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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
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[BUG] {Title of the bug} Oak-d-lite launch file not running #324

Closed youngjae41 closed 10 months ago

youngjae41 commented 1 year ago

OS : Ubuntu 20.04 Hardware : jetson orin nano ROS : noetic

oak-d lite launch file doesn't work

There are 2 launch files that work

  1. stereo_node.launch
  2. stereo_nodelet.launch

Doesn't oak-d-lite support color image topic ?

Serafadam commented 1 year ago

Hi, could you post some more info according to the bug report template?

youngjae41 commented 1 year ago

@Serafadam

The following error occurs when rgb_stereo.launch is operated and the point cloud and image are not output

[1844301041D2C11200] [1.2.2] [0.855] [MonoCamera(0)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P [1844301041D2C11200] [1.2.2] [0.855] [MonoCamera(1)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P

Should I use stereo_inertial_node.launch

terminate called after throwing an instance of 'std::runtime_error' what(): IMU(5) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321

[ INFO] [1686122986.674244371]: Initializing nodelet with 8 worker threads. nnPath ,, /home/orangepi/catkin_ws/src/depthai-ros-noetic/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob [2023-06-07 15:29:46.758] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug' [2023-06-07 15:29:46.758] [debug] Library information - version: 2.21.2, commit: 125feb8c2e16ee4bf71b7873a7b990f1c5f17b18 from 2023-04-05 21:24:25 +0300, build: 2023-06-07 05:11:24 +0000 [2023-06-07 15:29:46.760] [debug] Initialize - finished 640 360 640 360 [2023-06-07 15:29:46.883] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 4ms, archive read: 119ms Listing available devices... Device Mx ID: 1844301041D2C11200 [2023-06-07 15:29:47.200] [debug] Device - OpenVINO version: 2022.1 [2023-06-07 15:29:47.202] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"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} libnop: 0000: b9 11 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 00 bb 00 be [2023-06-07 15:29:47.324] [debug] Resources - Archive 'depthai-device-fwp-3575b77f20e796b4e79953bf3d2ba22f0416ee8b.tar.xz' open: 4ms, archive read: 560ms [2023-06-07 15:29:48.135] [debug] Searching for booted device: DeviceInfo(name=2.1, mxid=1844301041D2C11200, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only [1844301041D2C11200] [2.1] [0.791] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0xA092D833 BootloaderConfig.options2 checksum doesn't match. Is: 0x80018000 should be: 0x6158B276 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 DepthAI Firmware - version: 3575b77f20e796b4e79953bf3d2ba22f0416ee8b eeprom configuration version: 55AA0006 Reading VERSION 6 --- -> eeprom configuration load from user area, status: 0 Found a device/board entry matching the eeprom data - Board: OAK-D-LITE Device: --> 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 inited hal --- def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 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 camera socket: 0, name: color config - w: 1920, h: 1080, type: COLOR config - w: 3840, h: 2160, type: COLOR config - w: 4056, h: 3040, type: COLOR config - w: 4208, h: 3120, type: COLOR 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 camera socket: 1, name: left 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 camera socket: 2, name: right Adding socket 2: cam 6. Sen name: OV7251 Found a device/board entry matching the eeprom data - Board: OAK-D-LITE Device: 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 driver. Temperature: Sensor opened: CSS. Temperature: Sensor opened: MSS. Temperature: Sensor opened: UPA. Temperature: Sensor opened: DSS. [1844301041D2C11200] [2.1] [0.795] [system] [info] Memory Usage - DDR: 0.12 / 340.34 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.52 / 77.23 MiB, LeonRT Heap: 2.89 / 41.14 MiB [1844301041D2C11200] [2.1] [0.795] [system] [info] Temperatures - Average: 30.92C, CSS: 31.29C, MSS 30.80C, UPA: 30.56C, DSS: 31.04C [1844301041D2C11200] [2.1] [0.795] [system] [info] Cpu Usage - LeonOS 79.45%, LeonRT: 1.84% [1844301041D2C11200] [2.1] [0.801] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 6937536] [XLin] startSync:130 Timesync | Callback not set [2023-06-07 15:29:48.966] [debug] Schema dump: {"connections":[{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":6,"node2Input":"in","node2InputGroup":""},{"node1Id":3,"node1Output":"depth","node1OutputGroup":"","node2Id":4,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"right","node2InputGroup":""},{"node1Id":1,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"left","node2InputGroup":""},{"node1Id":7,"node1Output":"isp","node1OutputGroup":"","node2Id":8,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"out","node1OutputGroup":"","node2Id":1,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":0,"node1Output":"out","node1OutputGroup":"","node2Id":2,"node2Input":"inputControl","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":0},"nodes":[[0,{"id":0,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":37,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,7,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[1,{"id":1,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":36,"name":"out","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}],[["","inputControl"],{"blocking":true,"group":"","id":33,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,9,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,2,136,0,0,240,65,0,3,3]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":32,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":31,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":30,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":29,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,9,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,2,136,0,0,240,65,0,3,3]}],[3,{"id":3,"ioInfo":[[["","depth"],{"blocking":false,"group":"","id":28,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":26,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":27,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":23,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":22,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":20,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":19,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":21,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":18,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt2"],{"blocking":false,"group":"","id":17,"name":"debugDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt1"],{"blocking":false,"group":"","id":24,"name":"debugDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt1"],{"blocking":false,"group":"","id":16,"name":"debugExtDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","disparity"],{"blocking":false,"group":"","id":25,"name":"disparity","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":15,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","left"],{"blocking":false,"group":"","id":14,"name":"left","queueSize":8,"type":3,"waitForMessage":true}],[["","right"],{"blocking":false,"group":"","id":13,"name":"right","queueSize":8,"type":3,"waitForMessage":true}]],"name":"StereoDepth","properties":[185,22,185,5,185,11,0,2,136,0,0,122,68,1,0,1,5,3,0,190,0,185,8,5,0,185,5,0,2,136,0,0,0,63,0,1,185,4,0,3,136,205,204,204,62,0,185,2,0,134,255,255,0,0,185,2,0,133,0,1,185,2,0,50,185,2,1,0,185,4,255,0,1,0,185,5,1,0,0,128,200,185,3,0,2,127,185,5,1,128,250,129,244,1,128,250,129,244,1,0,1,0,190,190,190,190,1,185,5,189,0,189,0,190,16,16,0,3,255,255,1,190,190,190,1,0,1,190]}],[4,{"id":4,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":12,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,5,100,101,112,116,104,0]}],[5,{"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":11,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"IMU","properties":[185,4,186,2,185,5,0,0,0,129,244,1,20,185,5,0,0,0,129,144,1,21,5,20,0]}],[6,{"id":6,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":10,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,105,109,117,0]}],[7,{"id":7,"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":[185,25,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,0,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,2,6,2,6,3,3,4,4,4]}],[8,{"id":8,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,114,103,98,0]}]]} [2023-06-07 15:29:48.966] [debug] Asset map dump: {"map":{}} [1844301041D2C11200] [2.1] [0.881] [MonoCamera(1)] [info] Using board socket: 1, id: 1 [1844301041D2C11200] [2.1] [0.881] [MonoCamera(2)] [info] Using board socket: 2, id: 2 [1844301041D2C11200] [2.1] [0.884] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B [1844301041D2C11200] [2.1] [0.919] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] MonoCamera allocated resources: no shaves; cmx slices: [13-15] StereoDepth allocated resources: shaves: [14-14] cmx slices: [10-12]

[1844301041D2C11200] [2.1] [0.922] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created [1844301041D2C11200] [2.1] [0.933] [system] [warning] PRINT:LeonCss: Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read [1844301041D2C11200] [2.1] [1.538] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 8 [1844301041D2C11200] [2.1] [1.796] [system] [info] Memory Usage - DDR: 0.21 / 340.34 MiB, CMX: 2.10 / 2.50 MiB, LeonOS Heap: 7.79 / 77.23 MiB, LeonRT Heap: 2.96 / 41.14 MiB [1844301041D2C11200] [2.1] [1.796] [system] [info] Temperatures - Average: 31.22C, CSS: 32.73C, MSS 30.80C, UPA: 30.80C, DSS: 30.56C [1844301041D2C11200] [2.1] [1.796] [system] [info] Cpu Usage - LeonOS 4.22%, LeonRT: 5.49% [1844301041D2C11200] [2.1] [1.956] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:01.956] [info] Time taken to build the pipeline: 1077ms [2023-06-07 15:29:50.104] [debug] Device about to be closed... [2023-06-07 15:29:50.234] [debug] Timesync thread exception caught: Couldn't read data from stream: 'timesync' (X_LINK_ERROR) [2023-06-07 15:29:50.234] [debug] Log thread exception caught: Couldn't read data from stream: 'log' (X_LINK_ERROR) [2023-06-07 15:29:50.235] [debug] DataOutputQueue (rgb) closed [2023-06-07 15:29:50.234] [debug] DataOutputQueue (imu) closed [2023-06-07 15:29:50.234] [debug] DataOutputQueue (depth) closed [2023-06-07 15:29:50.438] [debug] Watchdog thread exception caught: Couldn't write data to stream: '__watchdog' (X_LINK_ERROR) [2023-06-07 15:29:50.864] [debug] XLinkResetRemote of linkId: (0) [2023-06-07 15:29:51.935] [debug] Device closed, 1831 [2023-06-07 15:29:51.936] [debug] DataInputQueue (control) closed terminate called after throwing an instance of 'std::runtime_error' what(): IMU(5) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321 ================================================================================REQUIRED process [stereo_inertial_publisher-3] has died! process has died [pid 66719, exit code -6, cmd /home/orangepi/catkin_ws/devel/lib/depthai_examples/stereo_inertial_node name:=stereo_inertial_publisher log:=/home/orangepi/.ros/log/13549464-0505-11ee-b318-a9fb42ba2e8c/stereo_inertial_publisher-3.log]. log file: /home/orangepi/.ros/log/13549464-0505-11ee-b318-a9fb42ba2e8c/stereo_inertial_publisher-3*.log Initiating shutdown!

oak-d pro running is very well but oak-d lite not running

AnujPokhrel commented 1 year ago

I was having the same issue with my NVIDIA Jetson AGX ORIN and OAK-D S2 PoE. I used the depthai-ros installed from apt and it worked perfectly fine. @youngjae41.

youngjae41 commented 1 year ago

@AnujPokhrel Thank you for answer. I also installed ros-noetic-depthai-ros and downloaded and built the code, but the same thing happens. It works fine on oak-d-pro oak-d-S2, but not on oak-d-lite.

HomeworldL commented 1 year ago

I also encountered the same problem. It seems that the IMU is not detected, but the oak-d-lite does not have an IMU.

[component_container-2] [ERROR] [1686574432.480990432] [oak_container]: Component constructor threw an exception: IMU(9) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 0, 328 [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: IMU(9) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 0, 328

Faisalsouz commented 1 year ago

Problem description I'm testing OAK-DLITE on jetson Nano, ROS noetic, OS: focal 20.04 I have tried to build both from source and binary installation but, no success. I,m getting following error 

etting /run_id to 9c5c8d34-09d8-11ee-a7cf-3b6c5c5cf392
process[rosout-1]: started with pid [7200]
started core service [/rosout]
process[oak_state_publisher-2]: started with pid [7207]
process[oak_nodelet_manager-3]: started with pid [7208]
process[oak-4]: started with pid [7209]
[ INFO] [1686653644.725360716]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1686653644.728352507]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1686653644.753956767]: Initializing nodelet with 8 worker threads.
[ INFO] [1686653644.769778609]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[ INFO] [1686653644.961498816]: No ip/mxid/usb_id specified, connecting to the next available device.
[ INFO] [1686653647.674180198]: Camera with MXID: 1844301061F6B11200 and Name: 1.3 connected!
[ INFO] [1686653647.675211572]: USB SPEED: HIGH
[ INFO] [1686653647.697818723]: Device type: OAK-D-LITE
[ WARN] [1686653647.699806738]: Device has no IR drivers
[ INFO] [1686653647.701143723]: Pipeline type: RGBD
[ INFO] [1686653647.741798182]: NN Family: mobilenet
[ INFO] [1686653647.833975353]: Finished setting up pipeline.
[1844301061F6B11200] [1.3] [1.702] [MonoCamera(4)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[1844301061F6B11200] [1.3] [1.702] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[FATAL] [1686653657.613480170]: Failed to load nodelet '/oak` of type `depthai_ros_driver/Camera` to manager `oak_nodelet_manager'
[oak_nodelet_manager-3] process has died [pid 7208, 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/souz/.ros/log/9c5c8d34-09d8-11ee-a7cf-3b6c5c5cf392/oak_nodelet_manager-3.log].
log file: /home/souz/.ros/log/9c5c8d34-09d8-11ee-a7cf-3b6c5c5cf392/oak_nodelet_manager-3*.log
================================================================================REQUIRED process [oak-4] has died!
process has died [pid 7209, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driver/Camera oak_nodelet_manager __name:=oak __log:=/home/souz/.ros/log/9c5c8d34-09d8-11ee-a7cf-3b6c5c5cf392/oak-4.log].
log file: /home/souz/.ros/log/9c5c8d34-09d8-11ee-a7cf-3b6c5c5cf392/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

I have also tried to change the config file with width and height 640×480 (480P) but no success.

Serafadam commented 1 year ago

@youngjae41 @HomeworldL those errors are related to IMU configuration as those cameras might not have it installed, I'll add a fix for that this week, for now you can mitigate that by setting camera_i_enable_imu: false

youngjae41 commented 1 year ago

@Serafadam Do you add it as a param to launch file?

Serafadam commented 1 year ago

You can create a custom params file with those values and pass it to the launch file, you can only set the parameters that you want inside the file.

Serafadam commented 10 months ago

Closing due to inactivity, please reopen if there are still questions.