process has died when running launch files

[osama-z-salah]

my platform is: Linux Ubuntu 22 (x86_64) + ROS Humble+ OAK-D-Pro

When I launch these launch files: ros2 launch depthai_ros_driver example_segmentation.launch.py ros2 launch depthai_ros_driver stereo_from_rosbag.launch.py

I have get the following error:

[ERROR] [component_container-2]: process has died [pid 58940, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

[Serafadam]

Hi, thanks for the information, could you post more information according to bug report template?

[osama-z-salah]

Describe the bug: [ERROR] [component_container-2]: process has died [pid 58940, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

Minimal Reproducible Example:

1. When i run the stereo_inertial_node in depthai_examples, it able to run succesfully without any error.
2. When i run camera in depthai_ros_driver, at 1st it able to run and in middle way, i got error where the process is died.

Is depthai-ros built from source or installed from apt? from source

Is depthai/depthai-core library installed from rosdep or manually? For rosdep install, check if ros--depthai package is installed, manual install can be checked with ldconfig -p | grep depthai

I install the depthai package, using sudo apt-get install ros-foxy-depthai

Please include versions of following packages - 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

Package: ros-humble-depthai Version: 2.21.2-1jammy.20230425.234727

Package: ros-humble-depthai-ros Version: 2.7.2-1jammy.20230513.013547

Package: ros-humble-depthai-bridge Version: 2.7.2-1jammy.20230513.010952

Package: ros-humble-depthai-ros-msgs Version: 2.7.2-1jammy.20230513.003520

Package: ros-humble-depthai-ros-driver Version: 2.7.2-1jammy.20230513.012742

[raitzjm]

I also had the process dying when using the 2.7.2 Humble built from source in Ubuntu 20.04 Focal in an Nvidia Jetson AGX Orin. I tried using the provided Docker version and the same happens. It launches fine and works for less than a minute and then finally dies. I rolled back to 2.7.1 and I don't have problem there , I tested 2.7.1 built from source and provided Docker container as well. I don't remember if the error message was the same as the person who opened this issue , but I can run it again tomorrow and share here if that helps.

[Serafadam]

Could you run export DEPTHAI_DEBUG=1 and post logs that you get after running launch files?

[osama-z-salah]

nanoamr@nanoamr:~/ros2_ws$ ros2 launch depthai_ros_driver camera.launch.py [INFO] [launch]: All log files can be found below /home/nanoamr/.ros/log/2023-06-14-18-57-40-522575-nanoamr-79330 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [79344] [INFO] [component_container-2]: process started with pid [79346] [component_container-2] [DEBUG] [1686740260.684359845] [rclcpp]: signal handler installed [component_container-2] [DEBUG] [1686740260.684390375] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1686740260.684402947] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services [component_container-2] [DEBUG] [1686740260.684430444] [rcl]: Initializing node 'ComponentManager' in namespace '' [component_container-2] [DEBUG] [1686740260.684438028] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1686740260.690127020] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1686740260.690141205] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1686740260.690814858] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.690824797] [rcl]: Node initialized [component_container-2] [DEBUG] [1686740260.690884019] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.690887178] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.691513083] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1686740260.691594846] [rcl]: Initializing service for service name '~/_container/load_node' [component_container-2] [DEBUG] [1686740260.691600232] [rcl]: Expanded and remapped service name '/oak_container/_container/load_node' [component_container-2] [DEBUG] [1686740260.691855190] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.691862105] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/load_nodeRequest [component_container-2] [DEBUG] [1686740260.691863950] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/load_nodeReply

[component_container-2] [DEBUG] [1686740260.691892820] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.691902537] [rcl]: Initializing service for service name '~/_container/unload_node' [component_container-2] [DEBUG] [1686740260.691906810] [rcl]: Expanded and remapped service name '/oak_container/_container/unload_node' [component_container-2] [DEBUG] [1686740260.692021189] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.692024088] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/unload_nodeRequest [component_container-2] [DEBUG] [1686740260.692025461] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/unload_nodeReply

[component_container-2] [DEBUG] [1686740260.692053658] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.692060410] [rcl]: Initializing service for service name '~/_container/list_nodes' [component_container-2] [DEBUG] [1686740260.692063730] [rcl]: Expanded and remapped service name '/oak_container/_container/list_nodes' [component_container-2] [DEBUG] [1686740260.692485525] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.692496768] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/list_nodesRequest [component_container-2] [DEBUG] [1686740260.692500364] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/list_nodesReply

[component_container-2] [DEBUG] [1686740260.692544316] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.694447634] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694472844] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694616943] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694638960] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694649044] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694656222] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694659917] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694662031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694665204] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694666961] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694669960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694672191] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694685037] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694688361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694693381] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694699647] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694703126] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694705006] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694718272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694720236] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694723320] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694725131] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694728150] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694729971] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694732962] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694735003] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695474588] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695477617] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695480864] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695482784] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695485949] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695487888] [rcl]: Subscription take succeeded: true [robot_state_publisher-1] [INFO] [1686740260.696445361] [oak_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1686740260.696484734] [oak_state_publisher]: got segment oak [robot_state_publisher-1] [INFO] [1686740260.696488880] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-1] [INFO] [1686740260.696491365] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696494076] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1686740260.696496309] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1686740260.696498411] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696500449] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1686740260.696502653] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696504632] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [DEBUG] [1686740260.696675872] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696690017] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.696698678] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696701002] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.696704442] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696706487] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.929689049] [rcl]: Service server taking service request [component_container-2] [DEBUG] [1686740260.929752093] [rcl]: Service take request succeeded: true [component_container-2] [INFO] [1686740260.929859648] [oak_container]: Load Library: /home/nanoamr/ros2_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so [component_container-2] [DEBUG] [1686740260.960046900] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::PublisherPlugin, address = 0x55899a590bd0 [component_container-2] [DEBUG] [1686740260.960577810] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.960582628] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1686740260.960635780] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740260.960641512] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1686740260.960643534] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1686740260.960663922] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740260.960666586] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1686740260.960668355] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1686740260.960688243] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1686740260.960690885] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1686740260.960692611] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1686740260.960714167] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1686740260.960716558] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1686740260.960718310] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.960720113] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::PublisherPlugin, address = 0x55899a590bd0 [component_container-2] [DEBUG] [1686740260.960722731] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55899a591950 [component_container-2] [DEBUG] [1686740260.961140590] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.961151947] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1686740260.961171986] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740260.961174127] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1686740260.961176336] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1686740260.961192793] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740260.961194747] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1686740260.961197000] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1686740260.961214716] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1686740260.961216806] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1686740260.961219035] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1686740260.961237879] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1686740260.961239784] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1686740260.961242074] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.961243601] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55899a591950 [component_container-2] [INFO] [1686740260.961661050] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1686740260.961684057] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [DEBUG] [1686740260.961764237] [rcl]: Arg 1 (-r) is not a --param nor a -p flag. [component_container-2] [DEBUG] [1686740260.961769500] [rcl]: Got remap rule : __node:=oak [component_container-2] [component_container-2] [DEBUG] [1686740260.961775444] [rcl]: Initializing node 'camera' in namespace '' [component_container-2] [DEBUG] [1686740260.961781476] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1686740260.961832363] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1686740260.961837287] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1686740260.961995129] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.961998747] [rcl]: Node initialized [component_container-2] [DEBUG] [1686740260.962057887] [rcl]: Initializing service for service name 'oak/get_parameters' [component_container-2] [DEBUG] [1686740260.962061113] [rcl]: Expanded and remapped service name '/oak/get_parameters' [component_container-2] [DEBUG] [1686740260.962214277] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962217307] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parametersRequest [component_container-2] [DEBUG] [1686740260.962218973] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parametersReply

[component_container-2] [DEBUG] [1686740260.962244527] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962252786] [rcl]: Initializing service for service name 'oak/get_parameter_types' [component_container-2] [DEBUG] [1686740260.962255606] [rcl]: Expanded and remapped service name '/oak/get_parameter_types' [component_container-2] [DEBUG] [1686740260.962369369] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962371689] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parameter_typesRequest [component_container-2] [DEBUG] [1686740260.962373396] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parameter_typesReply

[component_container-2] [DEBUG] [1686740260.962394410] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962399525] [rcl]: Initializing service for service name 'oak/set_parameters' [component_container-2] [DEBUG] [1686740260.962409016] [rcl]: Expanded and remapped service name '/oak/set_parameters' [component_container-2] [DEBUG] [1686740260.962534199] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962537456] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parametersRequest [component_container-2] [DEBUG] [1686740260.962539048] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parametersReply

[component_container-2] [DEBUG] [1686740260.962560701] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962566904] [rcl]: Initializing service for service name 'oak/set_parameters_atomically' [component_container-2] [DEBUG] [1686740260.962569889] [rcl]: Expanded and remapped service name '/oak/set_parameters_atomically' [component_container-2] [DEBUG] [1686740260.962683852] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962686344] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parameters_atomicallyRequest [component_container-2] [DEBUG] [1686740260.962687898] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parameters_atomicallyReply

[component_container-2] [DEBUG] [1686740260.962708323] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962713638] [rcl]: Initializing service for service name 'oak/describe_parameters' [component_container-2] [DEBUG] [1686740260.962716447] [rcl]: Expanded and remapped service name '/oak/describe_parameters' [component_container-2] [DEBUG] [1686740260.962828875] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962831229] [rmw_fastrtps_cpp]: Sub Topic rq/oak/describe_parametersRequest [component_container-2] [DEBUG] [1686740260.962832625] [rmw_fastrtps_cpp]: Pub Topic rr/oak/describe_parametersReply

[component_container-2] [DEBUG] [1686740260.962851088] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962855994] [rcl]: Initializing service for service name 'oak/list_parameters' [component_container-2] [DEBUG] [1686740260.962858572] [rcl]: Expanded and remapped service name '/oak/list_parameters' [component_container-2] [DEBUG] [1686740260.962964805] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740260.962966913] [rmw_fastrtps_cpp]: Sub Topic rq/oak/list_parametersRequest [component_container-2] [DEBUG] [1686740260.962968386] [rmw_fastrtps_cpp]: Pub Topic rr/oak/list_parametersReply

[component_container-2] [DEBUG] [1686740260.962988455] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962996630] [rcl]: Initializing publisher for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.962999589] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963141341] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.963226575] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963229924] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963351514] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1686740260.963907157] [oak]: Setting param camera.i_pipeline_type with value RGBD [component_container-2] [DEBUG] [1686740260.963973044] [oak]: Setting param camera.i_nn_type with value spatial [component_container-2] [DEBUG] [1686740260.964049754] [oak]: Setting param camera.i_enable_imu with value 1 [component_container-2] [DEBUG] [1686740260.964101269] [oak]: Setting param camera.i_enable_ir with value 1 [component_container-2] [DEBUG] [1686740260.964118720] [oak]: Setting param camera.i_usb_speed with value SUPER_PLUS [component_container-2] [DEBUG] [1686740260.964134464] [oak]: Setting param camera.i_mx_id with value [component_container-2] [DEBUG] [1686740260.964145645] [oak]: Setting param camera.i_ip with value [component_container-2] [DEBUG] [1686740260.964158235] [oak]: Setting param camera.i_usb_port_id with value [component_container-2] [DEBUG] [1686740260.964176714] [oak]: Setting param camera.i_pipeline_dump with value 0 [component_container-2] [DEBUG] [1686740260.964189465] [oak]: Setting param camera.i_calibration_dump with value 0 [component_container-2] [DEBUG] [1686740260.964202864] [oak]: Setting param camera.i_external_calibration_path with value [component_container-2] [DEBUG] [1686740260.964269988] [oak]: Setting param camera.i_laser_dot_brightness with value 800 [component_container-2] [DEBUG] [1686740260.964289076] [oak]: Setting param camera.i_floodlight_brightness with value 0 [component_container-2] [2023-06-14 18:57:40.964] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug' [component_container-2] [2023-06-14 18:57:40.964] [debug] Library information - version: 2.21.2, commit: from , build: 2023-04-25 23:47:27 +0000 [component_container-2] [2023-06-14 18:57:40.965] [debug] Initialize - finished [component_container-2] [INFO] [1686740260.965412802] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [2023-06-14 18:57:41.021] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 1ms, archive read: 55ms [component_container-2] [2023-06-14 18:57:41.189] [debug] Device - OpenVINO version: universal [component_container-2] [2023-06-14 18:57:41.189] [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} [component_container-2] libnop: [component_container-2] 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 [component_container-2] 0020: be be be 01 00 bb 00 be [component_container-2] [2023-06-14 18:57:41.277] [debug] Resources - Archive 'depthai-device-fwp-3575b77f20e796b4e79953bf3d2ba22f0416ee8b.tar.xz' open: 1ms, archive read: 311ms [component_container-2] [2023-06-14 18:57:42.243] [debug] Searching for booted device: DeviceInfo(name=1.13, mxid=1844301071C7AB0F00, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only [component_container-2] [1844301071C7AB0F00] [1.13] [0.880] [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: 3575b77f20e796b4e79953bf3d2ba22f0416ee8b [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] inited hal --- [component_container-2] def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 [component_container-2] val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 [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] Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device: [component_container-2] Initializing XLink... [component_container-2] UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] initial keepalive, countdown: 9 [component_container-2] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP [component_container-2] Done! [component_container-2] Usb connection speed: Super - USB 3.0 [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] [INFO] [1686740263.140933582] [oak]: Camera with MXID: 1844301071C7AB0F00 and Name: 1.13 connected! [component_container-2] [INFO] [1686740263.141666140] [oak]: USB SPEED: SUPER [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [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 [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [system] [info] Temperatures - Average: 39.40C, CSS: 40.28C, MSS 38.88C, UPA: 39.35C, DSS: 39.11C [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [system] [info] Cpu Usage - LeonOS 77.60%, LeonRT: 1.78% [component_container-2] [1844301071C7AB0F00] [1.13] [0.891] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 6676610] [XLin] startSync:130 Timesync | Callback not set [component_container-2] Reading from Factory EEPROM contents [component_container-2] Reading VERSION 7 --- -> [component_container-2] [INFO] [1686740263.162621264] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [DEBUG] [1686740263.163619601] [oak]: Socket 1 - OV9282 [component_container-2] [DEBUG] [1686740263.163643151] [oak]: Socket 0 - IMX378 [component_container-2] [DEBUG] [1686740263.163651666] [oak]: Socket 2 - OV9282 [component_container-2] [DEBUG] [1686740263.164433986] [oak]: IR Drivers present [component_container-2] [INFO] [1686740263.164686428] [oak]: Pipeline type: RGBD [component_container-2] [DEBUG] [1686740263.165651604] [oak]: Creating node rgb base [component_container-2] [DEBUG] [1686740263.165806852] [oak]: Setting param rgb.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.165860904] [oak]: Setting param rgb.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.165899978] [oak]: Setting param rgb.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.165936142] [oak]: Setting param rgb.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.165971860] [oak]: Setting param rgb.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.166005455] [oak]: Setting param rgb.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.166091714] [oak]: Setting param rgb.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.166106808] [oak]: Setting param rgb.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.166117788] [oak]: Setting param rgb.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1686740263.167156513] [oak]: Node rgb has sensor IMX378 [component_container-2] [DEBUG] [1686740263.167201200] [oak]: Creating node rgb [component_container-2] [DEBUG] [1686740263.167447278] [oak]: Setting param rgb.i_publish_topic with value 1 [component_container-2] [DEBUG] [1686740263.167463666] [oak]: Setting param rgb.i_output_isp with value 1 [component_container-2] [DEBUG] [1686740263.167473965] [oak]: Setting param rgb.i_enable_preview with value 0 [component_container-2] [DEBUG] [1686740263.167515653] [oak]: Setting param rgb.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.167531149] [oak]: Setting param rgb.i_preview_size with value 300 [component_container-2] [DEBUG] [1686740263.167545630] [oak]: Setting param rgb.i_resolution with value 1080 [component_container-2] [DEBUG] [1686740263.167573262] [oak]: Setting param rgb.i_interleaved with value 0 [component_container-2] [DEBUG] [1686740263.167591607] [oak]: Setting param rgb.i_set_isp_scale with value 1 [component_container-2] [DEBUG] [1686740263.167611020] [oak]: Setting param rgb.i_isp_num with value 2 [component_container-2] [DEBUG] [1686740263.167664310] [oak]: Setting param rgb.i_isp_den with value 3 [component_container-2] [DEBUG] [1686740263.167706091] [oak]: Setting param rgb.i_height with value 720 [component_container-2] [DEBUG] [1686740263.167722280] [oak]: Setting param rgb.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.167737103] [oak]: Setting param rgb.i_keep_preview_aspect_ratio with value 1 [component_container-2] [DEBUG] [1686740263.167758280] [oak]: Setting param rgb.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.167770768] [oak]: Setting param rgb.r_exposure with value 20000 [component_container-2] [DEBUG] [1686740263.167783089] [oak]: Setting param rgb.r_whitebalance with value 3300 [component_container-2] [DEBUG] [1686740263.167794658] [oak]: Setting param rgb.r_focus with value 1 [component_container-2] [DEBUG] [1686740263.167808493] [oak]: Setting param rgb.r_set_man_focus with value 0 [component_container-2] [DEBUG] [1686740263.167821797] [oak]: Setting param rgb.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.167836417] [oak]: Setting param rgb.r_set_man_whitebalance with value 0 [component_container-2] [DEBUG] [1686740263.167850419] [oak]: Setting param rgb.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.167861896] [oak]: Setting param rgb.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.167979487] [oak]: Node rgb created [component_container-2] [DEBUG] [1686740263.168011085] [oak]: Base node rgb created [component_container-2] [DEBUG] [1686740263.168037770] [oak]: Creating node stereo [component_container-2] [DEBUG] [1686740263.168089993] [oak]: Creating node left base [component_container-2] [DEBUG] [1686740263.168111564] [oak]: Setting param left.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.168126177] [oak]: Setting param left.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.168139864] [oak]: Setting param left.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.168162800] [oak]: Setting param left.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.168174150] [oak]: Setting param left.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.168185374] [oak]: Setting param left.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.168194893] [oak]: Setting param left.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.168218096] [oak]: Setting param left.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.168227187] [oak]: Setting param left.i_board_socket_id with value 1 [component_container-2] [DEBUG] [1686740263.169066886] [oak]: Node left has sensor OV9282 [component_container-2] [DEBUG] [1686740263.169080493] [oak]: Creating node left [component_container-2] [DEBUG] [1686740263.169230311] [oak]: Setting param left.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.169246240] [oak]: Setting param left.i_publish_topic with value 0 [component_container-2] [DEBUG] [1686740263.169257892] [oak]: Setting param left.i_resolution with value 720 [component_container-2] [DEBUG] [1686740263.169283180] [oak]: Setting param left.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.169295979] [oak]: Setting param left.i_height with value 720 [component_container-2] [DEBUG] [1686740263.169313111] [oak]: Setting param left.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.169324530] [oak]: Setting param left.r_exposure with value 1000 [component_container-2] [DEBUG] [1686740263.169334258] [oak]: Setting param left.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.169346051] [oak]: Setting param left.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.169357426] [oak]: Setting param left.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.169369310] [oak]: Node left created [component_container-2] [DEBUG] [1686740263.169389471] [oak]: Base node left created [component_container-2] [DEBUG] [1686740263.169404675] [oak]: Creating node right base [component_container-2] [DEBUG] [1686740263.169420118] [oak]: Setting param right.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.169492514] [oak]: Setting param right.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.169506144] [oak]: Setting param right.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.169520613] [oak]: Setting param right.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.169532172] [oak]: Setting param right.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.169542103] [oak]: Setting param right.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.169555927] [oak]: Setting param right.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.169568002] [oak]: Setting param right.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.169579411] [oak]: Setting param right.i_board_socket_id with value 2 [component_container-2] [DEBUG] [1686740263.170428090] [oak]: Node right has sensor OV9282 [component_container-2] [DEBUG] [1686740263.170447316] [oak]: Creating node right [component_container-2] [DEBUG] [1686740263.170527163] [oak]: Setting param right.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.170544949] [oak]: Setting param right.i_publish_topic with value 0 [component_container-2] [DEBUG] [1686740263.170558735] [oak]: Setting param right.i_resolution with value 720 [component_container-2] [DEBUG] [1686740263.170573133] [oak]: Setting param right.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.170591521] [oak]: Setting param right.i_height with value 720 [component_container-2] [DEBUG] [1686740263.170608928] [oak]: Setting param right.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.170623016] [oak]: Setting param right.r_exposure with value 1000 [component_container-2] [DEBUG] [1686740263.170642009] [oak]: Setting param right.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.170654177] [oak]: Setting param right.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.170665808] [oak]: Setting param right.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.170678471] [oak]: Node right created [component_container-2] [DEBUG] [1686740263.170684845] [oak]: Base node right created [component_container-2] [DEBUG] [1686740263.170930610] [oak]: Setting param stereo.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.170946168] [oak]: Setting param stereo.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.170959700] [oak]: Setting param stereo.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.170971896] [oak]: Setting param stereo.i_output_disparity with value 0 [component_container-2] [DEBUG] [1686740263.170987444] [oak]: Setting param stereo.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.170999745] [oak]: Setting param stereo.i_publish_topic with value 1 [component_container-2] [DEBUG] [1686740263.171011921] [oak]: Setting param stereo.i_publish_left_rect with value 0 [component_container-2] [DEBUG] [1686740263.171025157] [oak]: Setting param stereo.i_left_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.171037309] [oak]: Setting param stereo.i_left_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.171061704] [oak]: Setting param stereo.i_publish_right_rect with value 0 [component_container-2] [DEBUG] [1686740263.171073986] [oak]: Setting param stereo.i_right_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.171087223] [oak]: Setting param stereo.i_right_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.171106518] [oak]: Setting param stereo.i_lr_check with value 1 [component_container-2] [DEBUG] [1686740263.171122560] [oak]: Setting param stereo.i_align_depth with value 1 [component_container-2] [DEBUG] [1686740263.171141421] [oak]: Setting param stereo.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1686740263.171154481] [oak]: Setting param stereo.i_set_input_size with value 0 [component_container-2] [DEBUG] [1686740263.171170758] [oak]: Setting param stereo.i_height with value 720 [component_container-2] [DEBUG] [1686740263.171182417] [oak]: Setting param stereo.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.171195838] [oak]: Setting param stereo.i_depth_preset with value HIGH_ACCURACY [component_container-2] [DEBUG] [1686740263.171220494] [oak]: Setting param stereo.i_enable_distortion_correction with value 1 [component_container-2] [DEBUG] [1686740263.171239666] [oak]: Setting param stereo.i_bilateral_sigma with value 0 [component_container-2] [DEBUG] [1686740263.171252254] [oak]: Setting param stereo.i_lrc_threshold with value 10 [component_container-2] [DEBUG] [1686740263.171266278] [oak]: Setting param stereo.i_depth_filter_size with value 5 [component_container-2] [DEBUG] [1686740263.171279728] [oak]: Setting param stereo.i_stereo_conf_threshold with value 255 [component_container-2] [DEBUG] [1686740263.171293036] [oak]: Setting param stereo.i_subpixel with value 0 [component_container-2] [DEBUG] [1686740263.171306572] [oak]: Setting param stereo.i_extended_disp with value 0 [component_container-2] [DEBUG] [1686740263.171319804] [oak]: Setting param stereo.i_rectify_edge_fill_color with value 0 [component_container-2] [DEBUG] [1686740263.171333421] [oak]: Setting param stereo.i_disparity_width with value DISPARITY_96 [component_container-2] [DEBUG] [1686740263.171356653] [oak]: Setting param stereo.i_enable_companding with value 0 [component_container-2] [DEBUG] [1686740263.171388586] [oak]: Setting param stereo.i_enable_temporal_filter with value 0 [component_container-2] [DEBUG] [1686740263.171412723] [oak]: Setting param stereo.i_enable_speckle_filter with value 0 [component_container-2] [DEBUG] [1686740263.171431755] [oak]: Setting param stereo.i_enable_spatial_filter with value 0 [component_container-2] [DEBUG] [1686740263.171451166] [oak]: Setting param stereo.i_enable_threshold_filter with value 0 [component_container-2] [DEBUG] [1686740263.171471270] [oak]: Setting param stereo.i_enable_decimation_filter with value 0 [component_container-2] [DEBUG] [1686740263.171550774] [oak]: Node stereo created [component_container-2] [DEBUG] [1686740263.171582414] [oak]: Creating node nn base [component_container-2] [DEBUG] [1686740263.171764438] [oak]: Setting param nn.i_nn_config_path with value depthai_ros_driver/mobilenet [component_container-2] [INFO] [1686740263.172243252] [oak]: NN Family: mobilenet [component_container-2] [DEBUG] [1686740263.172338399] [oak]: Creating node nn [component_container-2] [DEBUG] [1686740263.172465032] [oak]: Setting param nn.i_disable_resize with value 0 [component_container-2] [DEBUG] [1686740263.172487615] [oak]: Setting param nn.i_enable_passthrough with value 0 [component_container-2] [DEBUG] [1686740263.172511705] [oak]: Setting param nn.i_enable_passthrough_depth with value 0 [component_container-2] [DEBUG] [1686740263.172528289] [oak]: Setting param nn.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1686740263.172789571] [oak]: Setting param nn.i_model_path with value /home/nanoamr/ros2_ws/install/depthai_examples/share/depthai_examples/resources/mobilenet-ssd_openvino_2021.2_6shave.blob [component_container-2] [INFO] [1686740263.202341853] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions. [component_container-2] [DEBUG] [1686740263.225983546] [oak]: Setting param nn.i_num_pool_frames with value 4 [component_container-2] [DEBUG] [1686740263.226040244] [oak]: Setting param nn.i_num_inference_threads with value 2 [component_container-2] [DEBUG] [1686740263.226059893] [oak]: Setting param nn.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.226394808] [oak]: Setting param nn.i_label_map with value background aeroplane bicycle bird boat bottle bus car cat chair cow diningtable dog horse motorbike person pottedplant sheep sofa train tvmonitor [component_container-2] [DEBUG] [1686740263.226458067] [oak]: Node nn created [component_container-2] [DEBUG] [1686740263.226528010] [oak]: Base node nn created [component_container-2] [DEBUG] [1686740263.226664874] [oak]: Creating node imu [component_container-2] [1844301071C7AB0F00] [1.13] [0.979] [system] [warning] PRINT:LeonCss: Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read [component_container-2] [1844301071C7AB0F00] [1.13] [1.133] [system] [warning] PRINT:LeonCss: SH2 Reset. [component_container-2] [DEBUG] [1686740263.445320023] [oak]: Setting param imu.i_message_type with value IMU [component_container-2] [DEBUG] [1686740263.445389760] [oak]: Setting param imu.i_sync_method with value LINEAR_INTERPOLATE_ACCEL [component_container-2] [DEBUG] [1686740263.445440089] [oak]: Setting param imu.i_acc_cov with value 0 [component_container-2] [DEBUG] [1686740263.445460762] [oak]: Setting param imu.i_gyro_cov with value 0 [component_container-2] [DEBUG] [1686740263.445478966] [oak]: Setting param imu.i_rot_cov with value -1 [component_container-2] [DEBUG] [1686740263.445493422] [oak]: Setting param imu.i_mag_cov with value 0 [component_container-2] [DEBUG] [1686740263.445514196] [oak]: Setting param imu.i_enable_rotation with value 0 [component_container-2] [DEBUG] [1686740263.445542066] [oak]: Setting param imu.i_acc_freq with value 400 [component_container-2] [DEBUG] [1686740263.445568838] [oak]: Setting param imu.i_gyro_freq with value 400 [component_container-2] [DEBUG] [1686740263.445582782] [oak]: Setting param imu.i_batch_report_threshold with value 1 [component_container-2] [DEBUG] [1686740263.445604714] [oak]: Setting param imu.i_max_batch_reports with value 10 [component_container-2] [DEBUG] [1686740263.445661855] [oak]: Node imu created [component_container-2] [INFO] [1686740263.445704792] [oak]: Finished setting up pipeline. [component_container-2] [2023-06-14 18:57:43.450] [debug] Schema dump: 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63,0,1,185,15,133,44,1,133,44,1,0,0,0,0,186,0,1,0,186,0,0,0,136,0,0,0,0,0,0,185,6,8,0,0,0,0,133,255,0,0,1,1,0,0,134,0,0,16,0,4,0,0,189,0]}],[11,{"id":11,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":48,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,5,110,110,95,110,110,0]}]]} [component_container-2] [2023-06-14 18:57:43.450] [debug] Asset map dump: {"map":{"/node/9/blob":{"alignment":64,"offset":0,"size":14510848}}} [component_container-2] [1844301071C7AB0F00] [1.13] [1.265] [system] [warning] PRINT:LeonCss: Calling IPC set assets [component_container-2] [1844301071C7AB0F00] [1.13] [1.375] [system] [warning] PRINT:LeonCss: Asset: /node/9/blob, pointer: 0x8abca200, size: 14510848, alignment: 64 [component_container-2] [1844301071C7AB0F00] [1.13] [1.377] [MonoCamera(4)] [info] Using board socket: 1, id: 1 [component_container-2] [1844301071C7AB0F00] [1.13] [1.378] [MonoCamera(6)] [info] Using board socket: 2, id: 2 [component_container-2] [1844301071C7AB0F00] [1.13] [1.380] [system] [info] SpatialLocationCalculator shave buffer size '54272'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.419] [system] [warning] PRINT:LeonCss: 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] [1844301071C7AB0F00] [1.13] [1.419] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created [component_container-2] [1844301071C7AB0F00] [1.13] [1.381] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.416] [system] [info] ImageManip internal buffer size '297984'B, shave buffer size '35840'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.416] [system] [info] NeuralNetwork allocated resources: shaves: [0-11] cmx slices: [0-11] [component_container-2] 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: [12-12] cmx slices: [12-12] [component_container-2] ImageManip allocated resources: shaves: [15-15] no cmx slices. [component_container-2] SpatialLocationCalculator allocated resources: shaves: [14-14] no cmx slices. [component_container-2] [component_container-2] [1844301071C7AB0F00] [1.13] [1.441] [system] [warning] PRINT:LeonMss: NeuralNetwork | Available resources: shaveStart: 0, numShaves: 12, mask: 00000FFF [component_container-2] Initing ImgPreproc system! [component_container-2] [component_container-2] Pre-proc Enc mem used: 46080 bytes. Available: 297984 [component_container-2] [1844301071C7AB0F00] [1.13] [1.432] [SpatialDetectionNetwork(9)] [info] Needed resources: shaves: 6, ddr: 7106432 [component_container-2] [1844301071C7AB0F00] [1.13] [1.447] [SpatialDetectionNetwork(9)] [info] Inference thread count: 2, number of shaves allocated per thread: 6, number of Neural Compute Engines (NCE) allocated per thread: 1 [component_container-2] [DEBUG] [1686740263.741300407] [rcl]: Initializing publisher for topic name '~/nn/spatial_detections' [component_container-2] [DEBUG] [1686740263.741320270] [rcl]: Expanded and remapped topic name '/oak/nn/spatial_detections' [component_container-2] [DEBUG] [1686740263.742261596] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.742550506] [rcl]: Initializing service for service name 'oak/rgb/set_camera_info' [component_container-2] [DEBUG] [1686740263.742557118] [rcl]: Expanded and remapped service name '/oak/rgb/set_camera_info' [component_container-2] [DEBUG] [1686740263.742822237] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.742827227] [rmw_fastrtps_cpp]: Sub Topic rq/oak/rgb/set_camera_infoRequest [component_container-2] [DEBUG] [1686740263.742829190] [rmw_fastrtps_cpp]: Pub Topic rr/oak/rgb/set_camera_infoReply

[component_container-2] [DEBUG] [1686740263.742856340] [rcl]: Service initialized [component_container-2] [1844301071C7AB0F00] [1.13] [1.452] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:01.445] [info] Time taken to build the pipeline: 72ms [component_container-2] == FSYNC enabled for cam mask 0x0 [component_container-2] 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] [1844301071C7AB0F00] [1.13] [1.452] [system] [warning] PRINT:LeonMss: LRT - build pipeline call [component_container-2] [1844301071C7AB0F00] [1.13] [1.474] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x881c72c0 [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] [1844301071C7AB0F00] [1.13] [1.485] [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] [1844301071C7AB0F00] [1.13] [1.496] [system] [warning] PRINT:LeonCss: ============================ Configuring IMX378 with mode 0 [component_container-2] Reading..........Reading VERSION 7 --- -> [component_container-2] [1844301071C7AB0F00] [1.13] [1.507] [system] [warning] PRINT:LeonCss: ========== IMX378 /dev/i2c.Camera_0_sen, FSIN enable 0, output 0 [component_container-2] [DEBUG] [1686740263.822875135] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740263.822888819] [pluginlib.ClassLoader]: Class image_transport/compressedDepth_pub maps to library compressed_depth_image_transport in classesavailable.

[component_container-2] [DEBUG] [1686740263.823136995] [pluginlib.ClassLoader]: Iterating through all possible paths where compressed_depth_image_transport could be located... [component_container-2] [DEBUG] [1686740263.823138725] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libcompressed_depth_image_transport.so [component_container-2] [DEBUG] [1686740263.823146161] [pluginlib.ClassLoader]: Library compressed_depth_image_transport found at explicit path /opt/ros/humble/lib/libcompressed_depth_image_transport.so. [component_container-2] [DEBUG] [1686740263.824157163] [pluginlib.ClassLoader]: image_transport/compressedDepth_pub maps to real class type compressed_depth_image_transport::CompressedDepthPublisher [component_container-2] [DEBUG] [1686740263.824170264] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_depth_image_transport::CompressedDepthPublisher created. [component_container-2] [DEBUG] [1686740263.824174982] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/compressedDepth [component_container-2] [DEBUG] [1686740263.824203439] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.824211991] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.824616435] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.824641138] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740263.824645919] [pluginlib.ClassLoader]: Class image_transport/compressed_pub maps to library compressed_image_transport in classesavailable.

[component_container-2] [DEBUG] [1686740263.824847675] [pluginlib.ClassLoader]: Iterating through all possible paths where compressed_image_transport could be located... [component_container-2] [DEBUG] [1686740263.824849326] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libcompressed_image_transport.so [component_container-2] [DEBUG] [1686740263.824854364] [pluginlib.ClassLoader]: Library compressed_image_transport found at explicit path /opt/ros/humble/lib/libcompressed_image_transport.so. [component_container-2] [DEBUG] [1686740263.825799604] [pluginlib.ClassLoader]: image_transport/compressed_pub maps to real class type compressed_image_transport::CompressedPublisher [component_container-2] [DEBUG] [1686740263.825808989] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_image_transport::CompressedPublisher created. [component_container-2] [DEBUG] [1686740263.825814518] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/compressed [component_container-2] [DEBUG] [1686740263.825827134] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.825830944] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.825940178] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.826079567] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/raw_pub. [component_container-2] [DEBUG] [1686740263.826084006] [pluginlib.ClassLoader]: Class image_transport/raw_pub maps to library image_transport_plugins in classesavailable.

[component_container-2] [DEBUG] [1686740263.826267783] [pluginlib.ClassLoader]: Iterating through all possible paths where image_transport_plugins could be located... [component_container-2] [DEBUG] [1686740263.826269362] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libimage_transport_plugins.so [component_container-2] [DEBUG] [1686740263.826274213] [pluginlib.ClassLoader]: Library image_transport_plugins found at explicit path /opt/ros/humble/lib/libimage_transport_plugins.so. [component_container-2] [DEBUG] [1686740263.826572555] [pluginlib.ClassLoader]: image_transport/raw_pub maps to real class type image_transport::RawPublisher [component_container-2] [DEBUG] [1686740263.826580936] [pluginlib.ClassLoader]: std::unique_ptr to object of real type image_transport::RawPublisher created. [component_container-2] [DEBUG] [1686740263.826583905] [oak]: getTopicToAdvertise: /oak/rgb/image_raw [component_container-2] [DEBUG] [1686740263.826595195] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw' [component_container-2] [DEBUG] [1686740263.826598730] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw' [component_container-2] [DEBUG] [1686740263.826761025] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.826771210] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/theora_pub. [component_container-2] [DEBUG] [1686740263.826775161] [pluginlib.ClassLoader]: Class image_transport/theora_pub maps to library theora_image_transport_component in classesavailable.

[component_container-2] [DEBUG] [1686740263.826951700] [pluginlib.ClassLoader]: Iterating through all possible paths where theora_image_transport_component could be located... [component_container-2] [DEBUG] [1686740263.826953213] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libtheora_image_transport_component.so [component_container-2] [DEBUG] [1686740263.826959121] [pluginlib.ClassLoader]: Library theora_image_transport_component found at explicit path /opt/ros/humble/lib/libtheora_image_transport_component.so. [component_container-2] [DEBUG] [1686740263.829040052] [pluginlib.ClassLoader]: image_transport/theora_pub maps to real class type theora_image_transport::TheoraPublisher [component_container-2] [DEBUG] [1686740263.829055708] [pluginlib.ClassLoader]: std::unique_ptr to object of real type theora_image_transport::TheoraPublisher created. [component_container-2] [DEBUG] [1686740263.829060148] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/theora [component_container-2] [DEBUG] [1686740263.829074154] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/theora' [component_container-2] [DEBUG] [1686740263.829077799] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/theora' [component_container-2] [DEBUG] [1686740263.829359296] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829380663] [rcl]: Initializing publisher for topic name '/oak/rgb/camera_info' [component_container-2] [DEBUG] [1686740263.829384363] [rcl]: Expanded and remapped topic name '/oak/rgb/camera_info' [component_container-2] [DEBUG] [1686740263.829539235] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829691072] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740263.829697037] [pluginlib.ClassLoader]: image_transport/compressedDepth_pub maps to real class type compressed_depth_image_transport::CompressedDepthPublisher [component_container-2] [DEBUG] [1686740263.829702261] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_depth_image_transport::CompressedDepthPublisher created. [component_container-2] [DEBUG] [1686740263.829704789] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/compressedDepth [component_container-2] [DEBUG] [1686740263.829711448] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.829714158] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.829784466] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829790808] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740263.829794356] [pluginlib.ClassLoader]: image_transport/compressed_pub maps to real class type compressed_image_transport::CompressedPublisher [component_container-2] [DEBUG] [1686740263.829799464] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_image_transport::CompressedPublisher created. [component_container-2] [DEBUG] [1686740263.829801766] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/compressed [component_container-2] [DEBUG] [1686740263.829807298] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.829809835] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.829868746] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829971706] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/raw_pub. [component_container-2] [DEBUG] [1686740263.829975813] [pluginlib.ClassLoader]: image_transport/raw_pub maps to real class type image_transport::RawPublisher [component_container-2] [DEBUG] [1686740263.829981234] [pluginlib.ClassLoader]: std::unique_ptr to object of real type image_transport::RawPublisher created. [component_container-2] [DEBUG] [1686740263.829983359] [oak]: getTopicToAdvertise: /oak/stereo/image_raw [component_container-2] [DEBUG] [1686740263.829988986] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw' [component_container-2] [DEBUG] [1686740263.829991665] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw' [component_container-2] [DEBUG] [1686740263.830057700] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830062527] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/theora_pub. [component_container-2] [DEBUG] [1686740263.830066093] [pluginlib.ClassLoader]: image_transport/theora_pub maps to real class type theora_image_transport::TheoraPublisher [component_container-2] [DEBUG] [1686740263.830072761] [pluginlib.ClassLoader]: std::unique_ptr to object of real type theora_image_transport::TheoraPublisher created. [component_container-2] [DEBUG] [1686740263.830074951] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/theora [component_container-2] [DEBUG] [1686740263.830079480] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/theora' [component_container-2] [DEBUG] [1686740263.830089219] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/theora' [component_container-2] [DEBUG] [1686740263.830149322] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830154535] [rcl]: Initializing publisher for topic name '/oak/stereo/camera_info' [component_container-2] [DEBUG] [1686740263.830156769] [rcl]: Expanded and remapped topic name '/oak/stereo/camera_info' [component_container-2] [DEBUG] [1686740263.830208307] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830233655] [rcl]: Initializing service for service name 'oak/stereo/set_camera_info' [component_container-2] [DEBUG] [1686740263.830236638] [rcl]: Expanded and remapped service name '/oak/stereo/set_camera_info' [component_container-2] [DEBUG] [1686740263.830337346] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.830339915] [rmw_fastrtps_cpp]: Sub Topic rq/oak/stereo/set_camera_infoRequest [component_container-2] [DEBUG] [1686740263.830341500] [rmw_fastrtps_cpp]: Pub Topic rr/oak/stereo/set_camera_infoReply

[component_container-2] [DEBUG] [1686740263.830361296] [rcl]: Service initialized [component_container-2] [1844301071C7AB0F00] [1.13] [1.518] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [1844301071C7AB0F00] [1.13] [1.529] [system] [warning] PRINT:LeonCss: [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] [1844301071C7AB0F00] [1.13] [1.551] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87d208c0 [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] [1844301071C7AB0F00] [1.13] [1.562] [system] [warning] PRINT:LeonCss: [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] [1844301071C7AB0F00] [1.13] [1.573] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] initial keepalive, countdown: 8 [component_container-2] [1844301071C7AB0F00] [1.13] [1.584] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- -> [component_container-2] [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [1844301071C7AB0F00] [1.13] [1.595] [system] [warning] PRINT:LeonCss: [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] [1844301071C7AB0F00] [1.13] [1.606] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87888100 [component_container-2] [1844301071C7AB0F00] [1.13] [1.617] [system] [warning] PRINT:LeonCss: [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] [1844301071C7AB0F00] [1.13] [1.628] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] Reading..........Reading VERSION 7 --- -> [component_container-2] [DEBUG] [1686740263.896403455] [rcl]: Initializing publisher for topic name '~/imu/data' [component_container-2] [DEBUG] [1686740263.896421056] [rcl]: Expanded and remapped topic name '/oak/imu/data' [component_container-2] [DEBUG] [1686740263.896714826] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.900254148] [rcl]: Initializing service for service name '~/start_camera' [component_container-2] [DEBUG] [1686740263.900267719] [rcl]: Expanded and remapped service name '/oak/start_camera' [component_container-2] [DEBUG] [1686740263.900587245] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.900593826] [rmw_fastrtps_cpp]: Sub Topic rq/oak/start_cameraRequest [component_container-2] [DEBUG] [1686740263.900595730] [rmw_fastrtps_cpp]: Pub Topic rr/oak/start_cameraReply

[component_container-2] [DEBUG] [1686740263.900630575] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900696028] [rcl]: Initializing service for service name '~/stop_camera' [component_container-2] [DEBUG] [1686740263.900699966] [rcl]: Expanded and remapped service name '/oak/stop_camera' [component_container-2] [DEBUG] [1686740263.900788525] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.900791070] [rmw_fastrtps_cpp]: Sub Topic rq/oak/stop_cameraRequest [component_container-2] [DEBUG] [1686740263.900792578] [rmw_fastrtps_cpp]: Pub Topic rr/oak/stop_cameraReply

[component_container-2] [DEBUG] [1686740263.900814209] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900823259] [rcl]: Initializing service for service name '~/save_pipeline' [component_container-2] [DEBUG] [1686740263.900826078] [rcl]: Expanded and remapped service name '/oak/save_pipeline' [component_container-2] [DEBUG] [1686740263.900897009] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.900899114] [rmw_fastrtps_cpp]: Sub Topic rq/oak/save_pipelineRequest [component_container-2] [DEBUG] [1686740263.900900599] [rmw_fastrtps_cpp]: Pub Topic rr/oak/save_pipelineReply

[component_container-2] [DEBUG] [1686740263.900919234] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900926191] [rcl]: Initializing service for service name '~/save_calibration' [component_container-2] [DEBUG] [1686740263.900928671] [rcl]: Expanded and remapped service name '/oak/save_calibration' [component_container-2] [DEBUG] [1686740263.900992877] [rmw_fastrtps_cpp]: **** Service Details ***** [component_container-2] [DEBUG] [1686740263.900994726] [rmw_fastrtps_cpp]: Sub Topic rq/oak/save_calibrationRequest [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-2] [DEBUG] [1686740263.900996196] [rmw_fastrtps_cpp]: Pub Topic rr/oak/save_calibrationReply

[component_container-2] [DEBUG] [1686740263.901015446] [rcl]: Service initialized [component_container-2] [INFO] [1686740263.901019650] [oak]: Camera ready! [component_container-2] [DEBUG] [1686740263.901100691] [rcl]: Sending service response [component_container-2] [DEBUG] [1686740263.901158483] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901167258] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901172423] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901175135] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901191683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901194031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901206351] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901208612] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901217371] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901219447] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901222510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901225518] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901233984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901235957] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901238092] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901240111] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901247832] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901249793] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901251760] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901253800] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901261224] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901263168] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901265136] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901266994] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901274304] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901276202] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901278223] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901280069] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901287446] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901289432] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901291409] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901293300] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901300747] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901302689] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901304650] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901306610] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901313950] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901315854] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901317830] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901319782] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901327180] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901329082] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901331100] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901332951] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901340265] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901342143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901344110] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901345988] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901353321] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901355326] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901358229] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901360351] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901367822] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901369720] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901371730] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901375026] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901382683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901384581] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901386554] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901388463] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901395878] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901398518] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901400593] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901402507] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901409913] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901413876] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901415889] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901417724] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901432005] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901434187] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901436162] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901437984] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901445541] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901447528] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901449496] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901451361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901458673] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901460604] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901462542] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901464501] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901471800] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901473728] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901475690] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901477624] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901485011] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901486996] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901488954] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901490876] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901498236] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901500268] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901502307] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901504254] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901511787] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901513747] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901515698] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901517548] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901524826] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901526760] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901528741] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901530815] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901538143] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901540063] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901542088] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901544000] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901551401] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901553384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901555335] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901557213] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901564529] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901566596] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901568709] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901570728] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901578149] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901580669] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901584170] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901586346] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901593730] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901595626] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901597582] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901600665] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901608683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901610664] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901612703] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901614598] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901623845] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901625726] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901627675] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901629710] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901637009] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901638977] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901640925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901642713] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901650100] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901652088] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901655129] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901657426] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901664874] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901666760] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901668731] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901670629] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901677933] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901679845] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901681830] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901683707] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901691079] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901693061] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901695010] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901696910] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901704282] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901706162] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901708076] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901710015] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901717347] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901719252] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901722306] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901724411] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901731954] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901733942] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901735903] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901737921] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901745276] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901747178] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901749130] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901750983] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901758341] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901760217] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901762176] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901764072] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901771399] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901773280] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901775240] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901777172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901784451] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901786335] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901788313] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901790264] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901798458] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901800700] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901802665] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901804905] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901812346] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901814212] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901816187] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901818111] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901826973] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901828909] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901830856] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901832656] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901840058] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901841910] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901843853] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901845702] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901853072] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901855005] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901856960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901858885] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901866480] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901868380] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901870358] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901872193] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901879560] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901881552] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901883532] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901885422] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901892720] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901894602] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901896536] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901898363] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901905699] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901907572] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901909506] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901911380] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901918689] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901920586] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901923508] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901925675] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901933049] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901935030] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901936999] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901938828] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901946152] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901948058] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901950017] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901951884] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901959210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901961094] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901963035] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901964860] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901972132] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901974037] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901975986] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901978054] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901985468] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901987503] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901989517] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901991461] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901998796] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902000707] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902003138] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902004966] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902012329] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902014332] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902016286] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902021544] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902028922] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902030864] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902032819] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902034670] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902041970] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902043856] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902045806] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902047666] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902054997] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902056880] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902058832] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902060643] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902067925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902069803] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902071784] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902073698] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902081033] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902082977] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902084925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902086738] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902094011] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902096019] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902097998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902099806] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902107083] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902108953] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902110890] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902112697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902119966] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902121837] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902123880] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902125919] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902133302] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902135209] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902137185] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902138982] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902146314] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902148217] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902150150] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902152017] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902159350] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902161352] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902163313] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902165155] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902172467] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902174327] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902176250] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902178164] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902185481] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902187329] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902189293] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902191188] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902198529] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902200432] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902202362] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902204277] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902211589] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902213592] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902217009] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902219079] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902226382] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902228288] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902230233] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902232104] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902239357] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902241350] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902243310] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902245232] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902252620] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902254574] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902256584] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902258408] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902265736] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902267599] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902269587] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902271482] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902278759] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902280648] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902282594] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902284445] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902291776] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902293667] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902295668] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902297513] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902304866] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902306766] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902308727] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902310539] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902317852] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902319767] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902321732] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902323549] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902330865] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902332829] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902334768] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902336699] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902343984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902346015] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902347998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902349809] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902357130] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902359035] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902361001] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902362894] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902370129] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902372012] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902373987] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902378143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902385544] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902387619] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902389596] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902391516] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902398921] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902400984] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902402923] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902404747] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902412083] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902413998] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902417349] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902419260] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902426570] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902428484] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902430437] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902432225] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902439947] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902441962] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902443928] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902445854] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902453178] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902455095] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902457046] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902458888] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902466233] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902468105] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902470042] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902471904] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902479242] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902481099] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902483054] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902484842] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902493032] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902495172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902497120] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902499040] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902506448] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902508325] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902510284] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902512101] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902519342] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902521455] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902523416] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902525228] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902532567] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902534468] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902536398] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902538201] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902545509] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902547384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902549351] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902551172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902558557] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902560441] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902562380] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902565597] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902573099] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902574950] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902576887] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902578859] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902586240] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902588110] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902590063] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902591889] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902599272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902601173] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902603128] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902605063] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902612450] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902615827] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902617800] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902619733] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902627089] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902629004] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902630983] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902633238] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902640550] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902642485] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902644426] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902646274] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902653669] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902655590] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902657524] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902659397] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902666742] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902668633] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902670608] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902672506] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902679877] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902681727] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902683666] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902685524] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902693006] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902694889] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902696840] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902698646] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902705998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902707897] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902709810] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902711703] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902718960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902720846] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902722813] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902724750] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902732042] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902733909] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902735847] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902737796] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902745112] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902747027] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902748976] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902750812] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902758113] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902759989] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902761926] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902763845] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902771126] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902773003] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902774939] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902776824] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902784138] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902786031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902787974] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902789858] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902797140] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902799041] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902800994] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902802974] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902810285] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902813541] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902815555] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902817384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902824693] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902826847] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902829326] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902831275] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902838766] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902840665] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902842630] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902844566] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902852173] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902854124] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902856111] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902858076] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902865543] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902867521] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902869517] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902871553] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902878847] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902880777] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902882734] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902884549] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902891885] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902893767] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902895697] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902897560] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902904851] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902906805] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902909253] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902911840] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902919281] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902921168] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902923210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902925268] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902932622] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902934536] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902936510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902938459] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902945790] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902947690] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902949635] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902951514] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902958802] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902960697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902962660] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902964479] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902971845] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902973724] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902975683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902978285] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902985722] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902988062] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902990053] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902991929] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902999210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903001221] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903003189] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903005121] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903013888] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903015862] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903017842] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903019671] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903027062] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903029247] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903031191] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903033142] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903040496] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903042501] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903044458] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903046322] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903053653] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903055643] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903057574] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903059361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903066658] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903068533] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903070510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903072440] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903079759] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903081660] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903083629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903085513] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903094108] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903096267] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903098219] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903100011] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903107460] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903109313] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903111272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903113055] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903120418] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903122323] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903124284] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903126078] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903133505] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903135399] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903137333] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903139242] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903146767] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903148678] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903150629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903152552] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903159984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903161861] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903163833] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903165614] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903173107] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903175039] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903177137] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903179068] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903186665] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903188934] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903190941] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903192794] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903200347] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903202228] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903204149] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903207439] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903214955] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903216874] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903218841] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903220676] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903228441] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903230397] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903232352] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903234148] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903241449] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903243340] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903245276] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903247222] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903254798] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903256697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903258666] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903260664] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903268161] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903270092] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903272032] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903274143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903281629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903284105] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903286692] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903288821] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903296492] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903298722] [rcl]: Subscription take succeeded: true [component_container-2] [1844301071C7AB0F00] [1.13] [1.639] [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] [1844301071C7AB0F00] [1.13] [1.650] [system] [warning] PRINT:LeonCss: SH2 Reset. [component_container-2] 800.000 mA -> 67 [component_container-2] dot: 800.00 mA, flood: 0.00 mA, duty = 0.28 [component_container-2] ===== IR write bus 2: 0x04 = 0x43 [component_container-2] ===== IR write bus 2: 0x01 = 0x26 [component_container-2] 0.000 mA -> 0 [component_container-2] dot: 800.00 mA, flood: 0.00 mA, duty = 0.28 [component_container-2] ===== IR write bus 2: 0x03 = 0x00 [component_container-2] ===== IR write bus 2: 0x01 = 0x26 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] IMU product ID: [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004563 : Version 3.9.9 Build 2 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10003606 : Version 1.8.0 Build 338 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004135 : Version 5.5.3 Build 162 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004149 : Version 5.1.12 Build 183 [component_container-2] [1844301071C7AB0F00] [1.13] [1.672] [system] [warning] PRINT:LeonCss: waited for reset 0 ms [component_container-2] [1844301071C7AB0F00] [1.13] [1.683] [system] [warning] PRINT:LeonMss: finishe [component_container-2] [1844301071C7AB0F00] [1.13] [1.694] [system] [warning] PRINT:LeonMss: d sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Rectification mesh loaded, will override camera intrinsics/extrinsics matrices [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Depth baseline: '7.5000005' cm, focal length: '801.56976' [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Depth horizontal FOV: '63.94461', vertical FOV: '38.693478' [component_container-2] [1844301071C7AB0F00] [1.13] [1.749] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.771] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.804] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.66 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Temperatures - Average: 43.04C, CSS: 43.96C, MSS 42.35C, UPA: 43.50C, DSS: 42.35C [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Cpu Usage - LeonOS 50.88%, LeonRT: 39.90% [component_container-2] [1844301071C7AB0F00] [1.13] [2.860] [system] [warning] PRINT:LeonCss: [E] inc_cam_evt_notify():332: Lens move command received while lens is in progress [component_container-2] [1844301071C7AB0F00] [1.13] [2.882] [system] [warning] PRINT:LeonCss: [E] inc_cam_evt_notify():332: Lens move command received while lens is in progress [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Temperatures - Average: 44.92C, CSS: 46.23C, MSS 44.18C, UPA: 45.32C, DSS: 43.96C [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Cpu Usage - LeonOS 88.15%, LeonRT: 54.20% [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Temperatures - Average: 45.32C, CSS: 46.68C, MSS 45.09C, UPA: 45.32C, DSS: 44.18C [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Cpu Usage - LeonOS 86.19%, LeonRT: 53.17% [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Temperatures - Average: 46.23C, CSS: 46.90C, MSS 46.00C, UPA: 46.90C, DSS: 45.09C [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Cpu Usage - LeonOS 86.48%, LeonRT: 52.08% [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Temperatures - Average: 46.45C, CSS: 46.90C, MSS 46.45C, UPA: 46.90C, DSS: 45.55C [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Cpu Usage - LeonOS 87.12%, LeonRT: 52.50% [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Temperatures - Average: 46.39C, CSS: 47.58C, MSS 45.77C, UPA: 46.90C, DSS: 45.32C [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Cpu Usage - LeonOS 86.03%, LeonRT: 51.17% [component_container-2] [1844301071C7AB0F00] [1.13] [7.894] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [7.895] [system] [info] Temperatures - Average: 47.18C, CSS: 48.03C, MSS 47.13C, UPA: 47.80C, DSS: 45.77C [component_container-2] [1844301071C7AB0F00] [1.13] [7.895] [system] [info] Cpu Usage - LeonOS 87.30%, LeonRT: 50.41% [component_container-2] [1844301071C7AB0F00] [1.13] [8.897] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [8.897] [system] [info] Temperatures - Average: 47.52C, CSS: 47.80C, MSS 47.13C, UPA: 48.47C, DSS: 46.68C [component_container-2] [1844301071C7AB0F00] [1.13] [8.898] [system] [info] Cpu Usage - LeonOS 86.54%, LeonRT: 51.22% [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Temperatures - Average: 47.46C, CSS: 48.47C, MSS 47.13C, UPA: 48.03C, DSS: 46.23C [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Cpu Usage - LeonOS 87.57%, LeonRT: 50.19% [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Temperatures - Average: 48.02C, CSS: 48.47C, MSS 48.25C, UPA: 49.37C, DSS: 46.00C [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Cpu Usage - LeonOS 87.03%, LeonRT: 52.33% [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Temperatures - Average: 47.91C, CSS: 49.59C, MSS 47.35C, UPA: 48.25C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Cpu Usage - LeonOS 87.67%, LeonRT: 53.69% [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Temperatures - Average: 47.52C, CSS: 48.70C, MSS 46.90C, UPA: 48.47C, DSS: 46.00C [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Cpu Usage - LeonOS 86.69%, LeonRT: 51.16% [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.34 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Temperatures - Average: 48.19C, CSS: 48.70C, MSS 48.03C, UPA: 48.92C, DSS: 47.13C [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Cpu Usage - LeonOS 86.71%, LeonRT: 51.44% [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Temperatures - Average: 48.36C, CSS: 49.81C, MSS 48.25C, UPA: 48.92C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Cpu Usage - LeonOS 87.19%, LeonRT: 52.60% [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Temperatures - Average: 48.13C, CSS: 49.59C, MSS 47.58C, UPA: 48.92C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Cpu Usage - LeonOS 86.76%, LeonRT: 51.22% [component_container-2] [1844301071C7AB0F00] [1.13] [16.912] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [16.913] [system] [info] Temperatures - Average: 48.70C, CSS: 49.81C, MSS 48.25C, UPA: 48.92C, DSS: 47.80C [component_container-2] [1844301071C7AB0F00] [1.13] [16.913] [system] [info] Cpu Usage - LeonOS 86.86%, LeonRT: 51.44% [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Temperatures - Average: 48.30C, CSS: 49.59C, MSS 47.35C, UPA: 49.81C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Cpu Usage - LeonOS 86.82%, LeonRT: 49.90% [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Temperatures - Average: 49.14C, CSS: 50.03C, MSS 49.14C, UPA: 50.03C, DSS: 47.35C [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Cpu Usage - LeonOS 87.46%, LeonRT: 50.46% [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Temperatures - Average: 49.03C, CSS: 50.25C, MSS 48.70C, UPA: 49.59C, DSS: 47.58C [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Cpu Usage - LeonOS 86.42%, LeonRT: 51.05% [component_container-2] [1844301071C7AB0F00] [1.13] [20.920] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [20.921] [system] [info] Temperatures - Average: 48.75C, CSS: 50.25C, MSS 48.47C, UPA: 49.14C, DSS: 47.13C [component_container-2] [1844301071C7AB0F00] [1.13] [20.921] [system] [info] Cpu Usage - LeonOS 87.17%, LeonRT: 53.18% [component_container-2] [1844301071C7AB0F00] [1.13] [21.922] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [21.923] [system] [info] Temperatures - Average: 48.86C, CSS: 49.81C, MSS 48.70C, UPA: 49.59C, DSS: 47.35C [component_container-2] [1844301071C7AB0F00] [1.13] [21.923] [system] [info] Cpu Usage - LeonOS 86.95%, LeonRT: 49.77% [ERROR] [component_container-2]: process has died [pid 79346, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level debug --ros-args -r __node:=oak_container -r __ns:=/']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 79344]

[raitzjm]

Could you run export DEPTHAI_DEBUG=1 and post logs that you get after running launch files?

SOrry for my late reply. Would you like my logs as well?

[Shivam7Sharma]

Hi,

I am getting the same error when I launch the camera.launch.py in any mode.

How do I solve this?

The following is the debug output link: Link

[Serafadam]

Hi @Shivam7Sharma , could you run the camera node with gdb to find the exact point of error? You can try using use_gdb:=true launch argument which should make it easier

[Shivam7Sharma]

Thank you for the quick reply. The following is the output with the gdb:

shivam157@ubuntu:~/dai_ws_non_prod$ ros2 launch depthai_ros_driver camera.launch.py use_gdb:=true
[INFO] [launch]: All log files can be found below /home/shivam157/.ros/log/2024-07-02-11-21-14-677889-ubuntu-9096
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gdb-1]: process started with pid [9113]
[gdb-1] GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
[gdb-1] Copyright (C) 2022 Free Software Foundation, Inc.
[gdb-1] License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
[gdb-1] This is free software: you are free to change and redistribute it.
[gdb-1] There is NO WARRANTY, to the extent permitted by law.
[gdb-1] Type "show copying" and "show warranty" for details.
[gdb-1] This GDB was configured as "aarch64-linux-gnu".
[gdb-1] Type "show configuration" for configuration details.
[gdb-1] For bug reporting instructions, please see:
[gdb-1] <https://www.gnu.org/software/gdb/bugs/>.
[gdb-1] Find the GDB manual and other documentation resources online at:
[gdb-1]     <http://www.gnu.org/software/gdb/documentation/>.
[gdb-1] 
[gdb-1] For help, type "help".
[gdb-1] Type "apropos word" to search for commands related to "word"...
[gdb-1] Reading symbols from /opt/ros/humble/lib/rclcpp_components/component_container...
[gdb-1] (No debugging symbols found in /opt/ros/humble/lib/rclcpp_components/component_container)
[gdb-1] Starting program: /opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/
[gdb-1] [Thread debugging using libthread_db enabled]
[gdb-1] Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
[gdb-1] [New Thread 0xfffff667e8e0 (LWP 9134)]
[gdb-1] [New Thread 0xfffff5e6e8e0 (LWP 9135)]
[gdb-1] [New Thread 0xfffff55d78e0 (LWP 9136)]
[gdb-1] [New Thread 0xfffff4dc78e0 (LWP 9137)]
[gdb-1] [New Thread 0xfffff45b78e0 (LWP 9138)]
[gdb-1] [New Thread 0xfffff3da78e0 (LWP 9139)]
[gdb-1] [New Thread 0xfffff35978e0 (LWP 9140)]
[gdb-1] [New Thread 0xfffff2cc78e0 (LWP 9141)]
[gdb-1] [New Thread 0xfffff249e8e0 (LWP 9154)]
[gdb-1] [INFO] [1719933676.666819772] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[gdb-1] [INFO] [1719933676.828926148] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1719933676.829058808] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1719933676.889019062] [oak_state_publisher]: got segment oak
[gdb-1] [INFO] [1719933676.889169257] [oak_state_publisher]: got segment oak-d-base-frame
[gdb-1] [INFO] [1719933676.889189095] [oak_state_publisher]: got segment oak_imu_frame
[gdb-1] [INFO] [1719933676.889198855] [oak_state_publisher]: got segment oak_left_camera_frame
[gdb-1] [INFO] [1719933676.889207590] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[gdb-1] [INFO] [1719933676.889216229] [oak_state_publisher]: got segment oak_model_origin
[gdb-1] [INFO] [1719933676.889224580] [oak_state_publisher]: got segment oak_rgb_camera_frame
[gdb-1] [INFO] [1719933676.889234851] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[gdb-1] [INFO] [1719933676.889243555] [oak_state_publisher]: got segment oak_right_camera_frame
[gdb-1] [INFO] [1719933676.889251362] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[gdb-1] [INFO] [1719933676.912779848] [oak_container]: Load Library: /home/shivam157/dai_ws_non_prod/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[gdb-1] [New Thread 0xffffceffe8e0 (LWP 9173)]
[gdb-1] [New Thread 0xffffce7ee8e0 (LWP 9174)]
[gdb-1] [New Thread 0xffffc9fde8e0 (LWP 9175)]
[gdb-1] [New Thread 0xffffc97ce8e0 (LWP 9176)]
[gdb-1] [New Thread 0xffffc6fbe8e0 (LWP 9177)]
[gdb-1] [INFO] [1719933679.188285504] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [INFO] [1719933679.188433331] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [New Thread 0xffffc274e8e0 (LWP 9178)]
[gdb-1] [New Thread 0xffffc1f3e8e0 (LWP 9179)]
[gdb-1] [New Thread 0xffffbbffe8e0 (LWP 9180)]
[gdb-1] [INFO] [1719933679.224965184] [oak]: No ip/mxid specified, connecting to the next available device.
[gdb-1] [Thread 0xffffc1f3e8e0 (LWP 9179) exited]
[gdb-1] [Thread 0xffffc274e8e0 (LWP 9178) exited]
[gdb-1] [New Thread 0xffffc172e8e0 (LWP 9243)]
[gdb-1] [New Thread 0xffffc0f1e8e0 (LWP 9244)]
[gdb-1] [New Thread 0xffffbb7ee8e0 (LWP 9248)]
[gdb-1] [New Thread 0xffffbafde8e0 (LWP 9249)]
[gdb-1] [New Thread 0xffffba7ce8e0 (LWP 9251)]
[gdb-1] [New Thread 0xffffb976b8e0 (LWP 9253)]
[gdb-1] [INFO] [1719933683.890287715] [oak]: Camera with MXID: 14442C10E14FCBD600 and Name: 1.2.1 connected!
[gdb-1] [INFO] [1719933683.891209364] [oak]: USB SPEED: SUPER
[gdb-1] [INFO] [1719933683.925123486] [oak]: Device type: OAK-FFC-3P
[gdb-1] [INFO] [1719933683.928247922] [oak]: Pipeline type: Depth
[gdb-1] 
[gdb-1] Thread 1 "component_conta" received signal SIGSEGV, Segmentation fault.
[gdb-1] 0x0000fffff79adbf4 in __GI___libc_free (mem=0x7468676972) at ./malloc/malloc.c:3368
[gdb-1] 3368    ./malloc/malloc.c: No such file or directory.

[Serafadam]

Could you install additional debug symbols?

sudo apt install -y ros-humble-rclcpp-dbgsym ros-humble-rclcpp-components-dbgsym ros-humble-depthai-ros-driver-dbgsym

[Shivam7Sharma]

@Serafadam I installed the things you said. What should I do now?