search

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
260 stars 191 forks source link

[BUG] {no imu messages appear}"no new message" in ROS noetic #304

Open HanDaSeul opened 1 year ago

HanDaSeul commented 1 year ago

stereo_inertial_launch in depthai_examples works fine. But camera.launch in depthai_ros_driver has problem. I can see /oak/imu/data after the command 'rostopic list'. But any message doesn't to be appeared. Also, keep showing "no new message" after the command 'rostopic hz /oak/imu/data'.

I'm using with RPi4 8GB, ubuntu20.04 with ROS noetic. ROS2 foxy works fine as publishing imu messages with same camera.launch in depthai_ros_driver.

Serafadam commented 1 year ago

Hi, which version of the driver do you have installed?

HanDaSeul commented 1 year ago

Hi, which version of the driver do you have installed?

2.21.2 for depthai-python(just built depthai-core but doesn't work), 2.7.1 for depthai_ros_driver and older version(2.6.3) doesn't work, too. I'm using oak-d pro.

Serafadam commented 1 year ago

Hi @HanDaSeul, could you check if you still get the same error when using rgbd_pcl.launch?

HanDaSeul commented 1 year ago

Hi @HanDaSeul, could you check if you still get the same error when using rgbd_pcl.launch?

@Serafadam yes, still getting the same error.

ciniminis1 commented 1 year ago

@Serafadam @HanDaSeul I faced the same issue but managed to somehow find a configuration solution. The IMU does not run in camera_i_pipeline_type: RGBD, but does work in camera_i_pipeline_type: stereo. Could you confirm that this works out also for you?

HanDaSeul commented 1 year ago

@Serafadam @HanDaSeul I faced the same issue but managed to somehow find a configuration solution. The IMU does not run in camera_i_pipeline_type: RGBD, but does work in camera_i_pipeline_type: stereo. Could you confirm that this works out also for you?

@martinlucan That problem occus to me when it is set to stereo. What environemnt are you using with? ros noetic?

ciniminis1 commented 1 year ago

@HanDaSeul Lowering the IMU frequency helped out for me. Set the following values in your config.yaml. Althoughrostopic hz anywas shows message frequency of roughly 130-140 hz.

i_acc_freq: 100 
i_rot_freq: 100
HanDaSeul commented 1 year ago

@HanDaSeul Lowering the IMU frequency helped out for me. Set the following values in your config.yaml. Althoughrostopic hz anywas shows message frequency of roughly 130-140 hz.

i_acc_freq: 100 
i_rot_freq: 100

@Serafadam thanks but that doesn't work. Parameters had already set to default in the source file maybe, so adding a parameter to the yaml file doesn't help. Also, mine has bmi270 so rotation is useless.

Serafadam commented 1 year ago

Hi @HanDaSeul, could you update depthai-ros to the newest version (2.7.2) and see if that changes things for you?

HanDaSeul commented 1 year ago

Hi @HanDaSeul, could you update depthai-ros to the newest version (2.7.2) and see if that changes things for you?

@Serafadam sorry for the late reply. Unfortunately, nothing changed. When I set left and right camera not to publish(false) that makes imu publishes fine. Problem occurs when those were set to publish(true).

Serafadam commented 1 year ago

Hi @HanDaSeul , sorry for the late response, the driver has been updated quite a bit since them, do you still get issues when publishing IMU data?

joaomsbernardino commented 7 months ago

Hi @Serafadam, not the original poster but also experiencing the exact same issue on the latest noetic branch build. Publishing the IMU messages at 200 Hz works with rgb + stereo topics being published, but as soon as i activate the right + left camera on top of that, the IMU streaming stops. The only way to get imu messages back was to reduce the configured imu frequency to 100Hz.

alexswerner commented 4 months ago

I'm seeing the same on ROS2 humble with depthai-ros v2.7.2, and a OAK-D-PRO-AF running on a raspberry pi 4. Interestingly a driver started with a i_pipeline_type: stereo pipeline does produce IMU messages as does one with rgb. However with rgbd it does not work. I did have to reduce the publishing frequency for the IMU. The whole config looks like this:

/oakd:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: false
      i_floodlight_brightness: 0
      i_laser_dot_brightness: 100
      i_nn_type: none
      i_pipeline_type: rgb
      i_usb_speed: SUPER_PLUS
    imu:
      i_acc_freq: 100
      i_acc_cov: 0.0
      i_batch_report_threshold: 1
      i_enable_rotation: false
      i_gyro_cov: 0.0
      i_gyro_freq: 100
      i_mag_cov: 0.0
      i_mag_freq: 100
      i_max_batch_reports: 10
      i_message_type: IMU
      i_rot_cov: -1.0
      i_rot_freq: 100
      i_sync_method: LINEAR_INTERPOLATE_ACCEL
    rgb:
      i_board_socket_id: 0
      i_fps: 10.0
      i_height: 720
      i_interleaved: false
      i_max_q_size: 10
      i_preview_size: 256
      i_enable_preview: true
      i_low_bandwidth: true
      i_low_bandwidth_codec: jpeg
      i_low_bandwidth_preview: true
      i_low_bandwidth_preview_codec: h264
      i_keep_preview_aspect_ratio: true
      i_publish_topic: true
      i_resolution: '1080'
      i_width: 1280
    use_sim_time: false

I don't know which IMU type my camera has in case that matters. Any pointers would be appreciated.

Serafadam commented 4 months ago

Hi, @alexswerner, do those issues also happen after upgrading to the new driver version?

alexswerner commented 4 months ago

Yes, they do. However, I've now slightly modified my config and things started working. Here is the config I use now:

/oakd:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: false
      i_floodlight_brightness: 0
      i_laser_dot_brightness: 100
      i_nn_type: none
      i_pipeline_type: rgbd
      i_pipeline_dump: true
      i_usb_speed: SUPER_PLUS
    imu:
      i_acc_freq: 100
      i_acc_cov: 0.0
      i_batch_report_threshold: 10
      i_enable_rotation: false
      i_gyro_cov: 0.0
      i_gyro_freq: 100
      i_mag_cov: 0.0
      i_mag_freq: 100
      i_max_batch_reports: 10
      i_message_type: IMU
      i_rot_cov: -1.0
      i_rot_freq: 100
      i_sync_method: LINEAR_INTERPOLATE_ACCEL
    rgb:
      i_board_socket_id: 0
      i_fps: 10.0
      i_height: 720
      i_interleaved: false
      i_max_q_size: 10
      i_preview_size: 256
      i_enable_preview: true
      i_low_bandwidth: true
      i_low_bandwidth_codec: jpeg
      i_low_bandwidth_preview: true
      i_low_bandwidth_preview_codec: h264
      i_keep_preview_aspect_ratio: true
      i_publish_topic: true
      i_resolution: '1080'
      i_width: 1280
    stereo:
      i_align_depth: true
      i_get_base_device_timestamp: true
      i_output_disparity: false
      i_bilateral_sigma: 0
      i_board_socket_id: 0
      i_depth_filter_size: 5
      i_depth_preset: HIGH_ACCURACY
      i_disparity_width: DISPARITY_96
      i_enable_companding: false
      i_enable_decimation_filter: false
      i_enable_distortion_correction: true
      i_enable_spatial_filter: false
      i_enable_speckle_filter: false
      i_enable_temporal_filter: false
      i_enable_threshold_filter: false
      i_extended_disp: false
      i_height: 720
      i_low_bandwidth: false
      i_low_bandwidth_quality: 50
      i_lr_check: true
      i_lrc_threshold: 10
      i_max_q_size: 30
      i_rectify_edge_fill_color: 0
      i_stereo_conf_threshold: 255
      i_set_input_size: false
      i_input_width: 1280
      i_input_height: 720
      i_width: 1280
    use_sim_time: false