview_aspect_ratio: True
 * /oak/right_r_set_man_exposure: False
 * /oak/right_r_set_man_focus: False
 * /oak/right_r_set_man_whitebalance: False
 * /oak/right_r_whitebalance: 3300
 * /oak/stereo/image_raw/compressed/format: jpeg
 * /oak/stereo/image_raw/compressed/jpeg_optimize: False
 * /oak/stereo/image_raw/compressed/jpeg_progressive: False
 * /oak/stereo/image_raw/compressed/jpeg_quality: 80
 * /oak/stereo/image_raw/compressed/jpeg_restart_interval: 0
 * /oak/stereo/image_raw/compressed/png_level: 9
 * /oak/stereo/image_raw/compressedDepth/depth_max: 10.0
 * /oak/stereo/image_raw/compressedDepth/depth_quantization: 100.0
 * /oak/stereo/image_raw/compressedDepth/format: png
 * /oak/stereo/image_raw/compressedDepth/png_level: 9
 * /oak/stereo/image_raw/theora/keyframe_frequency: 64
 * /oak/stereo/image_raw/theora/optimize_for: 1
 * /oak/stereo/image_raw/theora/quality: 31
 * /oak/stereo/image_raw/theora/target_bitrate: 800000
 * /oak/stereo_i_align_depth: True
 * /oak/stereo_i_bilateral_sigma: 0
 * /oak/stereo_i_board_socket_id: 0
 * /oak/stereo_i_calibration_file: 
 * /oak/stereo_i_decimation_filter_decimation_factor: 1
 * /oak/stereo_i_decimation_filter_decimation_mode: PIXEL_SKIPPING
 * /oak/stereo_i_depth_filter_size: 5
 * /oak/stereo_i_depth_preset: HIGH_ACCURACY
 * /oak/stereo_i_enable_decimation_filter: False
 * /oak/stereo_i_enable_distoartion_correction: False
 * /oak/stereo_i_enable_spatial_filter: False
 * /oak/stereo_i_enable_temporal_filter: False
 * /oak/stereo_i_enable_threshold_filter: False
 * /oak/stereo_i_extended_disp: False
 * /oak/stereo_i_height: 720
 * /oak/stereo_i_low_bandwidth: False
 * /oak/stereo_i_low_bandwidth_quality: 50
 * /oak/stereo_i_lr_check: True
 * /oak/stereo_i_lrc_threshold: 10
 * /oak/stereo_i_max_q_size: 30
 * /oak/stereo_i_rectify_edge_fill_color: 0
 * /oak/stereo_i_spatial_filter_alpha: 0.5
 * /oak/stereo_i_spatial_filter_delta: 20
 * /oak/stereo_i_spatial_filter_hole_filling_radius: 2
 * /oak/stereo_i_spatial_filter_iterations: 1
 * /oak/stereo_i_stereo_conf_threshold: 255
 * /oak/stereo_i_temporal_filter_alpha: 0.4
 * /oak/stereo_i_temporal_filter_delta: 20
 * /oak/stereo_i_temporal_filter_persistency: VALID_2_IN_LAST_4
 * /oak/stereo_i_threshold_filter_max_range: 15000
 * /oak/stereo_i_threshold_filter_min_range: 400
 * /oak/stereo_i_width: 1280
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    oak (nodelet/nodelet)
    oak_nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [17085]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to df2a854a-c5f3-11ed-9bee-9f20d6c385a9
process[rosout-1]: started with pid [17100]
started core service [/rosout]
process[oak_state_publisher-2]: started with pid [17117]
process[oak_nodelet_manager-3]: started with pid [17118]
process[oak-4]: started with pid [17119]
[ INFO] [1679188676.895932770]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1679188676.924406513]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1679188677.017408722]: Initializing nodelet with 4 worker threads.
[ INFO] [1679188677.059796866]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[2023-03-19 02:17:59.253] [debug] Library information - version: 2.20.2, commit:  from , build: 2023-02-02 20:08:23 +0000
[2023-03-19 02:17:59.255] [debug] Initialize - finished
[ INFO] [1679188679.301273590]: No ip/mxid/usb_id specified, connecting to the next available device.
[2023-03-19 02:17:59.518] [debug] Device - OpenVINO version: universal
[2023-03-19 02:17:59.519] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"maxSpeed":4,"pid":63035,"vid":999},"usb3PhyInternalClock":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 10 b9 05 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 b9 02 00 01 ba 00 be be bb 00 bb 00 be be be
0020: be be be be 00 bb 00
[2023-03-19 02:17:59.612] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 5ms, archive read: 349ms
[2023-03-19 02:18:01.286] [debug] Resources - Archive 'depthai-device-fwp-8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd.tar.xz' open: 5ms, archive read: 2023ms
[2023-03-19 02:18:02.139] [debug] Searching for booted device: DeviceInfo(name=1.2, mxid=19443010F1FBF71200, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[19443010F1FBF71200] [1.2] [0.816] [system] [info] Memory Usage - DDR: 0.12 / 340.42 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 7.24 / 77.32 MiB, LeonRT Heap: 2.89 / 41.23 MiB
[19443010F1FBF71200] [1.2] [0.816] [system] [info] Temperatures - Average: 44.47 °C, CSS: 45.77 °C, MSS 43.96 °C, UPA: 43.96 °C, DSS: 44.18 °C
[19443010F1FBF71200] [1.2] [0.816] [system] [info] Cpu Usage - LeonOS 52.33%, LeonRT: 1.79%
[ INFO] [1679188682.990323256]: Camera with MXID: 19443010F1FBF71200 and Name: 1.2 connected!
[ INFO] [1679188682.991748634]: USB SPEED: SUPER
[ INFO] [1679188683.019026823]: Device type: OAK-D-LITE
[ WARN] [1679188683.022566674]: Device has no IR drivers
[ INFO] [1679188683.041241548]: Pipeline type: RGBD
[ INFO] [1679188683.496833948]: NN Family: mobilenet
[19443010F1FBF71200] [1.2] [1.817] [system] [info] Memory Usage - DDR: 0.12 / 340.42 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 7.50 / 77.32 MiB, LeonRT Heap: 2.89 / 41.23 MiB
[19443010F1FBF71200] [1.2] [1.817] [system] [info] Temperatures - Average: 44.81 °C, CSS: 45.77 °C, MSS 44.41 °C, UPA: 44.18 °C, DSS: 44.87 °C
[19443010F1FBF71200] [1.2] [1.817] [system] [info] Cpu Usage - LeonOS 1.89%, LeonRT: 0.07%
[ INFO] [1679188684.209818414]: Finished setting up pipeline.
[2023-03-19 02:18:04.236] [debug] Schema dump: {"connections":[{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":10,"node2Input":"inputImage","node2InputGroup":""},{"node1Id":9,"node1Output":"out","node1OutputGroup":"","node2Id":11,"node2Input":"in","node2InputGroup":""},{"node1Id":3,"node1Output":"depth","node1OutputGroup":"","node2Id":9,"node2Input":"inputDepth","node2InputGroup":""},{"node1Id":10,"node1Output":"out","node1OutputGroup":"","node2Id":9,"node2Input":"in","node2InputGroup":""},{"node1Id":6,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"right","node2InputGroup":""},{"node1Id":4,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"left","node2InputGroup":""},{"node1Id":3,"node1Output":"depth","node1OutputGroup":"","node2Id":8,"node2Input":"in","node2InputGroup":""},{"node1Id":7,"node1Output":"out","node1OutputGroup":"","node2Id":6,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":4,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":12,"node1Output":"out","node1OutputGroup":"","node2Id":13,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":0,"node1Output":"isp","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"xlinkChunkSize":-1},"nodes":[[12,{"id":12,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":49,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"IMU","properties":[185,4,186,2,185,5,0,0,0,129,144,1,20,185,5,0,0,0,129,144,1,21,1,10,0]}],[13,{"id":13,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,105,109,117,95,105,109,117,0]}],[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,24,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,189,0,255,0,1,0,129,160,1,129,160,1,133,0,5,133,208,2,255,255,0,136,0,0,112,66,136,0,0,128,191,136,0,0,128,191,1,185,4,2,3,2,3,3,3,4,4,4]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":10,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,114,103,98,95,105,115,112,0]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":11,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,11,114,103,98,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","depth"],{"blocking":false,"group":"","id":27,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":25,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":26,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":22,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":21,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":19,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":18,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":20,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":17,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt2"],{"blocking":false,"group"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[2023-03-19 02:18:04.236] [debug] Asset map dump: {"map":{"/node/9/__blob":{"alignment":64,"offset":0,"size":14510848}}}
[19443010F1FBF71200] [1.2] [2.308] [MonoCamera(4)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [2.308] [MonoCamera(4)] [info] Using board socket: 1, id: 1
[19443010F1FBF71200] [1.2] [2.308] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[19443010F1FBF71200] [1.2] [2.309] [MonoCamera(6)] [info] Using board socket: 2, id: 2
[19443010F1FBF71200] [1.2] [2.311] [system] [info] SpatialLocationCalculator shave buffer size '29696'B
[19443010F1FBF71200] [1.2] [2.312] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '16384'B
[19443010F1FBF71200] [1.2] [2.347] [system] [info] ImageManip internal buffer size '329728'B, shave buffer size '35840'B
[19443010F1FBF71200] [1.2] [2.347] [system] [info] NeuralNetwork allocated resources: shaves: [0-11] cmx slices: [0-11] 
ColorCamera allocated resources: no shaves; cmx slices: [13-15] 
MonoCamera allocated resources: no shaves; cmx slices: [13-15] 
StereoDepth allocated resources: shaves: [12-12] cmx slices: [12-12] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 
SpatialLocationCalculator allocated resources: shaves: [14-14] no cmx slices. 

[19443010F1FBF71200] [1.2] [2.818] [system] [info] Memory Usage - DDR: 14.07 / 340.42 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 7.54 / 77.32 MiB, LeonRT Heap: 2.97 / 41.23 MiB
[19443010F1FBF71200] [1.2] [2.818] [system] [info] Temperatures - Average: 45.04 °C, CSS: 46.00 °C, MSS 44.41 °C, UPA: 45.55 °C, DSS: 44.18 °C
[19443010F1FBF71200] [1.2] [2.818] [system] [info] Cpu Usage - LeonOS 13.66%, LeonRT: 6.63%
[19443010F1FBF71200] [1.2] [2.886] [SpatialDetectionNetwork(9)] [info] Needed resources: shaves: 6, ddr: 7106432 
[19443010F1FBF71200] [1.2] [2.893] [StereoDepth(3)] [info] Using focal length from calibration intrinsics '450.28104'
[19443010F1FBF71200] [1.2] [2.907] [SpatialDetectionNetwork(9)] [info] Inference thread count: 2, number of shaves allocated per thread: 6, number of Neural Compute Engines (NCE) allocated per thread: 1
[19443010F1FBF71200] [1.2] [2.907] [system] [warning] ColorCamera IMX214: capping FPS for selected resolution to 35
[FATAL] [1679188687.327213034]: Failed to load nodelet '/oak` of type `depthai_ros_driver/Camera` to manager `oak_nodelet_manager'
[oak_nodelet_manager-3] process has died [pid 17118, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager /nodelet_manager/load_nodelet:=oak/nodelet_manager/load_nodelet /nodelet_manager/unload_nodelet:=oak/nodelet_manager/unload_nodelet /nodelet_manager/list:=oak/nodelet_manager/list __name:=oak_nodelet_manager __log:=/home/jetson/.ros/log/df2a854a-c5f3-11ed-9bee-9f20d6c385a9/oak_nodelet_manager-3.log].
log file: /home/jetson/.ros/log/df2a854a-c5f3-11ed-9bee-9f20d6c385a9/oak_nodelet_manager-3*.log
================================================================================REQUIRED process [oak-4] has died!
process has died [pid 17119, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driver/Camera oak_nodelet_manager __name:=oak __log:=/home/jetson/.ros/log/df2a854a-c5f3-11ed-9bee-9f20d6c385a9/oak-4.log].
log file: /home/jetson/.ros/log/df2a854a-c5f3-11ed-9bee-9f20d6c385a9/oak-4*.log
Initiating shutdown!
================================================================================
[oak-4] 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
jetson@nano:~$ 

I've also tried using the docker, but the installation failed for some reason. Maybe it was due to low memory, but I tried it with the command which should build sequentially. Here is the output from that:

jetson@nano:~/catkin_ws/src/depthai-ros$ sudo docker build --build-arg USE_RVIZ=1 -t depthai-ros .
Sending build context to Docker daemon  186.2MB
Step 1/23 : ARG ROS_DISTRO=humble
Step 2/23 : FROM ros:${ROS_DISTRO}-ros-base
 ---> 71fb575afde7
Step 3/23 : ARG USE_RVIZ
 ---> Using cache
 ---> 6553b3cff7ad
Step 4/23 : ARG BUILD_SEQUENTIAL=0
 ---> Using cache
 ---> 4efd68e60a17
Step 5/23 : ENV DEBIAN_FRONTEND=noninteractive
 ---> Using cache
 ---> 438f968ac057
Step 6/23 : RUN apt-get update    && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions
 ---> Using cache
 ---> 5de171f0126b
Step 7/23 : RUN apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 ---> Using cache
 ---> 86a7884e41da
Step 8/23 : ENV DEBIAN_FRONTEND=dialog
 ---> Using cache
 ---> 7326b80c3c8c
Step 9/23 : RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"
 ---> Using cache
 ---> 86bdaa77543b
Step 10/23 : ENV WS=/ws
 ---> Using cache
 ---> 0ab1967a577e
Step 11/23 : RUN mkdir -p $WS/src
 ---> Using cache
 ---> d5ab84b90adb
Step 12/23 : COPY ./ .$WS/src/depthai-ros
 ---> Using cache
 ---> 7aad57580f4e
Step 13/23 : RUN cd .$WS/ && rosdep install --from-paths src --ignore-src  -y
 ---> Using cache
 ---> a5381f33e300
Step 14/23 : RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && ./src/depthai-ros/build.sh -s $BUILD_SEQUENTIAL -r 1 -m 1
 ---> Running in 96ac471b7837
Build type: Release, Install_type: merge-install
Parallel build
Starting >>> depthai_ros_msgs
[Processing: depthai_ros_msgs]
Finished <<< depthai_ros_msgs [53.7s]
Starting >>> depthai_bridge
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
[Processing: depthai_bridge]
Finished <<< depthai_bridge [7min 45s]
Starting >>> depthai_examples
Starting >>> depthai_ros_driver
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
[Processing: depthai_examples, depthai_ros_driver]
Finished <<< depthai_ros_driver [27min 59s]
--- stderr: depthai_examples
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/stereo_inertial_node.dir/build.make:76: CMakeFiles/stereo_inertial_node.dir/src/stereo_inertial_publisher.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:225: CMakeFiles/stereo_inertial_node.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/stereo_node.dir/build.make:76: CMakeFiles/stereo_node.dir/src/stereo_publisher.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:251: CMakeFiles/stereo_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< depthai_examples [48min 33s, exited with code 2]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]
[Processing: depthai_examples]

Summary: 3 packages finished [57min 13s]
  1 package failed: depthai_examples
  1 package had stderr output: depthai_examples
  1 package not processed
The command '/bin/sh -c cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && ./src/depthai-ros/build.sh -s $BUILD_SEQUENTIAL -r 1 -m 1' returned a non-zero code: 2
jetson@nano:~/catkin_ws/src/depthai-ros$ 

@MAVProxyUser do you know if there are any tutorials online that I can follow to make those updates. Unfortunately I can't install ROS2 Humble on Ubuntu 20.04 it has to be 22.04 and up. So I am not sure how to "Hand Compile" Humbe. I am still new to this territory so tutorials on how to use colcon build, hand compile humble, and how to setup the new JetPack would really help!

[Serafadam]

After seeing comment from @MAVProxyUser I must agree that this is part of the demo script, now just to be sure, when you run the demo script, do you get GUI like this?

[MAVProxyUser]

Ok @Serafadam I did a little investingation comparing my Linux and Mac... seems by default on OSX QT interface is used. I saw in the documentation that I should try:

ubuntu@ubuntu:~/depthai$ python3 depthai_demo.py --guiType qt

This will on a Linux machine bring up the full QT demo as seen on OSX.

If you don't first install the proper QT modules you won't have success. I first saw this error

Traceback (most recent call last):
  File "depthai_demo.py", line 1050, in <module>
    runQt()
  File "depthai_demo.py", line 583, in runQt
    from gui.main import DemoQtGui
  File "/home/ubuntu/depthai/gui/main.py", line 7, in <module>
    from PyQt5.QtQml import QQmlApplicationEngine, qmlRegisterType, qmlRegisterSingletonType, QQmlEngine
ModuleNotFoundError: No module named 'PyQt5.QtQml'
Sentry is attempting to send 2 pending error messages

I fixed it by installing the following packages

ubuntu@ubuntu:~/depthai$ sudo apt-get install python3-pyside2.qtqml 
ubuntu@ubuntu:~/depthai$ sudo apt-get install python3-pyqt5.qtquick python3-pyqt5.qtsql PyQt5.QtOpenGL

This in turn lead to more errors when I launched the demo

QQmlApplicationEngine failed to load component
file:///home/ubuntu/depthai/gui/views/root.qml:52 module "QtQuick.Layouts" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:53 module "QtQuick.Controls" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:55 module "QtQuick.Controls.Material" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:51 module "QtQuick" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:54 module "QtQuick.Window" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:52 module "QtQuick.Layouts" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:53 module "QtQuick.Controls" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:55 module "QtQuick.Controls.Material" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:51 module "QtQuick" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:54 module "QtQuick.Window" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:52 module "QtQuick.Layouts" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:53 module "QtQuick.Controls" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:55 module "QtQuick.Controls.Material" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:51 module "QtQuick" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:54 module "QtQuick.Window" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:52 module "QtQuick.Layouts" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:53 module "QtQuick.Controls" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:55 module "QtQuick.Controls.Material" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:51 module "QtQuick" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:54 module "QtQuick.Window" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:52 module "QtQuick.Layouts" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:53 module "QtQuick.Controls" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:55 module "QtQuick.Controls.Material" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:51 module "QtQuick" is not installed
file:///home/ubuntu/depthai/gui/views/root.qml:54 module "QtQuick.Window" is not installed

I fixed these with a brute install of all the associated qml modules.

ubuntu@ubuntu:~/depthai$ sudo apt-get install "qml-module-qtquicK*"

After that everything launched fine with the FULL demo active.

[MAVProxyUser]

@Grigor-Pahlevanyan regarding "do you know if there are any tutorials online that I can follow to make those updates. Unfortunately I can't install ROS2 Humble on Ubuntu 20.04 it has to be 22.04 and up. So I am not sure how to "Hand Compile" Humbe. I am still new to this territory so tutorials on how to use colcon build, hand compile humble, and how to setup the new JetPack would really help!"

This gets tricky. Exactly which Jetson board are you on? If it is a Nano, things get tricky because your Jetpack version is limited. You can see the product support matrix here: https://www.stereolabs.com/blog/nvidia-jetson-l4t-and-jetpack-support/

You are at the mercy of the SDKManager for the most part https://developer.nvidia.com/drive/sdk-manager

I'm on Jetpack 5.1 with a Jetson Xavier NX. I got fed up with outdated Jetson Nano support being locked at JetPack 4.6.1 (and Ubuntu 18 accordingly).

Generally speaking a "Hand Compile" as I mentioned follows the directions for a "source" compile from the ROS website: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html (Humble is of course intended for Ubuntuu 20).

NVIDIA seems to be forcing old Jetson Users on to more expensive platforms in order to get newer linux support. As evidenced by the most recent release the Jetson Orin Nano. https://hackaday.com/2023/03/21/hands-on-nvidia-jetson-orin-nano-developer-kit/

[MAVProxyUser]

now @Grigor-Pahlevanyan your actual bug resembles something still have when I launch the following:

ubuntu@ubuntu:~/depthai$ ros2 launch depthai_ros_driver calibration.launch.py camera_model:=OAK-1

It doesn't matter if I use my OAK-1-MAX, OAK-1, OAK-D-PRO, or OAK-D-S2. they all in essence close as follows:

[component_container-1] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
[component_container-1] Done!
[component_container-1] Usb connection speed: Super - USB 3.0
[component_container-1] Temperature: Driver registered.
[component_container-1] Temperature: Initialized driver.
[component_container-1] Temperature: Sensor opened: CSS.
[component_container-1] Temperature: Sensor opened: MSS.
[component_container-1] Temperature: Sensor opened: UPA.
[component_container-1] Temperature: Sensor opened: DSS.
[component_container-1] [14442C10A18652D000] [1.2.1] [0.940] [system] [info] Memory Usage - DDR: 0.12 / 340.42 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 7.24 / 77.32 MiB, LeonRT Heap: 2.89 / 41.23 MiB
[component_container-1] [14442C10A18652D000] [1.2.1] [0.940] [system] [info] Temperatures - Average: 31.77 °C, CSS: 32.73 °C, MSS 31.29 °C, UPA: 31.04 °C, DSS: 32.01 °C
[component_container-1] [14442C10A18652D000] [1.2.1] [0.940] [system] [info] Cpu Usage - LeonOS 43.14%, LeonRT: 1.50%
[component_container-1] [14442C10A18652D000] [1.2.1] [0.949] [system] [warning] PRINT:LeonCss: I: [Timesync] [   2127634] [XLin] startSync:130     Timesync | Callback not set
[component_container-1] [INFO] [1679552103.084042340] [oak]: Camera with MXID: 14442C10A18652D000 and Name: 1.2.1 connected!
[component_container-1] [INFO] [1679552103.086671311] [oak]: USB SPEED: SUPER
[component_container-1] [14442C10A18652D000] [1.2.1] [0.971] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents
[component_container-1] [INFO] [1679552103.101888847] [oak]: Device type: 
[component_container-1] [INFO] [1679552103.110211250] [oak]: Pipeline type: RGBStereo
[component_container-1] [2023-03-23 02:15:03.111] [debug] Device about to be closed...
[component_container-1] [2023-03-23 02:15:03.271] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)
[component_container-1] [2023-03-23 02:15:03.271] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR)
[component_container-1] [2023-03-23 02:15:03.802] [debug] Watchdog thread exception caught: Couldn't write data to stream: '__watchdog' (X_LINK_ERROR)
[component_container-1] [2023-03-23 02:15:04.143] [debug] XLinkResetRemote of linkId: (0)
[component_container-1] [2023-03-23 02:15:04.543] [debug] Device closed, 1430
[component_container-1] [ERROR] [1679552104.562373523] [oak_container]: Component constructor threw an exception: _Map_base::at
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: _Map_base::at

But my screen looks identical to yours in that case:

I'm tracking mine here where @Serafadam is also helping... https://github.com/luxonis/depthai-ros/issues/257

These seem related for sure.

[hazee007]

Hello, has this issue been fixed yet, I am facing the same problem with ros neotic

i am not using Docker

[Serafadam]

Hi, it seems you have a different error, a plugin is missing form image proc, please verify that it is installed - sudo apt install ros-noetic-image-proc

[hazee007]

Alright i did install that, now the error message is lesser

[Serafadam]

Hi, thanks for the report, could you follow those steps to verify that your camera works properly?