[BUG] {"No Available Devices" despite having connection in Rviz}

Cur1ousKea commented 1 year ago

Hello there, im operating a turtlebot4 with an oakd pro camera. Ros2 and Humble. I installed every needed component for DepthAi. But it is not able to detect the oakd camera. When trying to execute that command: ros2 launch depthai_ros_driver camera.launch.py this happens. I get a camera image with Rviz2, so it shouldnt be a camera issue. Here i tried executing the following: ros2 launch depthai_ros_driver rtabmap.launch.py Describe the bug A clear and concise description of what the bug is.

If available launch files don't work in your case, please check if you also get errors while running: This Demo script also says No DepthAI device found

Expected behavior It should find the cam and execute the program.

Attach system log

Which OS/OS version are you using? Ubuntu 22.04.
Which ROS version are you using? ROS2
Is depthai-ros built from source or installed from apt? apt
Is depthai/depthai-core library installed from rosdep or manually? rosdep
Please include versions of following packages - The newest i installed them today from scratch launch.log launch.log

tschinfra commented 1 year ago

I got almost the same Problem but in my case with the following launch file (While the turtlebot4 is docked!): ros2 launch depthai_ros_driver pointcloud.launch.py

Console output:

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-26-08-08-25-039473-ubuntu-2191
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [2205]
[INFO] [component_container-2]: process started with pid [2207]
[component_container-2] [INFO] [1685088507.010003168] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[robot_state_publisher-1] [INFO] [1685088507.121141398] [oak_state_publisher]: got segment oak
[robot_state_publisher-1] [INFO] [1685088507.121540913] [oak_state_publisher]: got segment oak-d_frame
[robot_state_publisher-1] [INFO] [1685088507.121617523] [oak_state_publisher]: got segment oak_imu_frame
[robot_state_publisher-1] [INFO] [1685088507.121658615] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-1] [INFO] [1685088507.121688430] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1685088507.121716522] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-1] [INFO] [1685088507.121744170] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-1] [INFO] [1685088507.121771484] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-1] [INFO] [1685088507.121799873] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-1] [INFO] [1685088507.121827502] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-2] [INFO] [1685088507.428169271] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1685088507.428322381] [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] [1685088507.559210442] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1685088507.559357422] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-2] [INFO] [1685088507.559525328] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-2] [INFO] [1685088507.559560198] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-2] [INFO] [1685088507.559591401] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-2] [INFO] [1685088507.559618883] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-2] [INFO] [1685088507.559646771] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzi' in container '/oak_container'
[component_container-2] [INFO] [1685088507.667742978] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-2] [INFO] [1685088507.687540901] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1685088507.687711455] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1685088507.766448171] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-2] [ERROR] [1685088516.102667096] [oak]: Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE
[component_container-2] [INFO] [1685088516.102904186] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-2] [ERROR] [1685088524.408346321] [oak]: Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE
[component_container-2] [INFO] [1685088524.409672066] [oak]: No ip/mxid specified, connecting to the next available device.

Log file 'launch.log':

1685088505.0432942 [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-26-08-08-25-039473-ubuntu-2191
1685088505.0439813 [INFO] [launch]: Default logging verbosity is set to INFO
1685088506.5084186 [INFO] [robot_state_publisher-1]: process started with pid [2205]
1685088506.5094092 [INFO] [component_container-2]: process started with pid [2207]
1685088507.1232398 [robot_state_publisher-1] [INFO] [1685088507.121141398] [oak_state_publisher]: got segment oak
1685088507.1240950 [robot_state_publisher-1] [INFO] [1685088507.121540913] [oak_state_publisher]: got segment oak-d_frame
1685088507.1246538 [robot_state_publisher-1] [INFO] [1685088507.121617523] [oak_state_publisher]: got segment oak_imu_frame
1685088507.1257315 [robot_state_publisher-1] [INFO] [1685088507.121658615] [oak_state_publisher]: got segment oak_left_camera_frame
1685088507.1263344 [robot_state_publisher-1] [INFO] [1685088507.121688430] [oak_state_publisher]: got segment oak_left_camera_optical_frame
1685088507.1268070 [robot_state_publisher-1] [INFO] [1685088507.121716522] [oak_state_publisher]: got segment oak_model_origin
1685088507.1273608 [robot_state_publisher-1] [INFO] [1685088507.121744170] [oak_state_publisher]: got segment oak_rgb_camera_frame
1685088507.1285844 [robot_state_publisher-1] [INFO] [1685088507.121771484] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
1685088507.1292460 [robot_state_publisher-1] [INFO] [1685088507.121799873] [oak_state_publisher]: got segment oak_right_camera_frame
1685088507.1298122 [robot_state_publisher-1] [INFO] [1685088507.121827502] [oak_state_publisher]: got segment oak_right_camera_optical_frame
1685088507.5550697 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/oak_container'
1685088507.6490195 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzi' in container '/oak_container'
1685089151.9065866 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
1685089152.0311372 [WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/oak_container/_container/load_node' service response, due to shutdown.
1685089152.0829008 [robot_state_publisher-1] [INFO] [1685089151.906061645] [rclcpp]: signal_handler(signum=2)
1685089152.1126649 [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 2205]
1685089157.0876269 [ERROR] [component_container-2]: process[component_container-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
1685089157.0894380 [INFO] [component_container-2]: sending signal 'SIGTERM' to process[component_container-2]
1685089162.0846329 [ERROR] [component_container-2]: process[component_container-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
1685089162.0870111 [INFO] [component_container-2]: sending signal 'SIGKILL' to process[component_container-2]
1685089162.1132691 [ERROR] [component_container-2]: process has died [pid 2207, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=oak_container -r __ns:=/']

When the turtlebot4 is docked it works:

Serafadam commented 1 year ago

Hi, could you also post debug logs from depthai_demo?

Cur1ousKea commented 1 year ago

there you go, i hope this is what u need output.txt

Serafadam commented 1 year ago

These logs indicate wrong argument passed to the python scripts, to enable debug logs you should do: export DEPTHAI_DEBUG=1 python3 depthai_demo.py

Cur1ousKea commented 1 year ago

output.txt okay i changed a few things but now its even more confusing but it seems to find sth now This happens when the Turtlebot is docked. When it is undocked and driving the following output appears: output.txt

Cur1ousKea commented 1 year ago

Is there an update to this topic?

Serafadam commented 1 year ago

Hi @Cur1ousKea @tschinfra , sorry for the delay, this issue got lost in the backlog, let's get back to it:

Did you update the libraries for the drivers?
Does OAK-D-Pro have an external power input, or is it connected only to RPi USB?

Cur1ousKea commented 1 year ago

Yes the libraries are up to date. No the Oak-D is directly connected via USB to the RPi. Another question. Where do i have to install it to? Shall i install it directly on the RPi or on my local machine and using the ros2 connection to the robot? Furthermore, i installed it to the RPi and none of the given executeables are working. mostly with the same error: [component_container-2] [ERROR] [1691840532.598751139] [oak]: No available devices [component_container-2] [INFO] [1691840532.600808500] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [ERROR] [1691840551.352476126] [oak]: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND Its always kinda confusing because the camera shuts down once the robot is docked and throws other errors, but while moving this error persists. camera model.txt

pointscloud error.txt

Serafadam commented 1 year ago

X_LINK_DEVICE_NOT_FOUND

Can you try checking udev rules?

No the Oak-D is directly connected via USB to the RPi.

Not sure what's the exact setup on Turtlebot, but generally with RPi we recommend using Y-adapters, as sometimes the power draw can cause issues on those boards (more information here). Weird behavior when docking also gives hints that this might be the issue, though I would start with contacting the Turtlebot team if that issue is related to general setup or if there is some error on the hardware level. You could also try running different configuration (disable IR drivers/NN). Also, is the camera working normally when connected to the PC?

Where do i have to install it to? Shall i install it directly on the RPi or on my local machine and using the ros2 connection to the robot?

Do you mean where depthai-ros is installed/run? It should be installed on the RPi, unless there has been a change in Turtlebot setup.

Cur1ousKea commented 1 year ago

Thank you for your response! What worked for me was: export DEPTHAI_DEBUG=1 So i have only one problem left. Once i am starting the rtabmap.launch.py on the Turtlebot4 everything seems fine. rtabdebug.txt I cant start Rviz2 from the Turtlebot itself, so i have to start it manually from the external Linux machine. But that shouldnt be a problem. For Example rdbd_pcl.launch.py works with pointcloud2 without any issue. Could you maybe give me the details how the rviz setup of the native rtabmap.launch.py is? Or if you maybe found any issue in the log. Thanks!

Serafadam commented 1 year ago

It's a bit weird that enabling the debug flags gets rid of the problem, I will share that with the team. Regarding rtabmap, the launch file currently available is used mostly as an example for verification. I would suggest creating a separate file, as:

Current launch file additionally runs rtabmap_viz, which is used to visualize SLAM results (not needed if you run rtabmap on a robot), you could probably run it on external linux machine, although this may cause lags/errors due to DDS/WiFi setup
RTABMap parameters are set up for handheld demo running on a laptop, for RPi you would need to adjust them accordingly, more information on that on the RTABMap wiki
For RPi, you might additionally need to lower camera FPS/resolution to optimize further
RGBD Odometry will additionally increase CPU usage, you can try checking if Odometry provided by Turtlebot's wheels is enough
Regarding Rviz setup, I would advise to subscribe only to the most important/least resource hungry sources, as large amount of data (raw images and pointclouds) can decrease performance of the whole system. We don't have an example RTABMap Rviz config file, as this is something that depends largely on user.
Instead of Rviz, you could try using Foxglove with foxglove_bridge running on the robot as it could improve performance

Cur1ousKea commented 1 year ago

Okay i tried around a while and wasnt able to start rtabmap_viz on my own, would you mind sharing the launching command with me? Thanks!

Serafadam commented 1 year ago

Hi, unfortunately I don't have Turtlebot at hand, so I can't verify that, but I would personally start with removing rtabmap_viz from rtabmap.launch.py, and see if topics are working (you can also remove RGBDOdometry if it takes too much CPU, and use odom from the robot diff drive). After you launch the whole stack, you should be able to visualize topics/slam results with Rviz running on host.

Cur1ousKea commented 1 year ago

Alright, i tried it and it works thanks! for anyone having the same issue: edit rtabmap.launch,py on turtlebot ~/dai_ws/src/depthai-ros/depthai_ros_driver/launch/rtabmap.launch.py remove the line with rtabmap_viz within the file after saving the file rebuild the repository -> cd ~/dai_ws -> ./src/depthai-ros/build.sh

PC: ros2 run rtabmap_viz rtabmap_viz Turtlebot4: ros2 launch depthai_ros_driver rtabmap.launch.py

Ragnar7982 commented 3 months ago

@Cur1ousKea Hello, I'm also using Turtlebot4 and RTAB-map, do you mind share the depthai_ros_driver rtabmap.launch.py setting? Thank you. OAK-D-PRO is very hard to use when wireless... Also, how did you have depth topic when camera was wireless?

Cur1ousKea commented 3 months ago

Sorry, it was a Bachelorthesisproject and i deleted everthing afterwards because it annoyed me that much...

Ragnar7982 commented 3 months ago

@Cur1ousKea Hi, thank you for the reply, can you tell me what was your steps about remote pc and raspberry pi4(connect to oak-d pro camera) if you remember? And you successfully using remote pc and raspberry pi4(connect to oak-d pro camera) to run RTAB-map? Thank you!

luxonis / depthai-ros

[BUG] {"No Available Devices" despite having connection in Rviz} #322