Open Embedded1993 opened 1 year ago
Serafadam
commented
1 year ago Hi, for bug reports it would be best to describe issue as mentioned in the bug template, though not all debugging options are currently available for Noetic.
One other question that might help here - do you have rtabmap-ros package installed?
Embedded1993
commented
1 year ago Yes. I have installed rtabmap-ros
Serafadam
commented
1 year ago Could you paste what package version you have?
apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver
Embedded1993
commented
1 year ago ubuntu@ubuntu:~$ apt show ros-noetic-depthai ros-noetic-depthai-ros ros-noetic-depthai-bridge ros-noetic-depthai-ros-msgs ros-noetic-depthai-ros-driver Package: ros-noetic-depthai Version: 2.20.2-1focal.20230202.200823 Priority: optional Section: misc Maintainer: Sachin Guruswamy sachin@luxonis.com Installed-Size: 21.3 MB Depends: libc6 (>= 2.17), libgcc-s1 (>= 4.5), libopencv-core4.2 (>= 4.2.0+dfsg), libopencv-imgproc4.2 (>= 4.2.0+dfsg), libstdc++6 (>= 9), libopencv-dev, libusb-1.0-0-dev, nlohmann-json3-dev, ros-noetic-catkin Homepage: https://www.luxonis.com/ Download-Size: 10.2 MB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros/ubuntu focal/main arm64 Packages Description: DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform
Package: ros-noetic-depthai-ros Version: 2.6.1-2focal.20230225.012112 Priority: optional Section: misc Maintainer: sachin sachin@luxonis.com Installed-Size: 18.4 kB Depends: ros-noetic-depthai, ros-noetic-depthai-bridge, ros-noetic-depthai-examples, ros-noetic-depthai-ros-driver, ros-noetic-depthai-ros-msgs Download-Size: 2124 B APT-Manual-Installed: yes APT-Sources: http://packages.ros.org/ros/ubuntu focal/main arm64 Packages Description: The depthai-ros package
Package: ros-noetic-depthai-bridge Version: 2.6.1-2focal.20230216.065040 Priority: optional Section: misc Maintainer: Sachin Guruswamy sachin@luxonis.com Installed-Size: 69.5 MB Depends: libc6 (>= 2.17), libgcc-s1 (>= 4.2), libopencv-core4.2 (>= 4.2.0+dfsg), libopencv-imgcodecs4.2 (>= 4.2.0+dfsg), libopencv-imgproc4.2 (>= 4.2.0+dfsg), libstdc++6 (>= 9), libboost-dev, libopencv-dev, ros-noetic-camera-info-manager, ros-noetic-cv-bridge, ros-noetic-depthai, ros-noetic-depthai-ros-msgs, ros-noetic-image-transport, ros-noetic-robot-state-publisher, ros-noetic-ros-environment, ros-noetic-roscpp, ros-noetic-sensor-msgs, ros-noetic-std-msgs, ros-noetic-stereo-msgs, ros-noetic-vision-msgs, ros-noetic-xacro Download-Size: 10.5 MB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros/ubuntu focal/main arm64 Packages Description: The depthai_bridge package
Package: ros-noetic-depthai-ros-msgs Version: 2.6.1-2focal.20230216.064856 Priority: optional Section: misc Maintainer: Sachin Guruswamy sachin@luxonis.com Installed-Size: 475 kB Depends: ros-noetic-geometry-msgs, ros-noetic-message-runtime, ros-noetic-sensor-msgs, ros-noetic-std-msgs, ros-noetic-vision-msgs Download-Size: 39.4 kB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros/ubuntu focal/main arm64 Packages Description: Package to keep interface independent of the driver
Package: ros-noetic-depthai-ros-driver Version: 2.6.1-2focal.20230225.010515 Priority: optional Section: misc Maintainer: Adam Serafin adam.serafin@luxonis.com Installed-Size: 1490 kB Depends: libc6 (>= 2.17), libconsole-bridge0.4, libgcc-s1 (>= 4.2), libopencv-core4.2 (>= 4.2.0+dfsg), libopencv-imgproc4.2 (>= 4.2.0+dfsg), libstdc++6 (>= 5.2), ros-noetic-camera-info-manager, ros-noetic-cv-bridge, ros-noetic-depthai, ros-noetic-depthai-bridge, ros-noetic-diagnostic-msgs, ros-noetic-dynamic-reconfigure, ros-noetic-image-pipeline, ros-noetic-image-transport, ros-noetic-image-transport-plugins, ros-noetic-message-filters, ros-noetic-nodelet, ros-noetic-roscpp, ros-noetic-rospy, ros-noetic-sensor-msgs, ros-noetic-std-msgs, ros-noetic-std-srvs, ros-noetic-vision-msgs Download-Size: 277 kB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros/ubuntu focal/main arm64 Packages Description: Depthai ROS Monolithic node.
Embedded1993
commented
1 year ago same issue when I run it. roslaunch depthai_ros_driver camera.launch But works this roslaunch depthai_examples stereo_inertial_node.launch
Serafadam
commented
1 year ago Ok, got it, it seems like newest version of packages wasn't added to latest noetic sync. If you don't want to wait, you could either build packages from source switch to testing repository to download latest packages.
To do that, edit /etc/apt/sources.list.d/ros1-latest.list and change ros to ros-testing
Embedded1993
commented
1 year ago I can't find testing repository.
And I tried to build from source. But it crashed at 66% and frozen screen
Serafadam
commented
1 year ago This might be due to limited resources, you can limit resource usage when building. Additionally, you can use docker to get container with the latest released version
xhost +local:docker
docker run -it -v /dev/:/dev/ --network host --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:noetic-latest
Note, you'll need to install rtabmap in docker separately, since the image contains minimum dependencies.
Embedded1993
commented
1 year ago I built success from source. But I'm getting these warnings.
ubuntu@ubuntu:~/work/dai_ws$ roslaunch rtabmap_ros rgbd_mapping.launch ... logging to /home/ubuntu/.ros/log/b733bd48-ce38-11ed-9b40-9dd08eea8197/roslaunch-ubuntu-6737.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://ubuntu:36687/
CLEAR PARAMETERS
PARAMETERS
NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz)
auto-starting new master process[master]: started with pid [6748] ROS_MASTER_URI=http://localhost:11311
setting /run_id to b733bd48-ce38-11ed-9b40-9dd08eea8197 process[rosout-1]: started with pid [6761] started core service [/rosout] process[rtabmap/rgbd_odometry-2]: started with pid [6769] process[rtabmap/rtabmap-3]: started with pid [6770] process[rtabmap/rtabmapviz-4]: started with pid [6771] [ INFO] [1680097856.763821583]: Starting node... [ INFO] [1680097856.962528376]: Initializing nodelet with 4 worker threads. [ INFO] [1680097857.004336780]: Initializing nodelet with 4 worker threads. [ INFO] [1680097857.936043606]: Odometry: frame_id = camera_link [ INFO] [1680097857.936295512]: Odometry: odom_frame_id = /odom [ INFO] [1680097857.936471121]: Odometry: publish_tf = true [ INFO] [1680097857.937197819]: Odometry: wait_for_transform = true [ INFO] [1680097857.940886324]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1680097857.942946770]: Odometry: log_to_rosout_level = 4 [ INFO] [1680097857.944898883]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1680097857.945222195]: Odometry: ground_truth_frame_id = [ INFO] [1680097857.945483341]: Odometry: ground_truth_base_frame_id = [ INFO] [1680097857.945972429]: Odometry: config_path = [ INFO] [1680097857.946097632]: Odometry: publish_null_when_lost = true [ INFO] [1680097857.946208353]: Odometry: guess_frame_id = [ INFO] [1680097857.946290890]: Odometry: guess_min_translation = 0.000000 [ INFO] [1680097857.946371333]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1680097857.946435296]: Odometry: guess_min_time = 0.000000 [ INFO] [1680097857.946496943]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1680097857.946574776]: Odometry: max_update_rate = 0.000000 Hz [ INFO] [1680097857.946637072]: Odometry: min_update_rate = 0.000000 Hz [ INFO] [1680097857.946690238]: Odometry: wait_imu_toinit = false [ INFO] [1680097857.946794034]: Odometry: stereoParams=0 visParams=1 icpParams=0 [ INFO] [1680097858.078606118]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1680097858.078760320]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1680097858.078856745]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1680097858.078911300]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1680097858.078962726]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1680097858.079027632]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1680097858.079108391]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1680097858.079194316]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1680097858.082424770]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1680097858.142823461]: Starting node... [ INFO] [1680097858.423959962]: rtabmap: frame_id = camera_link [ INFO] [1680097858.424170849]: rtabmap: map_frame_id = map [ INFO] [1680097858.426076259]: rtabmap: log_to_rosout_level = 4 [ INFO] [1680097858.427064324]: rtabmap: initial_pose = [ INFO] [1680097858.428361776]: rtabmap: use_action_for_goal = false [ INFO] [1680097858.429541655]: rtabmap: tf_delay = 0.050000 [ INFO] [1680097858.430524851]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1680097858.432122133]: rtabmap: odom_sensor_sync = false [ INFO] [1680097858.439132833]: rtabmap: gen_scan = false [ INFO] [1680097858.441402573]: rtabmap: gen_depth = false [ INFO] [1680097859.301747766]: rtabmapviz: Using configuration from "/home/ubuntu/.ros/rtabmap_gui.ini" [ INFO] [1680097860.387812134]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1680097860.394850926]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1680097862.909463222]: RGBDOdometry: approx_sync = true [ INFO] [1680097862.909623610]: RGBDOdometry: approx_sync_max_interval = 0.000000 [ INFO] [1680097862.909706554]: RGBDOdometry: queue_size = 10 [ INFO] [1680097862.909779572]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1680097862.909855515]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1680097862.909931385]: RGBDOdometry: keep_color = false [ INFO] [1680097863.016392481]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info [ INFO] [1680097863.766175412]: rtabmapviz: Reading parameters from the ROS server... [ INFO] [1680097863.769033740]: rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched. [ INFO] [1680097864.276177324]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1680097864.278920393]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db" (0 MB). [ INFO] [1680097864.317766489]: rtabmap: Database version = "0.20.23". [ INFO] [1680097864.318134338]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1680097864.454470180]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1680097864.454614679]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1680097864.454740548]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1680097864.454825974]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1680097864.454943695]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1680097864.455024620]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1680097864.455096897]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1680097864.455190415]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1680097864.455261026]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1680097864.455365895]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1680097864.455467561]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1680097864.455726614]: Setup depth callback [ INFO] [1680097864.555190788]: /rtabmap/rtabmap subscribed to (approx sync): /odom \ /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info \ /rtabmap/odom_info [ INFO] [1680097865.777284360]: rtabmap 0.20.23 started... [ INFO] [1680097866.127715570]: rtabmapviz: rtabmap's parameters seem now there! continuing... [ INFO] [1680097867.193935818]: rtabmapviz: Parameters read = 359 [ INFO] [1680097867.194093187]: rtabmapviz: Parameters successfully read. [ WARN] [1680097868.017046148]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info [ INFO] [1680097868.449702736]: /rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1680097868.449994289]: /rtabmap/rtabmapviz: subscribe_rgb = true [ INFO] [1680097868.450188935]: /rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1680097868.450344434]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1680097868.451308222]: /rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1680097868.451712200]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1680097868.451917791]: /rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1680097868.452060105]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1680097868.452200252]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false [ INFO] [1680097868.452344065]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1680097868.452489805]: /rtabmap/rtabmapviz: approx_sync = true [ INFO] [1680097868.452664840]: Setup depth callback [ INFO] [1680097868.712318785]: /rtabmap/rtabmapviz subscribed to (approx sync): /odom \ /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info \ /rtabmap/odom_info [ INFO] [1680097868.712917447]: rtabmapviz started. [ WARN] [1680097869.555629630]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /odom \ /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info \ /rtabmap/odom_info [ WARN] [1680097873.017379654]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info [ WARN] [1680097873.713013828]: /rtabmap/rtabmapviz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmapviz subscribed to (approx sync): /odom \ /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info \ /rtabmap/odom_info
Embedded1993
commented
1 year ago I have checked topic also.
ubuntu@ubuntu:~$ rostopic hz odom /camera/rgb/image_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info /rtabmap/odom_info subscribed to [/odom] subscribed to [/camera/rgb/image_rect_color] subscribed to [/camera/depth_registered/image_raw] subscribed to [/camera/rgb/camera_info] subscribed to [/rtabmap/odom_info] no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages
Serafadam
commented
1 year ago Hi, you should remap topics in rtabmap launch (see the example launch file). Also a minor note - if you have a camera with autofocus enabled, that might cause issues with odometry at startup, to solve that you can either set reset odometry via service/in rtabmap gui or set manual focus for the camera driver.
Embedded1993
commented
1 year ago Thank you. how to remap topic in oak-d? I used it. roslaunch depthai_ros_driver rtabmap.launch
Sorry my stupied question.
Embedded1993
commented
1 year ago I'm getting this error when run roslaunch depthai_examples stereo_inertial_node.launch depth_aligned:=false
[1844301011C2740E00] [1.1.2] [107.001] [system] [info] Cpu Usage - LeonOS 18.41%, LeonRT: 3.74% [1844301011C2740E00] [1.1.2] [108.002] [system] [info] Memory Usage - DDR: 71.40 / 340.42 MiB, CMX: 2.09 / 2.50 MiB, LeonOS Heap: 36.16 / 77.32 MiB, LeonRT Heap: 4.13 / 41.23 MiB [1844301011C2740E00] [1.1.2] [108.002] [system] [info] Temperatures - Average: 37.53 °C, CSS: 38.18 °C, MSS 36.77 °C, UPA: 37.71 °C, DSS: 37.48 °C [1844301011C2740E00] [1.1.2] [108.002] [system] [info] Cpu Usage - LeonOS 19.67%, LeonRT: 4.30% [2023-03-31 17:48:06.958] [warning] Monitor thread (device: 1844301011C2740E00 [1.1.2]) - ping was missed, closing the device connection [rviz-7] process has died [pid 51943, exit code -9, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/ubuntu/work/dai_ws/src/depthai-ros/depthai_examples/rviz/stereoInertialROS1.rviz name:=rviz log:=/home/ubuntu/.ros/log/e35d4600-cfeb-11ed-9a8b-993cf8ad3baf/rviz-7.log]. log file: /home/ubuntu/.ros/log/e35d4600-cfeb-11ed-9a8b-993cf8ad3baf/rviz-7.log [depth_image_to_pointcloud-6] process has finished cleanly log file: /home/ubuntu/.ros/log/e35d4600-cfeb-11ed-9a8b-993cf8ad3baf/depth_image_to_pointcloud-6.log [depth_image_convertion_nodelet-5] process has finished cleanly log file: /home/ubuntu/.ros/log/e35d4600-cfeb-11ed-9a8b-993cf8ad3baf/depth_image_convertion_nodelet-5*.log
I'm not sure why camera warn
I saw this in master.log . [rosmaster.master][INFO] 2023-03-31 17:48:07,863: publisherUpdate[/nodelet_manager/bond] -> http://ubuntu:33295/ ['http://ubuntu:34177/', 'http://ubuntu:42327/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'> [rosmaster.master][INFO] 2023-03-31 17:48:07,899: publisherUpdate[/nodelet_manager/bond] -> http://ubuntu:42327/ ['http://ubuntu:34177/', 'http://ubuntu:42327/'] [rosmaster.master][INFO] 2023-03-31 17:48:07,901: -SUB [/stereo_inertial_publisher/stereo/image] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:07,903: -SUB [/stereo_inertial_publisher/stereo/camera_info] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:07,908: publisherUpdate[/nodelet_manager/bond] -> http://ubuntu:42327/ ['http://ubuntu:34177/', 'http://ubuntu:42327/']: sec=0.01, result=[1, '', 0] [rosmaster.threadpool][ERROR] 2023-03-31 17:48:08,369: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python3.8/xmlrpc/client.py", line 1109, in call return self.send(self.name, args) File "/usr/lib/python3.8/xmlrpc/client.py", line 1450, in request response = self.transport.request( File "/usr/lib/python3.8/xmlrpc/client.py", line 1153, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python3.8/xmlrpc/client.py", line 1169, in single_request return self.parse_response(resp) File "/usr/lib/python3.8/xmlrpc/client.py", line 1341, in parse_response return u.close() File "/usr/lib/python3.8/xmlrpc/client.py", line 655, in close raise Fault(**self._stack[0]) xmlrpc.client.Fault: <Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2023-03-31 17:48:09,682: -PUB [/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:09,685: -PUB [/stereo_inertial_publisher/stereo/image/theora/parameter_updates] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:09,688: -SERVICE [/stereo_inertial_publisher/stereo/image/theora/set_parameters] /nodelet_manager rosrpc://ubuntu:42385 [rosmaster.master][INFO] 2023-03-31 17:48:09,690: -SUB [/stereo_inertial_publisher/stereo/depth] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:10,954: -PUB [/stereo_inertial_publisher/stereo/points] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:10,958: -SUB [/nodelet_manager/bond] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:10,967: -PUB [/nodelet_manager/bond] /nodelet_manager http://ubuntu:34177/ [rosmaster.master][INFO] 2023-03-31 17:48:10,990: publisherUpdate[/stereo_inertial_publisher/stereo/points] -> http://ubuntu:38161/ [] [rosmaster.master][INFO] 2023-03-31 17:48:11,000: publisherUpdate[/stereo_inertial_publisher/stereo/points] -> http://ubuntu:38161/ []: sec=0.01, exception=[Errno 22] Invalid argument [rosmaster.threadpool][ERROR] 2023-03-31 17:48:11,018: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python3.8/xmlrpc/client.py", line 1109, in call return self.send(self.name, args) File "/usr/lib/python3.8/xmlrpc/client.py", line 1450, in request response = self.transport.request( File "/usr/lib/python3.8/xmlrpc/client.py", line 1153, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python3.8/xmlrpc/client.py", line 1165, in single_request http_conn = self.send_request(host, handler, request_body, verbose) File "/usr/lib/python3.8/xmlrpc/client.py", line 1278, in send_request self.send_content(connection, request_body) File "/usr/lib/python3.8/xmlrpc/client.py", line 1308, in send_content connection.endheaders(request_body) File "/usr/lib/python3.8/http/client.py", line 1251, in endheaders self._send_output(message_body, encode_chunked=encode_chunked) File "/usr/lib/python3.8/http/client.py", line 1011, in _send_output self.send(msg) File "/usr/lib/python3.8/http/client.py", line 951, in send self.connect() File "/usr/lib/python3.8/http/client.py", line 922, in connect self.sock = self._create_connection( File "/usr/lib/python3.8/socket.py", line 808, in create_connection raise err File "/usr/lib/python3.8/socket.py", line 796, in create_connection sock.connect(sa) OSError: [Errno 22] Invalid argument
OS: butuntu 20.04 Raspeberry Pi 4 ROS: ros-noetic-depthai-ros
I installed ros from bianary.
So I'm going to run rtabmap slam on ros1
But I'm getting this error