[BUG] RGBD launch file doesn't publish any depth

I've just loaded up a fresh Raspberry Pi 4 running ubuntu 22.04 and ROS2 humble.

I've installed the binaries for depthai_ros_drivers and have now attempted to connect and use them as per instructions with both my OAK-D-LITE and OAK-D-PRO-FF.

I run the command: ros2 launch depthai_ros_driver rgbd_pcl.launch.py

And all appears to be well: [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-03-14-48-17-968054-ubuntu-5422 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [5436] [INFO] [component_container-2]: process started with pid [5438] [robot_state_publisher-1] [INFO] [1683089299.682779649] [oak_state_publisher]: got segment oak [robot_state_publisher-1] [INFO] [1683089299.683104252] [oak_state_publisher]: got segment oak-d-base-frame [robot_state_publisher-1] [INFO] [1683089299.683159344] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-1] [INFO] [1683089299.683198491] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1683089299.683231971] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1683089299.683263841] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1683089299.683295044] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1683089299.683331599] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1683089299.683362820] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1683089299.683393042] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [INFO] [1683089299.788852912] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [component_container-2] [INFO] [1683089300.033244733] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1683089300.033390211] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/oak_container' [component_container-2] [INFO] [1683089300.105440042] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1683089300.105598464] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> [component_container-2] [INFO] [1683089300.105647000] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> [component_container-2] [INFO] [1683089300.105684129] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> [component_container-2] [INFO] [1683089300.105718017] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> [component_container-2] [INFO] [1683089300.105750164] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> [component_container-2] [INFO] [1683089300.105783793] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> [component_container-2] [INFO] [1683089300.105815181] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [component_container-2] [INFO] [1683089300.105846773] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/oak_container' [component_container-2] [INFO] [1683089300.144692815] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so [component_container-2] [INFO] [1683089300.160922848] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [INFO] [1683089300.161100270] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [INFO] [1683089300.216986678] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [INFO] [1683089303.323654419] [oak]: Camera with MXID: 18443010F1C3AB0F00 and Name: 1.1.2 connected! [component_container-2] [INFO] [1683089303.325463764] [oak]: USB SPEED: HIGH [component_container-2] [INFO] [1683089303.348316973] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [INFO] [1683089303.352872086] [oak]: Pipeline type: RGBD [component_container-2] [INFO] [1683089303.383479664] [oak]: Finished setting up pipeline. [component_container-2] [INFO] [1683089303.658166276] [oak]: Camera ready! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'

But I don't see anything being published to /oak/points (it exists but there is nothing publishing to it when I use ros2 topic hz to check).

I then: export DEPTHAI_DEBUG=1

And try running it again. More detail here but nothing that stands out really for me as far as I can see:

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-03-14-55-06-723412-ubuntu-5581 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [5595] [INFO] [component_container-2]: process started with pid [5597] [robot_state_publisher-1] [INFO] [1683089708.105736775] [oak_state_publisher]: got segment oak [robot_state_publisher-1] [INFO] [1683089708.106065438] [oak_state_publisher]: got segment oak-d-base-frame [robot_state_publisher-1] [INFO] [1683089708.106124844] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-1] [INFO] [1683089708.106162547] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1683089708.106196140] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1683089708.106227491] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1683089708.106261324] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1683089708.106292490] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1683089708.106323490] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1683089708.106353730] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [INFO] [1683089708.214789918] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [component_container-2] [INFO] [1683089708.470016735] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1683089708.470174770] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/oak_container' [component_container-2] [INFO] [1683089708.565990432] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> [component_container-2] [INFO] [1683089708.566124560] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> [component_container-2] [INFO] [1683089708.566172745] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> [component_container-2] [INFO] [1683089708.566236188] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> [component_container-2] [INFO] [1683089708.566276502] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> [component_container-2] [INFO] [1683089708.566313909] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> [component_container-2] [INFO] [1683089708.566353039] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> [component_container-2] [INFO] [1683089708.566390279] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [component_container-2] [INFO] [1683089708.566425964] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/oak_container' [component_container-2] [INFO] [1683089708.618424252] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so [component_container-2] [INFO] [1683089708.636274101] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [INFO] [1683089708.636418655] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [2023-05-03 14:55:08.673] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug' [component_container-2] [2023-05-03 14:55:08.673] [debug] Library information - version: 2.20.2, commit: from , build: 2023-02-02 20:42:56 +0000 [component_container-2] [2023-05-03 14:55:08.679] [debug] Initialize - finished [component_container-2] [INFO] [1683089708.679765034] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [2023-05-03 14:55:08.898] [debug] Device - OpenVINO version: universal [component_container-2] [2023-05-03 14:55:08.899] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"logDevicePrints":true,"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} [component_container-2] libnop: [component_container-2] 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 [component_container-2] 0020: be be be 01 00 bb 00 [component_container-2] [2023-05-03 14:55:08.910] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 5ms, archive read: 229ms [component_container-2] [2023-05-03 14:55:09.839] [debug] Resources - Archive 'depthai-device-fwp-8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd.tar.xz' open: 6ms, archive read: 1159ms [component_container-2] [2023-05-03 14:55:10.702] [debug] Searching for booted device: DeviceInfo(name=1.1.2, mxid=18443010F1C3AB0F00, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.063] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0x5E7D3A77 [component_container-2] GPIO boot mode 0x3, interface SPI_MASTER_EFF [component_container-2] Setting aons(0..4) back to boot from flash (offset = 0) [component_container-2] ====ENABLE WATCHDOG====1 [component_container-2] initial keepalive, countdown: 10 [component_container-2] PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000 [component_container-2] Board init ret 3 [component_container-2] DepthAI Firmware - version: 8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd [component_container-2] eeprom configuration version: 55AA0007 [component_container-2] Reading VERSION 7 --- -> [component_container-2] eeprom configuration load from user area, status: 0 [component_container-2] Reading VERSION 7 --- -> [component_container-2] PMIC read reg 0x19, val 0xb8 [component_container-2] PMIC read reg 0x23, val 0x10 [component_container-2] PMIC read reg 0x31, val 0x08 [component_container-2] PMIC read reg 0x33, val 0x28 [component_container-2] Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device: [component_container-2] Board options: 00000004 [component_container-2] --> brdInit ... [component_container-2] brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK] [component_container-2] [component_container-2] spi_N25Q_init: Flash JEDEC ID: c2 25 3a [component_container-2] SR CR: 40 07 [component_container-2] QUAD mode already enabled. Dummy cfg: 0x00 [component_container-2] Initialized pin: 56, mode: 7, level: 1, pad: 0x00000010 [component_container-2] Opening bus for IR driver: 1 [component_container-2] Failed to probe IR driver LM3644 [component_container-2] Opening bus for IR driver: 2 [component_container-2] LM3644 detected, ID = 0x02 [component_container-2] ===== IR write bus 2: 0x07 = 0x89 [component_container-2] ===== IR write bus 2: 0x02 = 0x01 [component_container-2] ===== IR write bus 2: 0x03 = 0x00 [component_container-2] ===== IR write bus 2: 0x04 = 0x00 [component_container-2] ===== IR write bus 2: 0x05 = 0x00 [component_container-2] ===== IR write bus 2: 0x06 = 0x00 [component_container-2] ===== IR write bus 2: 0x07 = 0x09 [component_container-2] ===== IR write bus 2: 0x08 = 0x1a [component_container-2] ===== IR write bus 2: 0x09 = 0x08 [component_container-2] ===== IR write bus 2: 0x01 = 0x24 [component_container-2] Opening bus for IR driver: 3 [component_container-2] Failed to probe IR driver LM3644 [component_container-2] Closing EEPROm! [component_container-2] MyriaX board configuration [component_container-2] pll0 frequency: 700000, ref0 frequency: 24000 [component_container-2] Is booted from flash by bootloader: 0 [component_container-2] Networking not available... [component_container-2] === Enumerating on socket: Cam_A / RGB / Center [component_container-2] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378 [component_container-2] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378 [component_container-2] >> Registered camera A12N02A (imx378) as /dev/Camera_0 [component_container-2] camera socket: 0, name: color [component_container-2] config - w: 1920, h: 1080, type: COLOR [component_container-2] config - w: 3840, h: 2160, type: COLOR [component_container-2] config - w: 4056, h: 3040, type: COLOR [component_container-2] Adding socket 0: cam 2. Sen name: IMX378 [component_container-2] === Enumerating on socket: Cam_B / Left [component_container-2] >> Registered camera TG161B (ov9282) as /dev/Camera_1 [component_container-2] camera socket: 1, name: left [component_container-2] config - w: 1280, h: 720, type: MONO [component_container-2] config - w: 1280, h: 720, type: COLOR [component_container-2] config - w: 1280, h: 800, type: MONO [component_container-2] config - w: 1280, h: 800, type: COLOR [component_container-2] Adding socket 1: cam 5. Sen name: OV9282 [component_container-2] === Enumerating on socket: Cam_C / Right [component_container-2] >> Registered camera TG161B (ov9282) as /dev/Camera_2 [component_container-2] camera socket: 2, name: right [component_container-2] config - w: 1280, h: 720, type: MONO [component_container-2] config - w: 1280, h: 720, type: COLOR [component_container-2] config - w: 1280, h: 800, type: MONO [component_container-2] config - w: 1280, h: 800, type: COLOR [component_container-2] Adding socket 2: cam 5. Sen name: OV9282 [component_container-2] Initializing XLink... [component_container-2] UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH [component_container-2] UsbPumpVscAppI_Event: 2 VSC2_EVENT_SUSPEND [component_container-2] initial keepalive, countdown: 9 [component_container-2] UsbPumpVscAppI_Event: 3 VSC2_EVENT_RESUME [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP [component_container-2] Done! [component_container-2] Usb connection speed: High - USB 2.0 [component_container-2] Temperature: Driver registered. [component_container-2] Temperature: Initialized driver. [component_container-2] Temperature: Sensor opened: CSS. [component_container-2] Temperature: Sensor opened: MSS. [component_container-2] Temperature: Sensor opened: UPA. [component_container-2] Temperature: Sensor opened: DSS. [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.068] [system] [info] Memory Usage - DDR: 0.12 / 340.42 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 7.25 / 77.32 MiB, LeonRT Heap: 2.89 / 41.23 MiB [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.068] [system] [info] Temperatures - Average: 43.78 °C, CSS: 44.87 °C, MSS 42.81 °C, UPA: 44.41 °C, DSS: 43.04 °C [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.068] [system] [info] Cpu Usage - LeonOS 65.90%, LeonRT: 1.60% [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.074] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 4583206] [XLin] startSync:130 Timesync | Callback not set [component_container-2] [INFO] [1683089711.795759418] [oak]: Camera with MXID: 18443010F1C3AB0F00 and Name: 1.1.2 connected! [component_container-2] [INFO] [1683089711.797450823] [oak]: USB SPEED: HIGH [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.096] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents [component_container-2] Reading VERSION 7 --- -> [component_container-2] [INFO] [1683089711.820363035] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [INFO] [1683089711.824532575] [oak]: Pipeline type: RGBD [component_container-2] [INFO] [1683089711.855688721] [oak]: Finished setting up pipeline. [component_container-2] [2023-05-03 14:55:11.863] [debug] Schema dump: {"connections":[{"node1Id":9,"node1Output":"out","node1OutputGroup":"","node2Id":10,"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":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":"","id":39,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":37,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":36,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":38,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":35,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":34,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":33,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":32,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,24,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,189,0,255,0,0,0,129,160,1,129,160,1,133,0,5,133,208,2,255,255,0,136,0,0,240,65,136,0,0,128,191,136,0,0,128,191,1,185,4,2,3,2,3,3,3,4,4,4]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":31,"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":30,"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":29,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":27,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":28,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":24,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":23,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":21,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":20,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":22,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":19,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt2"],{"blocking":false,"group":"","id":18,"name":"debugDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt1"],{"blocking":false,"group":"","id":25,"name":"debugDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt1"],{"blocking":false,"group":"","id":17,"name":"debugExtDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","disparity"],{"blocking":false,"group":"","id":26,"name":"disparity","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":16,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","left"],{"blocking":false,"group":"","id":15,"name":"left","queueSize":8,"type":3,"waitForMessage":true}],[["","right"],{"blocking":false,"group":"","id":14,"name":"right","queueSize":8,"type":3,"waitForMessage":true}]],"name":"StereoDepth","properties":[185,18,185,5,185,9,0,2,136,0,0,122,68,1,0,1,10,3,0,185,7,5,0,185,5,0,2,136,0,0,0,63,0,1,185,4,0,3,136,205,204,204,62,0,185,2,0,134,255,255,0,0,185,2,0,50,185,2,1,0,185,4,255,0,1,0,185,5,1,0,0,128,255,185,3,0,2,127,185,5,1,128,250,129,244,1,128,250,129,244,1,0,1,0,190,190,190,190,1,185,5,189,0,189,0,190,16,16,0,3,255,255,1,1,190,190]}],[4,{"id":4,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":13,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":12,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":11,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":10,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,8,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,0,136,0,0,240,65,3,3]}],[5,{"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":9,"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":"","id":8,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":7,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":6,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":5,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,8,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,0,136,0,0,240,65,3,3]}],[7,{"id":7,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":4,"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]}],[8,{"id":8,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":3,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,13,115,116,101,114,101,111,95,115,116,101,114,101,111,0]}],[9,{"id":9,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":2,"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":"","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]}]]} [component_container-2] [2023-05-03 14:55:11.863] [debug] Asset map dump: {"map":{}} [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.201] [MonoCamera(6)] [info] Using board socket: 2, id: 2 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.203] [MonoCamera(4)] [info] Using board socket: 1, id: 1 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.206] [system] [warning] PRINT:LeonMss: Calculating resources [component_container-2] Number of cmx slices available 16 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.205] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '16384'B [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.240] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] [component_container-2] MonoCamera allocated resources: no shaves; cmx slices: [13-15] [component_container-2] StereoDepth allocated resources: shaves: [14-14] cmx slices: [10-12] [component_container-2] [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.250] [system] [warning] PRINT:LeonCss: Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read [component_container-2] XLinkIn | Created plgPool as shared: 1 [component_container-2] XLinkIn | Created plgPool as shared: 1 [component_container-2] XLinkIn | Created plgPool as shared: 1 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.250] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.248] [StereoDepth(3)] [info] Using focal length from calibration intrinsics '793.4886' [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.261] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:01.256] [info] Time taken to build the pipeline: 58ms [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.261] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] LRT - build pipeline call [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.272] [system] [warning] PRINT:LeonCss: Broadcast9282: Successfully registered camera TG161B (ov9282) as /dev/Camera_bcast0 [component_container-2] == SW-SYNC: 1, cam mask 0x7 [component_container-2] !!! Master Slave config is: single_master_slave !!! [component_container-2] Starting camera 0 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 0" sent [component_container-2] [component_container-2] [E] iq_debug_create():161: iq_debug address 0x88200940 [component_container-2] [E] hai_cm_driver_load_dtp():852: Features for camera A12N02A (imx378) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.283] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 0 started. [component_container-2] [component_container-2] [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 [component_container-2] [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 [component_container-2] ============================ Configuring IMX378 with mode 0 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.294] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- -> [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.308] [system] [warning] PRINT:LeonCss: ========== IMX378 /dev/i2c.Camera_0_sen, FSIN enable 0, output 0 [component_container-2] [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [E] callback():123: Camera CB START_DONE event. [component_container-2] [E] app_guzzi_command_callback():173: command->id:5 [component_container-2] [E] camera_control_focus_trigger():591: Focus trigger succeeded camera_id = 0. [component_container-2] [component_container-2] [E] app_guzzi_command_callback():218: command "5 0" sent [component_container-2] [component_container-2] Starting camera 1 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 1" sent [component_container-2] [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.319] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87d61580 [component_container-2] [E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [E] camera_control_start():347: Camera_id = 1 started. [component_container-2] [component_container-2] [E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()! [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] === osDrvOV9282Control: set mode for Camera_1_sen [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.330] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.341] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [E] callback():123: Camera CB START_DONE event. [component_container-2] Starting camera 2 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 2" sent [component_container-2] [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.352] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x878d9340 [component_container-2] [E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [E] camera_control_start():347: Camera_id = 2 started. [component_container-2] [component_container-2] [E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()! [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] === osDrvOV9282Control: set mode for Camera_2_sen [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.363] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] Reading..........Reading VERSION 7 --- -> [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.374] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient [component_container-2] [E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient [component_container-2] [E] callback():123: Camera CB START_DONE event. [component_container-2] Starting Guzzi command handling loop... [component_container-2] inc_camera_process set exposure and gain [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.385] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- -> [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.418] [system] [warning] PRINT:LeonCss: 0.000 mA -> 0 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.418] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [INFO] [1683089712.195363940] [oak]: Camera ready! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.429] [system] [warning] PRINT:LeonCss: dot: 0.00 mA, flood: 0.00 mA, duty = 1.00 [component_container-2] ===== IR write bus 2: 0x04 = 0x00 [component_container-2] ===== IR write bus 2: 0x01 = 0x24 [component_container-2] 200.000 mA -> 16 [component_container-2] dot: 0.00 mA, flood: 200.00 mA, duty = 0.30 [component_container-2] ===== IR write bus 2: 0x03 = 0x10 [component_container-2] ===== IR write bus 2: 0x01 = 0x25 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.429] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.462] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.473] [system] [warning] PRINT:LeonCss: SH2 Reset. [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.492] [IMU(9)] [info] IMU product ID: [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.492] [IMU(9)] [info] Part 10004563 : Version 3.9.9 Build 2 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.492] [IMU(9)] [info] Part 10003606 : Version 1.8.0 Build 338 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.492] [IMU(9)] [info] Part 10004135 : Version 5.5.3 Build 162 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.492] [IMU(9)] [info] Part 10004149 : Version 5.1.12 Build 183 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.495] [system] [warning] PRINT:LeonCss: waited for reset 0 ms [component_container-2] Reading product id [component_container-2] [18443010F1C3AB0F00] [1.1.2] [1.539] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 8 [component_container-2] [18443010F1C3AB0F00] [1.1.2] [2.069] [system] [info] Memory Usage - DDR: 168.07 / 340.42 MiB, CMX: 2.10 / 2.50 MiB, LeonOS Heap: 49.10 / 77.32 MiB, LeonRT Heap: 4.54 / 41.23 MiB [component_container-2] [18443010F1C3AB0F00] [1.1.2] [2.069] [system] [info] Temperatures - Average: 45.32 °C, CSS: 46.23 °C, MSS 44.64 °C, UPA: 46.00 °C, DSS: 44.41 °C

It would be lovely for a bit more of a step by step for this little guy and its companion driver as it seems there's quite a lot of jiggling to do to get things running. Even just some more commenting and possible options to configure each camera as needed to get it up and running.

luxonis / depthai-ros

[BUG] RGBD launch file doesn't publish any depth #303