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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
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[BUG] OAK-D PRO W: No image and no camera_info received #410

Closed YamadaNaoto712 closed 8 months ago

YamadaNaoto712 commented 9 months ago

I use depthai-noetic with oak-d pro w on ubuntu20.04 of wsl2(windows11). I run two commands below; on 1st terminal: roslaunch depthai_examples stereo_inertial_node.launch on 2nd terminal: ROS_NAMESPACE=/stereo_inertial_publisher/ rosrun stereo_image_proc stereo_image_proc

When Image Topic is /stereo_inertial_publisher/left/ or /stereo_inertial_publisher/right/ (example:/stereo_inertial_publisher/left/image_rect), no image and no camerainfo received.

image

When Image Topic is /stereo_inertial_publisher/stereo/ or /stereo_inertial_publisher/color/, it works well.

image

I want data from /stereo_inertial_publisher/left/image_rect and /stereo_inertial_publisher/right/image_rect for SLAM.

Is there any solution to this? Any advice would be very much appreciated!

Serafadam commented 9 months ago

Hi, for publishing all the data I would recommend using depthai_ros_driver as you can enable rectified streams using parameters, as described in the Readme

YamadaNaoto712 commented 8 months ago

Thank you. I modified depthai_ros_driver/config/camera.yaml and published left and right/image_raw, but I don’t know how to watch the streams from left and right/image_raw. Could you tell me the way? I suspect stereo_inertial_node.launch need to be modified.

Serafadam commented 8 months ago

Hi, if you enable the streams in the config file, you should be able to automatically view them in rviz after you launch the camera nodelet from depthai_ros_driver. stereo_inertial_node is a separate code example, so it doesn't need to be modified

YamadaNaoto712 commented 8 months ago

Thank you for your reply.

Although I launch camera.launch, rviz does not appear. After rosrun rviz rviz rviz shows up but I don't catch any streams.

I will put my camera.yaml

/stereo_inertial_publisher: camera_i_enable_imu: true camera_i_enable_ir: true camera_i_floodlight_brightness: 0.0 camera_i_ip: '' camera_i_laser_dot_brightness: 800.0 camera_i_mx_id: '' camera_i_nn_type: spatial camera_i_pipeline_type: Stereo camera_i_usb_port_id: '' camera_i_usb_speed: SUPER_PLUS nn_i_nn_config_path: depthai_ros_driver/mobilenet right_i_publish_topic: true left_i_publish_topic: true

And after roslaunch depthai_ros_driver camera.launch below sentences appear

started roslaunch server http://Lenovo:43409/

SUMMARY

PARAMETERS

NODES / stereo_inertial_publisher (nodelet/nodelet) stereo_inertial_publisher_nodelet_manager (nodelet/nodelet) stereo_inertial_publisher_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [7775] ROS_MASTER_URI=http://localhost:11311

setting /run_id to df06c76e-6b29-11ee-b16a-77bcc5a76c99 process[rosout-1]: started with pid [7785] started core service [/rosout] process[stereo_inertial_publisher_state_publisher-2]: started with pid [7792] process[stereo_inertial_publisher_nodelet_manager-3]: started with pid [7793] process[stereo_inertial_publisher-4]: started with pid [7794] [ INFO] [1697353808.278760812]: Loading nodelet /stereo_inertial_publisher of type depthai_ros_driver/Camera to manager stereo_inertial_publisher_nodelet_manager with the following remappings: [ INFO] [1697353808.281819392]: Initializing nodelet with 8 worker threads. [ INFO] [1697353808.282346442]: waitForService: Service [/stereo_inertial_publisher_nodelet_manager/load_nodelet] has not been advertised, waiting... [ INFO] [1697353808.304122134]: waitForService: Service [/stereo_inertial_publisher_nodelet_manager/load_nodelet] is now available. [ INFO] [1697353808.406512029]: No ip/mxid/usb_id specified, connecting to the next available device. [ INFO] [1697353814.615828274]: Camera with MXID: 1844301021BA341300 and Name: 1.1 connected! [ INFO] [1697353814.621646709]: USB SPEED: HIGH [ INFO] [1697353814.650150922]: Device type: OAK-D-PRO-W [ INFO] [1697353814.664418886]: Pipeline type: Stereo [ INFO] [1697353815.331447735]: Finished setting up pipeline. [ INFO] [1697353817.292249160]: Camera ready!

Is there anything strange?

Serafadam commented 8 months ago

Hi, Rviz is not enabled in camera.launch and needs to be run separately. Could you share the results of running rostopic list after running the camera node?

YamadaNaoto712 commented 8 months ago

ok this is the rostopic. I changed "stereo_inertial_publisher" into "oak".

rostopic list /diagnostics /joint_states /oak/imu/data /oak/left/camera_info /oak/left/image_raw /oak/left/image_raw/compressed /oak/left/image_raw/compressed/parameter_descriptions /oak/left/image_raw/compressed/parameter_updates /oak/left/image_raw/compressedDepth /oak/left/image_raw/compressedDepth/parameter_descriptions /oak/left/image_raw/compressedDepth/parameter_updates /oak/left/image_raw/theora /oak/left/image_raw/theora/parameter_descriptions /oak/left/image_raw/theora/parameter_updates /oak/nn/spatial_detections /oak/parameter_descriptions /oak/parameter_updates /oak/rgb/camera_info /oak/rgb/image_raw /oak/rgb/image_raw/compressed /oak/rgb/image_raw/compressed/parameter_descriptions /oak/rgb/image_raw/compressed/parameter_updates /oak/rgb/image_raw/compressedDepth /oak/rgb/image_raw/compressedDepth/parameter_descriptions /oak/rgb/image_raw/compressedDepth/parameter_updates /oak/rgb/image_raw/theora /oak/rgb/image_raw/theora/parameter_descriptions /oak/rgb/image_raw/theora/parameter_updates /oak/right/camera_info /oak/right/image_raw /oak/right/image_raw/compressed /oak/right/image_raw/compressed/parameter_descriptions /oak/right/image_raw/compressed/parameter_updates /oak/right/image_raw/compressedDepth /oak/right/image_raw/compressedDepth/parameter_descriptions /oak/right/image_raw/compressedDepth/parameter_updates /oak/right/image_raw/theora /oak/right/image_raw/theora/parameter_descriptions /oak/right/image_raw/theora/parameter_updates /oak/stereo/camera_info /oak/stereo/image_raw /oak/stereo/image_raw/compressed /oak/stereo/image_raw/compressed/parameter_descriptions /oak/stereo/image_raw/compressed/parameter_updates /oak/stereo/image_raw/compressedDepth /oak/stereo/image_raw/compressedDepth/parameter_descriptions /oak/stereo/image_raw/compressedDepth/parameter_updates /oak/stereo/image_raw/theora /oak/stereo/image_raw/theora/parameter_descriptions /oak/stereo/image_raw/theora/parameter_updates /oak_nodelet_manager/bond /rosout /rosout_agg /tf /tf_static

Serafadam commented 8 months ago

Hi, according to the topci list, the left/right topics are published:

/oak/left/camera_info
/oak/left/image_raw
/oak/right/camera_info
/oak/right/image_raw
YamadaNaoto712 commented 8 months ago

Hi! my problem is solved just now ! This command made it possible! roslaunch depthai_examples stereo_inertial_node.launch enableRviz:=false depth_aligned:=false　stereo_fps:=4

Thank you so much for all the help you've given me!

Serafadam commented 8 months ago

Happy to help! Closing the issue, please reopen if you have further questions.