[BUG] Error launching custom spatial Yolo model

[mkarklins]

Describe the bug Unabe to launch custom spatial Yolo NN, however it works from plain pipeline without ROS.

The error message seems to be:

[component_container-2] [INFO] [1699512205.069016888] [oak]: Camera with MXID: 18443010316CAB0F00 and Name: 3.2 connected!
[component_container-2] [INFO] [1699512205.073139504] [oak]: USB SPEED: SUPER
[component_container-2] [INFO] [1699512205.096143270] [oak]: Device type: OAK-D-PRO-FF
[component_container-2] [INFO] [1699512205.107098481] [oak]: Pipeline type: RGBD
[component_container-2] [INFO] [1699512205.149628352] [oak]: NN Family: YOLO
[component_container-2] [ERROR] [1699512209.924899599] [oak_container]: Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null

Minimal Reproducible Example

Here are the relevant files:

main.py - this is minimally adjusted segment.launch.py

``` import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration def launch_setup(context, *args, **kwargs): name = LaunchConfiguration('name').perform(context) depthai_prefix = get_package_share_directory("depthai_ros_driver") rviz_config = os.path.join(depthai_prefix, "config", "rviz", "segmentation.rviz") params_file = LaunchConfiguration("params_file") return [ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(depthai_prefix, 'launch', 'camera.launch.py')), launch_arguments={"name": name, "params_file": params_file, "use_rviz": LaunchConfiguration("use_rviz"), "rviz_config": rviz_config}.items()) ] def generate_launch_description(): declared_arguments = [ DeclareLaunchArgument("name", default_value="oak"), DeclareLaunchArgument("params_file", default_value="./params.yaml"), DeclareLaunchArgument("use_rviz", default_value="True"), ] return LaunchDescription( declared_arguments + [OpaqueFunction(function=launch_setup)] ) ```

params.yaml

``` /oak: ros__parameters: camera: i_nn_type: spatial i_pipeline_type: 'RGBD' nn: i_nn_config_path: 'nn/best_400.json' # i_nn_config_path: depthai_ros_driver/yolo ```

best_400.json

``` { "model": { "xml": "best_400.xml", "bin": "best_400.bin" }, "nn_config": { "output_format": "detection", "NN_family": "YOLO", "input_size": "640x640", "NN_specific_metadata": { "classes": 1, "coordinates": 4, "anchors": [ 10.0, 13.0, 16.0, 30.0, 33.0, 23.0, 30.0, 61.0, 62.0, 45.0, 59.0, 119.0, 116.0, 90.0, 156.0, 198.0, 373.0, 326.0 ], "anchor_masks": { "side80": [ 0, 1, 2 ], "side40": [ 3, 4, 5 ], "side20": [ 6, 7, 8 ] }, "iou_threshold": 0.5, "confidence_threshold": 0.5 } }, "mappings": { "labels": [ "gates" ] }, "version": 1 } ```

The NN exported from tools.luxonis.com - nn.zip

Executing with my custom model the pipeline fails: ros2 launch main.py, however if I change nn path to default depthai_ros_driver/yolo it works.

I thought the problem would be with the model, however launching my custom model without ROS using the depthai-experiments repo from depthai-experiments/gen2-yolo/device-decoding using python3 main.py --config best_400.json it works nicely.

Expected behavior Expect the depthai_ros_driver node to launch successfully without errors.

Attach system log

• Ubuntu 22.04
• ROS2 Humble
• depthai-ros installed from apt

non-verbose logs

``` mkarklins@mkarklins:~/code/temp$ ros2 launch main.py [INFO] [launch]: All log files can be found below /home/mkarklins/.ros/log/2023-11-09-08-19-54-082766-mkarklins-20082 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [20096] [INFO] [component_container-2]: process started with pid [20098] [rviz2-1] [INFO] [1699510794.592231944] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1699510794.592396226] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [component_container-2] [INFO] [1699510794.593509562] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so [component_container-2] [INFO] [1699510794.595724030] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510794.595761710] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510794.628117665] [oak_state_publisher]: got segment oak [component_container-2] [INFO] [1699510794.628188645] [oak_state_publisher]: got segment oak-d-base-frame [component_container-2] [INFO] [1699510794.628195815] [oak_state_publisher]: got segment oak_imu_frame [component_container-2] [INFO] [1699510794.628200689] [oak_state_publisher]: got segment oak_left_camera_frame [component_container-2] [INFO] [1699510794.628205382] [oak_state_publisher]: got segment oak_left_camera_optical_frame [component_container-2] [INFO] [1699510794.628210154] [oak_state_publisher]: got segment oak_model_origin [component_container-2] [INFO] [1699510794.628214759] [oak_state_publisher]: got segment oak_rgb_camera_frame [component_container-2] [INFO] [1699510794.628219322] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [component_container-2] [INFO] [1699510794.628223835] [oak_state_publisher]: got segment oak_right_camera_frame [component_container-2] [INFO] [1699510794.628228212] [oak_state_publisher]: got segment oak_right_camera_optical_frame [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container' [component_container-2] [INFO] [1699510794.630448781] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so [rviz2-1] [INFO] [1699510794.649731264] [rviz2]: Stereo is NOT SUPPORTED [component_container-2] [INFO] [1699510794.697507044] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510794.697562281] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510794.707904331] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [INFO] [1699510800.762214195] [oak]: Camera with MXID: 18443010316CAB0F00 and Name: 3.2 connected! [component_container-2] [INFO] [1699510800.764502014] [oak]: USB SPEED: SUPER [component_container-2] [INFO] [1699510800.787615502] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [INFO] [1699510800.792740260] [oak]: Pipeline type: RGBD [component_container-2] [INFO] [1699510800.823426916] [oak]: NN Family: YOLO [component_container-2] [ERROR] [1699510802.242114038] [oak_container]: Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null ```

log_system_information.py

``` { "architecture": "64bit ELF", "machine": "x86_64", "platform": "Linux-6.2.0-36-generic-x86_64-with-glibc2.35", "processor": "x86_64", "python_build": "main Jun 11 2023 05:26:28", "python_compiler": "GCC 11.4.0", "python_implementation": "CPython", "python_version": "3.10.12", "release": "6.2.0-36-generic", "system": "Linux", "version": "#37~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Oct 9 15:34:04 UTC 2", "win32_ver": "", "packages": [ "action-msgs==1.2.1", "action-tutorials-interfaces==0.20.3", "action-tutorials-py==0.20.3", "actionlib-msgs==4.2.3", "actuator-msgs==0.0.1", "addict==2.4.0", "AHRS==0.3.1", "ament-cmake-google-benchmark==1.3.5", "ament-cmake-test==1.3.5", "ament-copyright==0.12.8", "ament-cppcheck==0.12.8", "ament-cpplint==0.12.8", "ament-flake8==0.12.8", "ament-index-python==1.4.0", "ament-lint==0.12.8", "ament-lint-cmake==0.12.8", "ament-package==0.14.0", "ament-pep257==0.12.8", "ament-uncrustify==0.12.8", "ament-xmllint==0.12.8", "angles==1.15.0", "ansi2html==1.8.0", "appdirs==1.4.4", "apturl==0.5.2", "argcomplete==3.1.1", "argparse==1.4.0", "asttokens==2.2.1", "attrs==23.1.0", "backcall==0.2.0", "beautifulsoup4==4.10.0", "beniget==0.4.1", "blinker==1.4", "blobconverter==1.4.2", "bloom==0.11.2", "bond==3.0.2", "boto3==1.28.80", "botocore==1.31.80", "breezy==3.2.1", "Brlapi==0.8.3", "Brotli==1.0.9", "builtin-interfaces==1.2.1", "camera-calibration==3.0.0", "cartographer-ros-msgs==2.0.9000", "catkin-pkg==1.0.0", "catkin-pkg-modules==1.0.0", "Cerberus==1.3.4", "certifi==2020.6.20", "chardet==4.0.0", "click==8.0.3", "colcon-argcomplete==0.3.3", "colcon-bash==0.5.0", "colcon-cd==0.1.1", "colcon-cmake==0.2.28", "colcon-common-extensions==0.3.0", "colcon-core==0.15.0", "colcon-defaults==0.2.8", "colcon-devtools==0.2.4", "colcon-installed-package-information==0.1.0", "colcon-library-path==0.2.1", "colcon-metadata==0.2.5", "colcon-notification==0.2.15", "colcon-output==0.2.13", "colcon-override-check==0.0.1", "colcon-package-information==0.3.3", "colcon-package-selection==0.2.10", "colcon-parallel-executor==0.3.0", "colcon-pkg-config==0.1.0", "colcon-powershell==0.4.0", "colcon-python-setup-py==0.2.8", "colcon-recursive-crawl==0.2.3", "colcon-ros==0.4.1", "colcon-test-result==0.3.8", "colcon-zsh==0.5.0", "colorama==0.4.4", "comm==0.1.3", "command-not-found==0.3", "composition-interfaces==1.2.1", "ConfigArgParse==1.5.5", "configobj==5.0.6", "contourpy==1.0.7", "cov-core==1.15.0", "coverage==7.2.7", "cryptography==3.4.8", "cupshelpers==1.0", "cv-bridge==3.2.1", "cycler==0.11.0", "dash==2.11.1", "dash-core-components==2.0.0", "dash-html-components==2.0.0", "dash-table==5.0.0", "dbus-python==1.2.18", "debugpy==1.6.7", "decorator==4.4.2", "defer==1.0.6", "demo-nodes-py==0.20.3", "Deprecated==1.2.13", "depthai==2.22.0.0", "depthai-pipeline-graph==0.0.5", "depthai-ros-driver==2.8.1", "depthai-ros-msgs==2.8.1", "depthai-sdk==1.13.1", "diagnostic-msgs==4.2.3", "diagnostic-updater==3.1.2", "distlib==0.3.4", "distro==1.7.0", "distro-info==1.1+ubuntu0.1", "docutils==0.17.1", "domain-coordinator==0.10.0", "dulwich==0.20.31", "dwb-msgs==1.1.12", "empy==3.3.4", "evdev==1.6.1", "example-interfaces==0.9.3", "examples-rclpy-executors==0.15.1", "examples-rclpy-minimal-action-client==0.15.1", "examples-rclpy-minimal-action-server==0.15.1", "examples-rclpy-minimal-client==0.15.1", "examples-rclpy-minimal-publisher==0.15.1", "examples-rclpy-minimal-service==0.15.1", "examples-rclpy-minimal-subscriber==0.15.1", "executing==1.2.0", "fastbencode==0.0.5", "fastimport==0.9.14", "fastjsonschema==2.18.0", "flake8==4.0.1", "Flask==2.2.5", "fonttools==4.40.0", "foxglove-msgs==2.2.0", "fs==2.4.12", "future==0.18.3", "gast==0.5.2", "gazebo-msgs==3.7.0", "geometry-msgs==4.2.3", "gpg==1.16.0", "gps-msgs==2.0.3", "html5lib==1.1", "httplib2==0.20.2", "idna==3.3", "image-geometry==3.2.1", "importlib-metadata==4.6.4", "importlib-resources==5.12.0", "iniconfig==1.1.1", "inotify-simple==1.3.5", "interactive-markers==2.3.2", 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"nav-msgs==4.2.3", "nav2-common==1.1.12", "nav2-msgs==1.1.12", "nav2-simple-commander==1.0.0", "nbformat==5.7.0", "nest-asyncio==1.5.6", "netifaces==0.11.0", "nose2==0.9.2", "notify2==0.3", "numpy==1.24.3", "nunavut==2.1.0", "oauthlib==3.2.0", "octomap-msgs==2.0.0", "olefile==0.46", "open3d==0.17.0", "opencv-contrib-python==4.8.1.78", "opencv-python==4.8.0.76", "osrf-pycommon==2.0.2", "packaging==23.1", "pandas==2.0.2", "parso==0.8.3", "patiencediff==0.2.1", "pcl-msgs==1.0.0", "pendulum-msgs==0.20.3", "pexpect==4.8.0", "pickleshare==0.7.5", "Pillow==10.0.0", "pip==23.3.1", "pkgconfig==1.5.5", "platformdirs==3.9.1", "plotly==5.15.0", "pluggy==0.13.0", "ply==3.11", "prompt-toolkit==3.0.39", "protobuf==3.12.4", "psutil==5.9.5", "ptyprocess==0.7.0", "pure-eval==0.2.2", "py==1.10.0", "pybind11==2.9.1", "pycairo==1.20.1", "pycodestyle==2.8.0", "pycups==2.0.1", "pydocstyle==6.1.1", "pydot==1.4.2", "pydsdl==1.20.0", "pyflakes==2.4.0", "pygame==2.5.1", "PyGithub==1.55", "Pygments==2.11.2", "PyGObject==3.42.1", "PyJWT==2.3.0", "pymacaroons==0.13.0", "pymavlink==2.4.39", "PyNaCl==1.5.0", "PyOpenGL==3.1.7", "pyparsing==2.4.7", "PyQt5==5.15.6", "PyQt5-sip==12.9.1", "pyquaternion==0.9.9", "pyRFC3339==1.1", "pyros-genmsg==0.5.8", "pyrsistent==0.19.3", "pyserial==3.5", "pytest==6.2.5", "pytest-cov==3.0.0", "python-apt==2.4.0+ubuntu2", "python-dateutil==2.8.2", "python-debian==0.1.43+ubuntu1.1", "python-gitlab==2.10.1", "python-qt-binding==1.1.1", "python-xlib==0.33", "pythran==0.10.0", "pytube==15.0.0", "PyTurboJPEG==1.6.4", "pytz==2022.1", "pyulog==1.0.1", "pyxdg==0.27", "PyYAML==5.4.1", "pyzmq==25.1.0", "qt-dotgraph==2.2.2", "qt-gui==2.2.2", "qt-gui-cpp==2.2.2", "qt-gui-py-common==2.2.2", "Qt.py==1.3.8", "quality-of-service-demo-py==0.20.3", "rcl-interfaces==1.2.1", "rclpy==3.3.10", "rcutils==5.1.3", "realsense2-camera-msgs==4.54.1", "reportlab==3.6.8", "requests==2.25.1", "requests-toolbelt==0.9.1", "resource-retriever==3.1.1", "retrying==1.3.4", "rmw-dds-common==1.6.0", "roman==3.3", "ros2action==0.18.7", "ros2bag==0.15.8", "ros2cli==0.18.7", "ros2component==0.18.7", "ros2doctor==0.18.7", "ros2interface==0.18.7", "ros2launch==0.19.6", "ros2lifecycle==0.18.7", "ros2multicast==0.18.7", "ros2node==0.18.7", "ros2param==0.18.7", "ros2pkg==0.18.7", "ros2run==0.18.7", "ros2service==0.18.7", "ros2topic==0.18.7", "rosbag2-interfaces==0.15.8", "rosbag2-py==0.15.8", "rosdep==0.22.2", "rosdep-modules==0.22.2", "rosdistro==0.9.0", "rosdistro-modules==0.9.0", "rosgraph-msgs==1.2.1", "rosidl-adapter==3.1.5", "rosidl-cli==3.1.5", "rosidl-cmake==3.1.5", "rosidl-generator-c==3.1.5", "rosidl-generator-cpp==3.1.5", "rosidl-generator-py==0.14.4", "rosidl-parser==3.1.5", "rosidl-runtime-py==0.9.3", "rosidl-typesupport-c==2.0.1", "rosidl-typesupport-cpp==2.0.1", "rosidl-typesupport-fastrtps-c==2.2.1", "rosidl-typesupport-fastrtps-cpp==2.2.1", "rosidl-typesupport-introspection-c==3.1.5", "rosidl-typesupport-introspection-cpp==3.1.5", "rospkg-modules==1.5.0", "rpyutils==0.2.1", "rqt-action==2.0.1", "rqt-bag==1.1.4", "rqt-bag-plugins==1.1.4", "rqt-console==2.0.2", "rqt-graph==1.3.0", "rqt-gui==1.1.5", "rqt-gui-py==1.1.5", "rqt-msg==1.2.0", "rqt-plot==1.1.2", "rqt-publisher==1.5.0", "rqt-py-common==1.1.5", "rqt-py-console==1.0.2", "rqt-reconfigure==1.1.1", "rqt-service-caller==1.0.5", "rqt-shell==1.0.2", "rqt-srv==1.0.3", "rqt-topic==1.5.0", "rtabmap-msgs==0.21.1", "rtabmap-python==0.1.0", "s3transfer==0.7.0", "scikit-learn==1.3.0", "scipy==1.8.0", "SecretStorage==3.3.1", "sensor-msgs==4.2.3", "sensor-msgs-py==4.2.3", "sentry-sdk==1.21.0", "setuptools==59.6.0", "shape-msgs==4.2.3", "six==1.16.0", "slam-toolbox==2.6.6", "smclib==3.0.2", "snowballstemmer==2.2.0", "soupsieve==2.3.1", "sros2==0.10.4", "stack-data==0.6.2", "statistics-msgs==1.2.1", "std-msgs==4.2.3", "std-srvs==4.2.3", "stereo-msgs==4.2.3", "sympy==1.12", "systemd-python==234", "teleop-twist-keyboard==2.3.2", "tenacity==8.2.2", "tf2-geometry-msgs==0.25.4", "tf2-kdl==0.25.4", "tf2-msgs==0.25.4", "tf2-py==0.25.4", "tf2-ros-py==0.25.4", "tf2-tools==0.25.4", "theora-image-transport==2.5.0", "threadpoolctl==3.2.0", "toml==0.10.2", "topic-monitor==0.20.3", "tornado==6.3.2", "tqdm==4.65.0", "traitlets==5.9.0", "trajectory-msgs==4.2.3", "turtlebot3-example==2.1.5", "turtlebot3-msgs==2.2.3", "turtlebot3-teleop==2.1.5", "turtlesim==1.4.2", "types-pyside2==5.15.2.1.6", "typing_extensions==4.7.1", "tzdata==2023.3", "ubuntu-advantage-tools==8001", "ubuntu-drivers-common==0.0.0", "ufoLib2==0.13.1", "ufw==0.36.1", "unattended-upgrades==0.1", "unicodedata2==14.0.0", "unique-identifier-msgs==2.2.1", "urllib3==2.0.7", "vcstool==0.3.0", "vcstools==0.1.42", "velodyne-msgs==2.4.0", "vision-msgs==4.1.0", "visualization-msgs==4.2.3", "wadllib==1.3.6", "wcwidth==0.2.6", "webencodings==0.5.1", "Werkzeug==2.2.3", "wheel==0.37.1", "widgetsnbextension==4.0.8", "wrapt==1.13.3", "xacro==2.0.8", "xdg==5", "xkeysnail @ file:///home/mkarklins/Downloads/kinto-master/xkeysnail", "xkit==0.0.0", "xmltodict==0.13.0", "zipp==1.0.0" ], "usb": [ "NoLib" ], "uname": [ "Linux mkarklins 6.2.0-36-generic #37~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Oct 9 15:34:04 UTC 2 x86_64 x86_64" ] } System info gathered successfully - saved as "log_system_information.json" ```

Installed packages

``` Package: ros-humble-depthai Version: 2.22.0-1jammy.20230623.022440 Priority: optional Section: misc Maintainer: Sachin Guruswamy Installed-Size: 20,7 MB Depends: libc6 (>= 2.34), libgcc-s1 (>= 4.2), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 12), libopencv-dev, libusb-1.0-0-dev, nlohmann-json3-dev, ros-humble-ros-workspace Homepage: https://www.luxonis.com/ Download-Size: 10,5 MB APT-Manual-Installed: yes APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform Package: ros-humble-depthai-ros Version: 2.8.1-2jammy.20230920.002645 Priority: optional Section: misc Maintainer: sachin Installed-Size: 43,0 kB Depends: ros-humble-depthai, ros-humble-depthai-bridge, ros-humble-depthai-descriptions, ros-humble-depthai-examples, ros-humble-depthai-filters, ros-humble-depthai-ros-driver, ros-humble-depthai-ros-msgs, ros-humble-ros-workspace Download-Size: 6 046 B APT-Manual-Installed: yes APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: The depthai-ros package Package: ros-humble-depthai-bridge Version: 2.8.1-2jammy.20230919.232536 Priority: optional Section: misc Maintainer: Sachin Guruswamy Installed-Size: 455 kB Depends: libc6 (>= 2.32), libgcc-s1 (>= 3.3.1), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgcodecs4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 11), libboost-dev, libopencv-dev, ros-humble-camera-info-manager, ros-humble-composition-interfaces, ros-humble-cv-bridge, ros-humble-depthai, ros-humble-depthai-ros-msgs, ros-humble-image-transport, ros-humble-rclcpp, ros-humble-robot-state-publisher, ros-humble-ros-environment, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-stereo-msgs, ros-humble-tf2, ros-humble-tf2-geometry-msgs, ros-humble-tf2-ros, ros-humble-vision-msgs, ros-humble-xacro, ros-humble-ros-workspace Download-Size: 125 kB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: The depthai_bridge package Package: ros-humble-depthai-ros-msgs Version: 2.8.1-2jammy.20230919.232227 Priority: optional Section: misc Maintainer: Sachin Guruswamy Installed-Size: 1 723 kB Depends: libc6 (>= 2.14), libgcc-s1 (>= 3.3.1), libpython3.10 (>= 3.10.0), libstdc++6 (>= 11), ros-humble-fastcdr, ros-humble-builtin-interfaces, ros-humble-geometry-msgs, ros-humble-rclcpp, ros-humble-rosidl-default-generators, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-vision-msgs, ros-humble-ros-workspace Download-Size: 129 kB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: Package to keep interface independent of the driver Package: ros-humble-depthai-ros-driver Version: 2.8.1-2jammy.20230920.001359 Priority: optional Section: misc Maintainer: Adam Serafin Installed-Size: 2 782 kB Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libopencv-core4.5d (>= 4.5.4+dfsg), libopencv-imgproc4.5d (>= 4.5.4+dfsg), libstdc++6 (>= 12), libtinyxml2-9 (>= 8.0.0), ros-humble-ament-cmake-auto, ros-humble-camera-calibration, ros-humble-cv-bridge, ros-humble-depthai, ros-humble-depthai-bridge, ros-humble-depthai-descriptions, ros-humble-depthai-examples, ros-humble-depthai-ros-msgs, ros-humble-diagnostic-msgs, ros-humble-diagnostic-updater, ros-humble-image-pipeline, ros-humble-image-transport, ros-humble-image-transport-plugins, ros-humble-pluginlib, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-std-srvs, ros-humble-vision-msgs, ros-humble-ros-workspace Download-Size: 616 kB APT-Manual-Installed: no APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: Depthai ROS Monolithic node. ```

[mkarklins]

Verbose logs with DEPTHAI_DEBUG=1

``` mkarklins@mkarklins:~/code/temp$ ros2 launch main.py [INFO] [launch]: All log files can be found below /home/mkarklins/.ros/log/2023-11-09-08-22-45-322020-mkarklins-20400 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [20414] [INFO] [component_container-2]: process started with pid [20416] [component_container-2] [DEBUG] [1699510965.612146880] [rclcpp]: signal handler installed [component_container-2] [DEBUG] [1699510965.612234864] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1699510965.612249610] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services [component_container-2] [DEBUG] [1699510965.612341210] [rcl]: Initializing node 'ComponentManager' in namespace '' [component_container-2] [DEBUG] [1699510965.612355561] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1699510965.620387694] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1699510965.620425027] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1699510965.621559125] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.621587858] [rcl]: Node initialized [component_container-2] [DEBUG] [1699510965.621692811] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.621701443] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.622847562] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1699510965.623001390] [rcl]: Initializing service for service name '~/_container/load_node' [component_container-2] [DEBUG] [1699510965.623014285] [rcl]: Expanded and remapped service name '/oak_container/_container/load_node' [component_container-2] [DEBUG] [1699510965.623748624] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.623761636] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/load_nodeRequest [component_container-2] [DEBUG] [1699510965.623766050] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/load_nodeReply [component_container-2] [DEBUG] [1699510965.623769553] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.623833957] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.623861612] [rcl]: Initializing service for service name '~/_container/unload_node' [component_container-2] [DEBUG] [1699510965.623869799] [rcl]: Expanded and remapped service name '/oak_container/_container/unload_node' [component_container-2] [DEBUG] [1699510965.624204507] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.624216438] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/unload_nodeRequest [component_container-2] [DEBUG] [1699510965.624220683] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/unload_nodeReply [component_container-2] [DEBUG] [1699510965.624224087] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.624285473] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.624300613] [rcl]: Initializing service for service name '~/_container/list_nodes' [component_container-2] [DEBUG] [1699510965.624308012] [rcl]: Expanded and remapped service name '/oak_container/_container/list_nodes' [component_container-2] [DEBUG] [1699510965.624560654] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.624570278] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/list_nodesRequest [component_container-2] [DEBUG] [1699510965.624573934] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/list_nodesReply [component_container-2] [DEBUG] [1699510965.624577237] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.624656912] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.675478741] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.675540710] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.676059552] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.676082639] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.676099605] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.676133183] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.676146183] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.676152477] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.676160536] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.676166388] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.846962031] [rcl]: Service server taking service request [component_container-2] [DEBUG] [1699510965.847038002] [rcl]: Service take request succeeded: true [component_container-2] [INFO] [1699510965.847131149] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so [component_container-2] [INFO] [1699510965.849263004] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510965.849302810] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [DEBUG] [1699510965.849365503] [rcl]: Arg 1 (-r) is not a --param nor a -p flag. [component_container-2] [DEBUG] [1699510965.849374084] [rcl]: Got remap rule : __node:=oak_state_publisher [component_container-2] [component_container-2] [DEBUG] [1699510965.849382769] [rcl]: Initializing node 'robot_state_publisher' in namespace '' [component_container-2] [DEBUG] [1699510965.849390904] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1699510965.849484809] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1699510965.849494086] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1699510965.849822348] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.849835201] [rcl]: Node initialized [component_container-2] [DEBUG] [1699510965.849887374] [rcl]: Initializing service for service name 'oak_state_publisher/get_parameters' [component_container-2] [DEBUG] [1699510965.849895109] [rcl]: Expanded and remapped service name '/oak_state_publisher/get_parameters' [component_container-2] [DEBUG] [1699510965.850389064] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.850401003] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/get_parametersRequest [component_container-2] [DEBUG] [1699510965.850404870] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/get_parametersReply [component_container-2] [DEBUG] [1699510965.850407726] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.850468676] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.850485647] [rcl]: Initializing service for service name 'oak_state_publisher/get_parameter_types' [component_container-2] [DEBUG] [1699510965.850492222] [rcl]: Expanded and remapped service name '/oak_state_publisher/get_parameter_types' [component_container-2] [DEBUG] [1699510965.850822143] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.850830890] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/get_parameter_typesRequest [component_container-2] [DEBUG] [1699510965.850834133] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/get_parameter_typesReply [component_container-2] [DEBUG] [1699510965.850836946] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.850896544] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.850913993] [rcl]: Initializing service for service name 'oak_state_publisher/set_parameters' [component_container-2] [DEBUG] [1699510965.850925615] [rcl]: Expanded and remapped service name '/oak_state_publisher/set_parameters' [component_container-2] [DEBUG] [1699510965.851330730] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.851341349] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/set_parametersRequest [component_container-2] [DEBUG] [1699510965.851344961] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/set_parametersReply [component_container-2] [DEBUG] [1699510965.851347896] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.851417229] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.851435606] [rcl]: Initializing service for service name 'oak_state_publisher/set_parameters_atomically' [component_container-2] [DEBUG] [1699510965.851442530] [rcl]: Expanded and remapped service name '/oak_state_publisher/set_parameters_atomically' [component_container-2] [DEBUG] [1699510965.851766838] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.851775448] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/set_parameters_atomicallyRequest [component_container-2] [DEBUG] [1699510965.851778843] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/set_parameters_atomicallyReply [component_container-2] [DEBUG] [1699510965.851781753] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.851839367] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.851852794] [rcl]: Initializing service for service name 'oak_state_publisher/describe_parameters' [component_container-2] [DEBUG] [1699510965.851858519] [rcl]: Expanded and remapped service name '/oak_state_publisher/describe_parameters' [component_container-2] [DEBUG] [1699510965.852160229] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.852168554] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/describe_parametersRequest [component_container-2] [DEBUG] [1699510965.852171734] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/describe_parametersReply [component_container-2] [DEBUG] [1699510965.852174554] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.852228679] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.852252041] [rcl]: Initializing service for service name 'oak_state_publisher/list_parameters' [component_container-2] [DEBUG] [1699510965.852261318] [rcl]: Expanded and remapped service name '/oak_state_publisher/list_parameters' [component_container-2] [DEBUG] [1699510965.852603923] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.852612449] [rmw_fastrtps_cpp]: Sub Topic rq/oak_state_publisher/list_parametersRequest [component_container-2] [DEBUG] [1699510965.852615646] [rmw_fastrtps_cpp]: Pub Topic rr/oak_state_publisher/list_parametersReply [component_container-2] [DEBUG] [1699510965.852618430] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.852672474] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.852692181] [rcl]: Initializing publisher for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.852698423] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.853002667] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.853138739] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.853147347] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.853443656] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1699510965.853710498] [rcl]: Initializing publisher for topic name '/tf' [component_container-2] [DEBUG] [1699510965.853719773] [rcl]: Expanded and remapped topic name '/tf' [component_container-2] [DEBUG] [1699510965.855125456] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.855223497] [rcl]: Initializing publisher for topic name '/tf_static' [component_container-2] [DEBUG] [1699510965.855232207] [rcl]: Expanded and remapped topic name '/tf_static' [component_container-2] [DEBUG] [1699510965.855429559] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.855449859] [rcl]: Initializing publisher for topic name 'robot_description' [component_container-2] [DEBUG] [1699510965.855456507] [rcl]: Expanded and remapped topic name '/robot_description' [component_container-2] [DEBUG] [1699510965.855737829] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.855771336] [pluginlib.ClassLoader]: Creating ClassLoader, base = urdf::URDFParser, address = 0x55a592c8f060 [component_container-2] [DEBUG] [1699510965.855903520] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.855926304] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/sdformat_urdf/sdformat_urdf_plugin.xml... [component_container-2] [DEBUG] [1699510965.856031889] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = sdformat_urdf_plugin/SDFormatURDFParser. [component_container-2] [DEBUG] [1699510965.856041454] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/urdf/urdf_parser_description.xml... [component_container-2] [DEBUG] [1699510965.856091863] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = urdf_xml_parser/URDFXMLParser. [component_container-2] [DEBUG] [1699510965.856097935] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.856101378] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = urdf::URDFParser, address = 0x55a592c8f060 [component_container-2] [DEBUG] [1699510965.856109037] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class sdformat_urdf_plugin/SDFormatURDFParser. [component_container-2] [DEBUG] [1699510965.856114320] [pluginlib.ClassLoader]: Class sdformat_urdf_plugin/SDFormatURDFParser maps to library sdformat_urdf_plugin in classes_available_. [component_container-2] [DEBUG] [1699510965.856142781] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856147124] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856150305] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856153255] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856156137] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856159031] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856161916] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856177549] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856181059] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856183938] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856186812] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856189669] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856192580] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856195438] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856198300] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856201173] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856204104] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856206955] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856209857] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856212805] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856215696] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856218556] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856221466] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856224322] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856227209] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856230117] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856232966] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856235851] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856238757] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856241612] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856244476] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856247328] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856250181] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856253030] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856260276] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856263645] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856266563] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856269463] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856272367] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856275336] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/lib64/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856278203] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856282110] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856285068] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/libsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856287969] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/liblibsdformat_urdf_plugin.so' [component_container-2] [DEBUG] [1699510965.856290858] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856293749] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856296614] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/libsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856299512] [pluginlib.ClassLoader]: [search path for 'sdformat_urdf_plugin']: '/opt/ros/humble/bin/sdformat_urdf/liblibsdformat_urdf_plugind.so' [component_container-2] [DEBUG] [1699510965.856302709] [pluginlib.ClassLoader]: Iterating through all possible paths where sdformat_urdf_plugin could be located... [component_container-2] [DEBUG] [1699510965.856305795] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libsdformat_urdf_plugin.so [component_container-2] [DEBUG] [1699510965.856314123] [pluginlib.ClassLoader]: Library sdformat_urdf_plugin found at explicit path /opt/ros/humble/lib/libsdformat_urdf_plugin.so. [rviz2-1] [INFO] [1699510965.876094552] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1699510965.876275702] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [component_container-2] [DEBUG] [1699510965.883382530] [pluginlib.ClassLoader]: sdformat_urdf_plugin/SDFormatURDFParser maps to real class type sdformat_urdf::SDFormatURDFParser [component_container-2] [DEBUG] [1699510965.883427241] [pluginlib.ClassLoader]: std::unique_ptr to object of real type sdformat_urdf::SDFormatURDFParser created. [component_container-2] [DEBUG] [1699510965.883498848] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class urdf_xml_parser/URDFXMLParser. [component_container-2] [DEBUG] [1699510965.883505882] [pluginlib.ClassLoader]: Class urdf_xml_parser/URDFXMLParser maps to library urdf_xml_parser in classes_available_. [component_container-2] [DEBUG] [1699510965.883548291] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883553163] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883556378] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883559362] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883562456] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883565503] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883586921] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883590643] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883593598] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883596500] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883599395] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883602259] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883605138] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883608027] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883610911] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883613756] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883616643] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883619512] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883622399] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883625249] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883628077] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883630925] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883633754] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883636696] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883639540] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883642383] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883645282] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883648144] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883651090] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883653982] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883656857] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883660705] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883663676] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883666563] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883669455] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883676721] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883680022] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883682923] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883685780] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883688691] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/lib64/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883691539] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883694422] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883697344] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/liburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883700214] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/libliburdf_xml_parser.so' [component_container-2] [DEBUG] [1699510965.883703093] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883705969] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883708851] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/liburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883711726] [pluginlib.ClassLoader]: [search path for 'urdf_xml_parser']: '/opt/ros/humble/bin/urdf/libliburdf_xml_parserd.so' [component_container-2] [DEBUG] [1699510965.883714910] [pluginlib.ClassLoader]: Iterating through all possible paths where urdf_xml_parser could be located... [component_container-2] [DEBUG] [1699510965.883718029] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/liburdf_xml_parser.so [component_container-2] [DEBUG] [1699510965.883730599] [pluginlib.ClassLoader]: Library urdf_xml_parser found at explicit path /opt/ros/humble/lib/liburdf_xml_parser.so. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container' [component_container-2] [DEBUG] [1699510965.884071338] [pluginlib.ClassLoader]: urdf_xml_parser/URDFXMLParser maps to real class type urdf::URDFXMLParser [component_container-2] [DEBUG] [1699510965.884084111] [pluginlib.ClassLoader]: std::unique_ptr to object of real type urdf::URDFXMLParser created. [component_container-2] [DEBUG] [1699510965.884315919] [kdl_parser]: Link oak had 5 children. [component_container-2] [DEBUG] [1699510965.884332464] [kdl_parser]: Link oak_imu_frame had 0 children. [component_container-2] [DEBUG] [1699510965.884338991] [kdl_parser]: Link oak_left_camera_frame had 1 children. [component_container-2] [DEBUG] [1699510965.884343398] [kdl_parser]: Link oak_left_camera_optical_frame had 0 children. [component_container-2] [DEBUG] [1699510965.884348129] [kdl_parser]: Link oak_model_origin had 0 children. [component_container-2] [DEBUG] [1699510965.884352203] [kdl_parser]: Link oak_rgb_camera_frame had 1 children. [component_container-2] [DEBUG] [1699510965.884356035] [kdl_parser]: Link oak_rgb_camera_optical_frame had 0 children. [component_container-2] [DEBUG] [1699510965.884360115] [kdl_parser]: Link oak_right_camera_frame had 1 children. [component_container-2] [DEBUG] [1699510965.884364049] [kdl_parser]: Link oak_right_camera_optical_frame had 0 children. [component_container-2] [INFO] [1699510965.884380332] [oak_state_publisher]: got segment oak [component_container-2] [INFO] [1699510965.884427900] [oak_state_publisher]: got segment oak-d-base-frame [component_container-2] [INFO] [1699510965.884434704] [oak_state_publisher]: got segment oak_imu_frame [component_container-2] [INFO] [1699510965.884439498] [oak_state_publisher]: got segment oak_left_camera_frame [component_container-2] [INFO] [1699510965.884444442] [oak_state_publisher]: got segment oak_left_camera_optical_frame [component_container-2] [INFO] [1699510965.884449030] [oak_state_publisher]: got segment oak_model_origin [component_container-2] [INFO] [1699510965.884453517] [oak_state_publisher]: got segment oak_rgb_camera_frame [component_container-2] [INFO] [1699510965.884458093] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [component_container-2] [INFO] [1699510965.884472486] [oak_state_publisher]: got segment oak_right_camera_frame [component_container-2] [INFO] [1699510965.884478387] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [DEBUG] [1699510965.884488634] [oak_state_publisher]: Adding fixed segment from oak-d-base-frame to oak [component_container-2] [DEBUG] [1699510965.884495314] [oak_state_publisher]: Adding fixed segment from oak to oak_imu_frame [component_container-2] [DEBUG] [1699510965.884504864] [oak_state_publisher]: Adding fixed segment from oak to oak_left_camera_frame [component_container-2] [DEBUG] [1699510965.884511197] [oak_state_publisher]: Adding fixed segment from oak_left_camera_frame to oak_left_camera_optical_frame [component_container-2] [DEBUG] [1699510965.884517940] [oak_state_publisher]: Adding fixed segment from oak to oak_model_origin [component_container-2] [DEBUG] [1699510965.884523592] [oak_state_publisher]: Adding fixed segment from oak to oak_rgb_camera_frame [component_container-2] [DEBUG] [1699510965.884529216] [oak_state_publisher]: Adding fixed segment from oak_rgb_camera_frame to oak_rgb_camera_optical_frame [component_container-2] [DEBUG] [1699510965.884535100] [oak_state_publisher]: Adding fixed segment from oak to oak_right_camera_frame [component_container-2] [DEBUG] [1699510965.884540700] [oak_state_publisher]: Adding fixed segment from oak_right_camera_frame to oak_right_camera_optical_frame [component_container-2] [DEBUG] [1699510965.884574266] [pluginlib.ClassLoader]: Destroying ClassLoader, base = urdf::URDFParser, address = 0x55a592c8f060 [component_container-2] [DEBUG] [1699510965.885378104] [rcl]: Initializing subscription for topic name 'joint_states' [component_container-2] [DEBUG] [1699510965.885389258] [rcl]: Expanded and remapped topic name '/joint_states' [component_container-2] [DEBUG] [1699510965.886446065] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1699510965.886476753] [oak_state_publisher]: Publishing transforms for fixed joints [component_container-2] [DEBUG] [1699510965.886557563] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.886565674] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.887019930] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1699510965.887057636] [rcl]: Sending service response [component_container-2] [DEBUG] [1699510965.887147904] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.887161825] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.887170172] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510965.887175806] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510965.887185947] [rcl]: Service server taking service request [component_container-2] [DEBUG] [1699510965.887195440] [rcl]: Service take request succeeded: true [component_container-2] [INFO] [1699510965.887237308] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so [rviz2-1] [INFO] [1699510965.944135346] [rviz2]: Stereo is NOT SUPPORTED [component_container-2] [DEBUG] [1699510965.955551402] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::PublisherPlugin, address = 0x55a592a29240 [component_container-2] [DEBUG] [1699510965.955766924] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.955776725] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1699510965.955880586] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1699510965.955892504] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1699510965.955897603] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1699510965.955951667] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1699510965.955959162] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1699510965.955963689] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1699510965.956017118] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1699510965.956024248] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1699510965.956046999] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1699510965.956111980] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1699510965.956119789] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1699510965.956124492] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.956129019] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::PublisherPlugin, address = 0x55a592a29240 [component_container-2] [DEBUG] [1699510965.956134945] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55a59327d9e0 [component_container-2] [DEBUG] [1699510965.956235526] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.956241504] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1699510965.956292361] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1699510965.956298699] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1699510965.956304308] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1699510965.956351849] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1699510965.956357736] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1699510965.956363354] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1699510965.956413680] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1699510965.956419456] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1699510965.956424908] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1699510965.956481320] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1699510965.956487445] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1699510965.956492961] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1699510965.956497022] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55a59327d9e0 [component_container-2] [INFO] [1699510965.956730948] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1699510965.956767333] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [DEBUG] [1699510965.956804323] [rcl]: Arg 1 (-r) is not a --param nor a -p flag. [component_container-2] [DEBUG] [1699510965.956814426] [rcl]: Got remap rule : __node:=oak [component_container-2] [component_container-2] [DEBUG] [1699510965.956823572] [rcl]: Initializing node 'camera' in namespace '' [component_container-2] [DEBUG] [1699510965.956832428] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1699510965.956955364] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1699510965.956966824] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1699510965.957457732] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.957473112] [rcl]: Node initialized [component_container-2] [DEBUG] [1699510965.957507842] [rcl]: Initializing service for service name 'oak/get_parameters' [component_container-2] [DEBUG] [1699510965.957516243] [rcl]: Expanded and remapped service name '/oak/get_parameters' [component_container-2] [DEBUG] [1699510965.957946271] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.957958677] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parametersRequest [component_container-2] [DEBUG] [1699510965.957963133] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parametersReply [component_container-2] [DEBUG] [1699510965.957984671] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.958054412] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.958071460] [rcl]: Initializing service for service name 'oak/get_parameter_types' [component_container-2] [DEBUG] [1699510965.958079179] [rcl]: Expanded and remapped service name '/oak/get_parameter_types' [component_container-2] [DEBUG] [1699510965.958645410] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.958660398] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parameter_typesRequest [component_container-2] [DEBUG] [1699510965.958664572] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parameter_typesReply [component_container-2] [DEBUG] [1699510965.958668453] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.958748708] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.958764471] [rcl]: Initializing service for service name 'oak/set_parameters' [component_container-2] [DEBUG] [1699510965.958772579] [rcl]: Expanded and remapped service name '/oak/set_parameters' [component_container-2] [DEBUG] [1699510965.959160479] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.959171346] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parametersRequest [component_container-2] [DEBUG] [1699510965.959175421] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parametersReply [component_container-2] [DEBUG] [1699510965.959179107] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.959247404] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.959259828] [rcl]: Initializing service for service name 'oak/set_parameters_atomically' [component_container-2] [DEBUG] [1699510965.959267391] [rcl]: Expanded and remapped service name '/oak/set_parameters_atomically' [component_container-2] [DEBUG] [1699510965.959718685] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.959739230] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parameters_atomicallyRequest [component_container-2] [DEBUG] [1699510965.959746398] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parameters_atomicallyReply [component_container-2] [DEBUG] [1699510965.959751989] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.959868198] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.959891155] [rcl]: Initializing service for service name 'oak/describe_parameters' [component_container-2] [DEBUG] [1699510965.959904520] [rcl]: Expanded and remapped service name '/oak/describe_parameters' [component_container-2] [DEBUG] [1699510965.960373704] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.960388835] [rmw_fastrtps_cpp]: Sub Topic rq/oak/describe_parametersRequest [component_container-2] [DEBUG] [1699510965.960397708] [rmw_fastrtps_cpp]: Pub Topic rr/oak/describe_parametersReply [component_container-2] [DEBUG] [1699510965.960404735] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.960502069] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.960524084] [rcl]: Initializing service for service name 'oak/list_parameters' [component_container-2] [DEBUG] [1699510965.960534078] [rcl]: Expanded and remapped service name '/oak/list_parameters' [component_container-2] [DEBUG] [1699510965.960986970] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1699510965.960998255] [rmw_fastrtps_cpp]: Sub Topic rq/oak/list_parametersRequest [component_container-2] [DEBUG] [1699510965.961002394] [rmw_fastrtps_cpp]: Pub Topic rr/oak/list_parametersReply [component_container-2] [DEBUG] [1699510965.961006054] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1699510965.961078470] [rcl]: Service initialized [component_container-2] [DEBUG] [1699510965.961092516] [rcl]: Initializing publisher for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.961099349] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.961688296] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1699510965.961805577] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.961818142] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1699510965.962586621] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1699510965.962905697] [oak]: Setting param camera.i_pipeline_type with value RGBD [component_container-2] [DEBUG] [1699510965.963027184] [oak]: Setting param camera.i_nn_type with value spatial [component_container-2] [DEBUG] [1699510965.963078509] [oak]: Setting param camera.i_enable_imu with value 1 [component_container-2] [DEBUG] [1699510965.963168842] [oak]: Setting param camera.i_enable_ir with value 1 [component_container-2] [DEBUG] [1699510965.963256513] [oak]: Setting param camera.i_usb_speed with value SUPER_PLUS [component_container-2] [DEBUG] [1699510965.963367876] [oak]: Setting param camera.i_mx_id with value [component_container-2] [DEBUG] [1699510965.963445279] [oak]: Setting param camera.i_ip with value [component_container-2] [DEBUG] [1699510965.963527842] [oak]: Setting param camera.i_usb_port_id with value [component_container-2] [DEBUG] [1699510965.963608654] [oak]: Setting param camera.i_pipeline_dump with value 0 [component_container-2] [DEBUG] [1699510965.963692713] [oak]: Setting param camera.i_calibration_dump with value 0 [component_container-2] [DEBUG] [1699510965.963773357] [oak]: Setting param camera.i_external_calibration_path with value [component_container-2] [DEBUG] [1699510965.963833946] [oak]: Setting param camera.i_laser_dot_brightness with value 800 [component_container-2] [DEBUG] [1699510965.963914869] [oak]: Setting param camera.i_floodlight_brightness with value 0 [component_container-2] [DEBUG] [1699510965.963996357] [oak]: Setting param camera.i_publish_tf_from_calibration with value 0 [component_container-2] [DEBUG] [1699510965.964073631] [oak]: Setting param camera.i_tf_camera_name with value oak [component_container-2] [DEBUG] [1699510965.964133913] [oak]: Setting param camera.i_tf_camera_model with value [component_container-2] [DEBUG] [1699510965.964163589] [oak]: Setting param camera.i_tf_base_frame with value oak [component_container-2] [DEBUG] [1699510965.964220864] [oak]: Setting param camera.i_tf_parent_frame with value oak-d-base-frame [component_container-2] [DEBUG] [1699510965.964263658] [oak]: Setting param camera.i_tf_cam_pos_x with value 0.0 [component_container-2] [DEBUG] [1699510965.964312013] [oak]: Setting param camera.i_tf_cam_pos_y with value 0.0 [component_container-2] [DEBUG] [1699510965.964369428] [oak]: Setting param camera.i_tf_cam_pos_z with value 0.0 [component_container-2] [DEBUG] [1699510965.964418876] [oak]: Setting param camera.i_tf_cam_roll with value 0.0 [component_container-2] [DEBUG] [1699510965.964499793] [oak]: Setting param camera.i_tf_cam_pitch with value 0.0 [component_container-2] [DEBUG] [1699510965.964563634] [oak]: Setting param camera.i_tf_cam_yaw with value 0.0 [component_container-2] [DEBUG] [1699510965.964629642] [oak]: Setting param camera.i_tf_imu_from_descr with value false [component_container-2] [DEBUG] [1699510965.964712299] [oak]: Setting param camera.i_tf_custom_urdf_location with value [component_container-2] [DEBUG] [1699510965.964791503] [oak]: Setting param camera.i_tf_custom_xacro_args with value [component_container-2] [2023-11-09 08:22:45.964] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug' [component_container-2] [2023-11-09 08:22:45.964] [depthai] [debug] Library information - version: 2.22.0, commit: from , build: 2023-06-23 02:24:40 +0000 [component_container-2] [2023-11-09 08:22:45.967] [depthai] [debug] Initialize - finished [component_container-2] [INFO] [1699510965.967818425] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [2023-11-09 08:22:46.070] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.26.tar.xz' open: 2ms, archive read: 102ms [component_container-2] [2023-11-09 08:22:46.592] [depthai] [debug] Resources - Archive 'depthai-device-fwp-f033fd9c7eb0b3578d12f90302e87759c78cfb36.tar.xz' open: 2ms, archive read: 624ms [component_container-2] [2023-11-09 08:22:47.702] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.2, mxid=18443010316CAB0F00, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only [component_container-2] [18443010316CAB0F00] [3.2] [4.249] [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: f033fd9c7eb0b3578d12f90302e87759c78cfb36 [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] skipped OV7251 [component_container-2] skipped AR0234 [component_container-2] skipped S5K33D [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] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP [component_container-2] initial keepalive, countdown: 9 [component_container-2] initial keepalive, countdown: 8 [component_container-2] initial keepalive, countdown: 7 [component_container-2] initial keepalive, countdown: 6 [component_container-2] initial keepalive, countdown: 5 [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] [18443010316CAB0F00] [3.2] [4.259] [system] [info] Memory Usage - DDR: 0.12 / 337.18 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.51 / 80.03 MiB, LeonRT Heap: 2.89 / 41.06 MiB [component_container-2] [18443010316CAB0F00] [3.2] [4.259] [system] [info] Temperatures - Average: 37.00C, CSS: 38.65C, MSS 36.77C, UPA: 36.30C, DSS: 36.30C [component_container-2] [18443010316CAB0F00] [3.2] [4.259] [system] [info] Cpu Usage - LeonOS 45.28%, LeonRT: 0.60% [component_container-2] [18443010316CAB0F00] [3.2] [4.270] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 8308711] [XLin] startSync:130 Timesync | Callback not set [component_container-2] [INFO] [1699510971.994885521] [oak]: Camera with MXID: 18443010316CAB0F00 and Name: 3.2 connected! [component_container-2] [INFO] [1699510971.998135910] [oak]: USB SPEED: SUPER [component_container-2] [18443010316CAB0F00] [3.2] [4.292] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents [component_container-2] Reading VERSION 7 --- -> [component_container-2] [INFO] [1699510972.021442178] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [DEBUG] [1699510972.024249585] [oak]: Socket 1 - OV9282 [component_container-2] [DEBUG] [1699510972.024311723] [oak]: Socket 0 - IMX378 [component_container-2] [DEBUG] [1699510972.024320816] [oak]: Socket 2 - OV9282 [component_container-2] [DEBUG] [1699510972.027275786] [oak]: IR Drivers present [component_container-2] [INFO] [1699510972.027376093] [oak]: Pipeline type: RGBD [component_container-2] [DEBUG] [1699510972.029776314] [pluginlib.ClassLoader]: Creating ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7fff9e5d9550 [component_container-2] [DEBUG] [1699510972.029972906] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1699510972.029983503] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/depthai_ros_driver/plugins.xml... [component_container-2] [DEBUG] [1699510972.030112394] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGB, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030127481] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGBD, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030134275] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGBStereo, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030140174] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::Stereo, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030145809] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::Depth, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030151437] [pluginlib.ClassLoader]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::CamArray, assuming lookup_name == real class name. [component_container-2] [DEBUG] [1699510972.030180317] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1699510972.030188402] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7fff9e5d9550 [component_container-2] [DEBUG] [1699510972.030196419] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class depthai_ros_driver::pipeline_gen::RGBD. [component_container-2] [DEBUG] [1699510972.030208273] [pluginlib.ClassLoader]: Class depthai_ros_driver::pipeline_gen::RGBD maps to library depthai_ros_driver in classes_available_. [component_container-2] [DEBUG] [1699510972.030316433] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030326802] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030331353] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030335642] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030339876] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030344134] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030348422] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030352720] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030356940] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030361146] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030365367] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030369563] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030373900] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030378171] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030382420] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030386631] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030390915] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030395120] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030399348] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030403664] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030407892] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030412123] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030416739] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030420978] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030438355] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030445589] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030450131] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030454389] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030458670] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030462954] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030467966] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030473652] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030480307] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030486524] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030494146] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030500195] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030506206] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030512081] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030518849] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030526038] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/lib64/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030532711] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030539151] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030546354] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/libdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030553851] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/liblibdepthai_ros_driver.so' [component_container-2] [DEBUG] [1699510972.030560261] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030564743] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030569010] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/libdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030573403] [pluginlib.ClassLoader]: [search path for 'depthai_ros_driver']: '/opt/ros/humble/bin/depthai_ros_driver/liblibdepthai_ros_driverd.so' [component_container-2] [DEBUG] [1699510972.030578793] [pluginlib.ClassLoader]: Iterating through all possible paths where depthai_ros_driver could be located... [component_container-2] [DEBUG] [1699510972.030593030] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libdepthai_ros_driver.so [component_container-2] [DEBUG] [1699510972.030610754] [pluginlib.ClassLoader]: Library depthai_ros_driver found at explicit path /opt/ros/humble/lib/libdepthai_ros_driver.so. [component_container-2] [DEBUG] [1699510972.030632500] [pluginlib.ClassLoader]: depthai_ros_driver::pipeline_gen::RGBD maps to real class type depthai_ros_driver::pipeline_gen::RGBD [component_container-2] [DEBUG] [1699510972.030650741] [pluginlib.ClassLoader]: std::unique_ptr to object of real type depthai_ros_driver::pipeline_gen::RGBD created. [component_container-2] [DEBUG] [1699510972.030685113] [oak]: Creating node rgb base [component_container-2] [DEBUG] [1699510972.030862311] [oak]: Setting param rgb.i_max_q_size with value 30 [component_container-2] [DEBUG] [1699510972.030939469] [oak]: Setting param rgb.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.031036396] [oak]: Setting param rgb.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.031111265] [oak]: Setting param rgb.i_calibration_file with value [component_container-2] [DEBUG] [1699510972.031173663] [oak]: Setting param rgb.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1699510972.031223656] [oak]: Setting param rgb.i_simulated_topic_name with value [component_container-2] [DEBUG] [1699510972.031276552] [oak]: Setting param rgb.i_disable_node with value 0 [component_container-2] [DEBUG] [1699510972.031337588] [oak]: Setting param rgb.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1699510972.031393827] [oak]: Setting param rgb.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1699510972.031450165] [oak]: Setting param rgb.i_update_ros_base_time_on_ros_msg with value 0 [component_container-2] [DEBUG] [1699510972.031506719] [oak]: Setting param rgb.i_enable_feature_tracker with value 0 [component_container-2] [DEBUG] [1699510972.031561918] [oak]: Setting param rgb.i_enable_lazy_publisher with value 1 [component_container-2] [DEBUG] [1699510972.031608746] [oak]: Setting param rgb.i_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.031662767] [oak]: Setting param rgb.i_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.031718260] [oak]: Setting param rgb.i_reverse_stereo_socket_order with value 0 [component_container-2] [DEBUG] [1699510972.034133520] [oak]: Node rgb has sensor IMX378 [component_container-2] [DEBUG] [1699510972.034177262] [oak]: Creating node rgb [component_container-2] [DEBUG] [1699510972.034397402] [oak]: Setting param rgb.i_publish_topic with value 1 [component_container-2] [DEBUG] [1699510972.034472459] [oak]: Setting param rgb.i_output_isp with value 1 [component_container-2] [DEBUG] [1699510972.034539059] [oak]: Setting param rgb.i_enable_preview with value 0 [component_container-2] [DEBUG] [1699510972.034606788] [oak]: Setting param rgb.i_fps with value 30 [component_container-2] [DEBUG] [1699510972.034669569] [oak]: Setting param rgb.i_preview_size with value 300 [component_container-2] [DEBUG] [1699510972.034719728] [oak]: Setting param rgb.i_preview_width with value 300 [component_container-2] [DEBUG] [1699510972.034774673] [oak]: Setting param rgb.i_preview_height with value 300 [component_container-2] [DEBUG] [1699510972.034824213] [oak]: Setting param rgb.i_resolution with value 1080P [component_container-2] [DEBUG] [1699510972.034897321] [oak]: Setting param rgb.i_interleaved with value 0 [component_container-2] [DEBUG] [1699510972.034944468] [oak]: Setting param rgb.i_set_isp_scale with value 1 [component_container-2] [DEBUG] [1699510972.035000141] [oak]: Setting param rgb.i_isp_num with value 2 [component_container-2] [DEBUG] [1699510972.035053500] [oak]: Setting param rgb.i_isp_den with value 3 [component_container-2] [DEBUG] [1699510972.035116825] [oak]: Setting param rgb.i_height with value 720 [component_container-2] [DEBUG] [1699510972.035157947] [oak]: Setting param rgb.i_width with value 1280 [component_container-2] [DEBUG] [1699510972.035213476] [oak]: Setting param rgb.i_keep_preview_aspect_ratio with value 1 [component_container-2] [DEBUG] [1699510972.035265809] [oak]: Setting param rgb.r_iso with value 800 [component_container-2] [DEBUG] [1699510972.035325804] [oak]: Setting param rgb.r_exposure with value 20000 [component_container-2] [DEBUG] [1699510972.035395591] [oak]: Setting param rgb.r_whitebalance with value 3300 [component_container-2] [DEBUG] [1699510972.035489363] [oak]: Setting param rgb.r_focus with value 1 [component_container-2] [DEBUG] [1699510972.035525001] [oak]: Setting param rgb.r_set_man_focus with value 0 [component_container-2] [DEBUG] [1699510972.035565467] [oak]: Setting param rgb.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1699510972.035736935] [oak]: Setting param rgb.r_set_man_whitebalance with value 0 [component_container-2] [DEBUG] [1699510972.035827908] [oak]: Setting param rgb.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1699510972.035916390] [oak]: Setting param rgb.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1699510972.035973697] [oak]: Setting param rgb.i_set_isp3a_fps with value 0 [component_container-2] [DEBUG] [1699510972.036023830] [oak]: Setting param rgb.i_sensor_img_orientation with value NORMAL [component_container-2] [DEBUG] [1699510972.036077341] [oak]: Node rgb created [component_container-2] [DEBUG] [1699510972.036088610] [oak]: Base node rgb created [component_container-2] [DEBUG] [1699510972.036107598] [oak]: Creating node stereo [component_container-2] [DEBUG] [1699510972.036175709] [oak]: Setting param stereo.i_left_socket_id with value 1 [component_container-2] [DEBUG] [1699510972.036223777] [oak]: Setting param stereo.i_right_socket_id with value 2 [component_container-2] [DEBUG] [1699510972.042838371] [oak]: Creating stereo node with left sensor left and right sensor right [component_container-2] [DEBUG] [1699510972.042914524] [oak]: Creating node left base [component_container-2] [DEBUG] [1699510972.043073548] [oak]: Setting param left.i_max_q_size with value 30 [component_container-2] [DEBUG] [1699510972.043122746] [oak]: Setting param left.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.043180734] [oak]: Setting param left.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.043228272] [oak]: Setting param left.i_calibration_file with value [component_container-2] [DEBUG] [1699510972.043262315] [oak]: Setting param left.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1699510972.043324733] [oak]: Setting param left.i_simulated_topic_name with value [component_container-2] [DEBUG] [1699510972.043379045] [oak]: Setting param left.i_disable_node with value 0 [component_container-2] [DEBUG] [1699510972.043433337] [oak]: Setting param left.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1699510972.043487845] [oak]: Setting param left.i_board_socket_id with value 1 [component_container-2] [DEBUG] [1699510972.043534702] [oak]: Setting param left.i_update_ros_base_time_on_ros_msg with value 0 [component_container-2] [DEBUG] [1699510972.043594970] [oak]: Setting param left.i_enable_feature_tracker with value 0 [component_container-2] [DEBUG] [1699510972.043646161] [oak]: Setting param left.i_enable_lazy_publisher with value 1 [component_container-2] [DEBUG] [1699510972.043704614] [oak]: Setting param left.i_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.043760341] [oak]: Setting param left.i_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.043814523] [oak]: Setting param left.i_reverse_stereo_socket_order with value 0 [component_container-2] [DEBUG] [1699510972.055052117] [oak]: Node left has sensor OV9282 [component_container-2] [DEBUG] [1699510972.055142669] [oak]: Creating node left [component_container-2] [DEBUG] [1699510972.055330547] [oak]: Setting param left.i_fps with value 30 [component_container-2] [DEBUG] [1699510972.055405923] [oak]: Setting param left.i_publish_topic with value 0 [component_container-2] [DEBUG] [1699510972.055507400] [oak]: Setting param left.i_resolution with value 800P [component_container-2] [DEBUG] [1699510972.055612396] [oak]: Setting param left.i_width with value 1280 [component_container-2] [DEBUG] [1699510972.055672631] [oak]: Setting param left.i_height with value 800 [component_container-2] [DEBUG] [1699510972.055731295] [oak]: Setting param left.r_iso with value 800 [component_container-2] [DEBUG] [1699510972.055812708] [oak]: Setting param left.r_exposure with value 1000 [component_container-2] [DEBUG] [1699510972.055854512] [oak]: Setting param left.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1699510972.055914398] [oak]: Setting param left.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1699510972.056007009] [oak]: Setting param left.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1699510972.056144002] [oak]: Setting param left.i_set_isp3a_fps with value 0 [component_container-2] [DEBUG] [1699510972.056208899] [oak]: Setting param left.i_sensor_img_orientation with value NORMAL [component_container-2] [DEBUG] [1699510972.056255082] [oak]: Node left created [component_container-2] [DEBUG] [1699510972.056269325] [oak]: Base node left created [component_container-2] [DEBUG] [1699510972.056279193] [oak]: Creating node right base [component_container-2] [DEBUG] [1699510972.056342261] [oak]: Setting param right.i_max_q_size with value 30 [component_container-2] [DEBUG] [1699510972.056455826] [oak]: Setting param right.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.056567253] [oak]: Setting param right.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.056670318] [oak]: Setting param right.i_calibration_file with value [component_container-2] [DEBUG] [1699510972.056785125] [oak]: Setting param right.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1699510972.056872194] [oak]: Setting param right.i_simulated_topic_name with value [component_container-2] [DEBUG] [1699510972.056964934] [oak]: Setting param right.i_disable_node with value 0 [component_container-2] [DEBUG] [1699510972.057070029] [oak]: Setting param right.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1699510972.057151997] [oak]: Setting param right.i_board_socket_id with value 2 [component_container-2] [DEBUG] [1699510972.057219867] [oak]: Setting param right.i_update_ros_base_time_on_ros_msg with value 0 [component_container-2] [DEBUG] [1699510972.057335555] [oak]: Setting param right.i_enable_feature_tracker with value 0 [component_container-2] [DEBUG] [1699510972.057393138] [oak]: Setting param right.i_enable_lazy_publisher with value 1 [component_container-2] [DEBUG] [1699510972.057493336] [oak]: Setting param right.i_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.057588916] [oak]: Setting param right.i_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.057668964] [oak]: Setting param right.i_reverse_stereo_socket_order with value 0 [component_container-2] [DEBUG] [1699510972.060462396] [oak]: Node right has sensor OV9282 [component_container-2] [DEBUG] [1699510972.060526202] [oak]: Creating node right [component_container-2] [DEBUG] [1699510972.060690139] [oak]: Setting param right.i_fps with value 30 [component_container-2] [DEBUG] [1699510972.060847303] [oak]: Setting param right.i_publish_topic with value 0 [component_container-2] [DEBUG] [1699510972.060938137] [oak]: Setting param right.i_resolution with value 800P [component_container-2] [DEBUG] [1699510972.060996498] [oak]: Setting param right.i_width with value 1280 [component_container-2] [DEBUG] [1699510972.061076171] [oak]: Setting param right.i_height with value 800 [component_container-2] [DEBUG] [1699510972.061134602] [oak]: Setting param right.r_iso with value 800 [component_container-2] [DEBUG] [1699510972.061208356] [oak]: Setting param right.r_exposure with value 1000 [component_container-2] [DEBUG] [1699510972.061258098] [oak]: Setting param right.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1699510972.061314325] [oak]: Setting param right.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1699510972.061373581] [oak]: Setting param right.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1699510972.061444920] [oak]: Setting param right.i_set_isp3a_fps with value 0 [component_container-2] [DEBUG] [1699510972.061503467] [oak]: Setting param right.i_sensor_img_orientation with value NORMAL [component_container-2] [DEBUG] [1699510972.061527498] [oak]: Node right created [component_container-2] [DEBUG] [1699510972.061538412] [oak]: Base node right created [component_container-2] [DEBUG] [1699510972.061635206] [oak]: Setting param stereo.i_max_q_size with value 30 [component_container-2] [DEBUG] [1699510972.061685667] [oak]: Setting param stereo.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.061748052] [oak]: Setting param stereo.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.061854172] [oak]: Setting param stereo.i_output_disparity with value 0 [component_container-2] [DEBUG] [1699510972.062048544] [oak]: Setting param stereo.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1699510972.062152123] [oak]: Setting param stereo.i_update_ros_base_time_on_ros_msg with value 0 [component_container-2] [DEBUG] [1699510972.062361092] [oak]: Setting param stereo.i_publish_topic with value 1 [component_container-2] [DEBUG] [1699510972.062452261] [oak]: Setting param stereo.i_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.062526763] [oak]: Setting param stereo.i_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.062584708] [oak]: Setting param stereo.i_enable_lazy_publisher with value 1 [component_container-2] [DEBUG] [1699510972.062642523] [oak]: Setting param stereo.i_reverse_stereo_socket_order with value 0 [component_container-2] [DEBUG] [1699510972.062726248] [oak]: Setting param stereo.i_publish_synced_rect_pair with value 0 [component_container-2] [DEBUG] [1699510972.062837317] [oak]: Setting param stereo.i_publish_left_rect with value 0 [component_container-2] [DEBUG] [1699510972.062922510] [oak]: Setting param stereo.i_left_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.062998949] [oak]: Setting param stereo.i_left_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.063101468] [oak]: Setting param stereo.i_left_rect_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.063214794] [oak]: Setting param stereo.i_left_rect_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.063269274] [oak]: Setting param stereo.i_left_rect_enable_feature_tracker with value 0 [component_container-2] [DEBUG] [1699510972.063334617] [oak]: Setting param stereo.i_publish_right_rect with value 0 [component_container-2] [DEBUG] [1699510972.063438511] [oak]: Setting param stereo.i_right_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1699510972.063512978] [oak]: Setting param stereo.i_right_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1699510972.063608191] [oak]: Setting param stereo.i_right_rect_enable_feature_tracker with value 0 [component_container-2] [DEBUG] [1699510972.063702636] [oak]: Setting param stereo.i_right_rect_add_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.063793851] [oak]: Setting param stereo.i_right_rect_exposure_offset with value 0 [component_container-2] [DEBUG] [1699510972.063898089] [oak]: Setting param stereo.i_lr_check with value 1 [component_container-2] [DEBUG] [1699510972.063986333] [oak]: Setting param stereo.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1699510972.064072873] [oak]: Setting param stereo.i_align_depth with value 1 [component_container-2] [DEBUG] [1699510972.064168670] [oak]: Setting param stereo.i_socket_name with value rgb [component_container-2] [DEBUG] [1699510972.068138522] [oak]: Setting param stereo.i_set_input_size with value 0 [component_container-2] [DEBUG] [1699510972.068247560] [oak]: Setting param stereo.i_width with value 1280 [component_container-2] [DEBUG] [1699510972.068310190] [oak]: Setting param stereo.i_height with value 720 [component_container-2] [DEBUG] [1699510972.068388102] [oak]: Setting param stereo.i_depth_preset with value HIGH_ACCURACY [component_container-2] [DEBUG] [1699510972.068466238] [oak]: Setting param stereo.i_enable_distortion_correction with value 0 [component_container-2] [DEBUG] [1699510972.068522750] [oak]: Setting param stereo.i_set_disparity_to_depth_use_spec_translation with value 0 [component_container-2] [DEBUG] [1699510972.068579746] [oak]: Setting param stereo.i_bilateral_sigma with value 0 [component_container-2] [DEBUG] [1699510972.068661523] [oak]: Setting param stereo.i_lrc_threshold with value 10 [component_container-2] [DEBUG] [1699510972.068735666] [oak]: Setting param stereo.i_depth_filter_size with value 5 [component_container-2] [DEBUG] [1699510972.068794026] [oak]: Setting param stereo.i_stereo_conf_threshold with value 240 [component_container-2] [DEBUG] [1699510972.068864089] [oak]: Setting param stereo.i_subpixel with value 0 [component_container-2] [DEBUG] [1699510972.068930449] [oak]: Setting param stereo.i_rectify_edge_fill_color with value 0 [component_container-2] [DEBUG] [1699510972.069001896] [oak]: Setting param stereo.i_enable_alpha_scaling with value 0 [component_container-2] [DEBUG] [1699510972.069069256] [oak]: Setting param stereo.i_disparity_width with value DISPARITY_96 [component_container-2] [DEBUG] [1699510972.069134634] [oak]: Setting param stereo.i_extended_disp with value 0 [component_container-2] [DEBUG] [1699510972.069190874] [oak]: Setting param stereo.i_enable_companding with value 0 [component_container-2] [DEBUG] [1699510972.069248493] [oak]: Setting param stereo.i_enable_temporal_filter with value 0 [component_container-2] [DEBUG] [1699510972.069319207] [oak]: Setting param stereo.i_enable_speckle_filter with value 0 [component_container-2] [DEBUG] [1699510972.069375068] [oak]: Setting param stereo.i_enable_disparity_shift with value 0 [component_container-2] [DEBUG] [1699510972.069427423] [oak]: Setting param stereo.i_enable_spatial_filter with value 0 [component_container-2] [DEBUG] [1699510972.069490526] [oak]: Setting param stereo.i_enable_threshold_filter with value 0 [component_container-2] [DEBUG] [1699510972.069543868] [oak]: Setting param stereo.i_enable_brightness_filter with value 0 [component_container-2] [DEBUG] [1699510972.069601754] [oak]: Setting param stereo.i_enable_decimation_filter with value 0 [component_container-2] [DEBUG] [1699510972.069644210] [oak]: Node stereo created [component_container-2] [DEBUG] [1699510972.069673029] [oak]: Creating node nn base [component_container-2] [DEBUG] [1699510972.069791786] [oak]: Setting param nn.i_nn_config_path with value nn/best_400.json [component_container-2] [INFO] [1699510972.069925974] [oak]: NN Family: YOLO [component_container-2] [DEBUG] [1699510972.069960237] [oak]: Creating node nn [component_container-2] [DEBUG] [1699510972.070080319] [oak]: Setting param nn.i_disable_resize with value 0 [component_container-2] [DEBUG] [1699510972.070143118] [oak]: Setting param nn.i_enable_passthrough with value 0 [component_container-2] [DEBUG] [1699510972.070211222] [oak]: Setting param nn.i_enable_passthrough_depth with value 0 [component_container-2] [DEBUG] [1699510972.070385026] [oak]: Setting param nn.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1699510972.070461392] [oak]: Setting param nn.i_update_ros_base_time_on_ros_msg with value 0 [component_container-2] [DEBUG] [1699510972.070654707] [pluginlib.ClassLoader]: Destroying ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7fff9e5d9550 [component_container-2] [18443010316CAB0F00] [3.2] [1699510972.070] [host] [debug] Device about to be closed... [component_container-2] [18443010316CAB0F00] [3.2] [1699510972.213] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR) [component_container-2] [18443010316CAB0F00] [3.2] [1699510972.213] [host] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR) [component_container-2] [18443010316CAB0F00] [3.2] [1699510972.718] [host] [debug] Watchdog thread exception caught: Couldn't write data to stream: '__watchdog' (X_LINK_ERROR) [component_container-2] [2023-11-09 08:22:56.327] [depthai] [debug] XLinkResetRemote of linkId: (0) [component_container-2] [18443010316CAB0F00] [3.2] [1699510976.327] [host] [debug] Device closed, 4257 [component_container-2] [DEBUG] [1699510976.327837173] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.327866230] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.327879117] [rcl]: Finalizing subscription [component_container-2] [DEBUG] [1699510976.328641492] [rcl]: Subscription finalized [component_container-2] [DEBUG] [1699510976.328693059] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.329421355] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.329447197] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.329922993] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.329946581] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.330495066] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.330525617] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.331015705] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.331039181] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.332082609] [rcl]: Service finalized [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null [component_container-2] [DEBUG] [1699510976.332109493] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.332692904] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.332715825] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.332721740] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.332730779] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.333320611] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.333411319] [rcl]: Finalizing node [component_container-2] [DEBUG] [1699510976.333421489] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.334140542] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.334378079] [rcl]: Node finalized [component_container-2] [ERROR] [1699510976.334448995] [oak_container]: Component constructor threw an exception: [json.exception.type_error.302] type must be string, but is null [component_container-2] [DEBUG] [1699510976.334504425] [rcl]: Sending service response [component_container-2] [DEBUG] [1699510976.334619326] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510976.334648714] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510976.334665448] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510976.334677046] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1699510976.354520398] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1699510976.354526842] [rcl]: Subscription take succeeded: true ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container-2] [INFO] [1699510976.885804137] [rclcpp]: signal_handler(signum=2) [component_container-2] [DEBUG] [1699510976.885837755] [rclcpp]: signal_handler(): notifying deferred signal handler [component_container-2] [DEBUG] [1699510976.885918700] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1699510976.885957668] [rclcpp]: deferred_signal_handler(): shutting down [component_container-2] [DEBUG] [1699510976.886046645] [rclcpp]: deferred_signal_handler(): shutting down rclcpp::Context @ 0x55a592a24ee0, because it had shutdown_on_signal == true [component_container-2] [DEBUG] [1699510976.886057682] [rcl]: Shutting down ROS client library, for context at address: 0x55a5929ba3b0 [INFO] [component_container-2]: process has finished cleanly [pid 20416] [INFO] [rviz2-1]: process has finished cleanly [pid 20414] [rviz2-1] [INFO] [1699510976.885820648] [rclcpp]: signal_handler(signum=2) [component_container-2] [DEBUG] [1699510976.886103639] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.886178597] [oak_container]: Removing components from executor [component_container-2] [DEBUG] [1699510976.886212793] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.886649748] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.886663720] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.887441241] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.887456351] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.887869175] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.887928017] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1699510976.888221002] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.888234898] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.888547497] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.888567910] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.888572175] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.888576370] [rcl]: Finalizing subscription [component_container-2] [DEBUG] [1699510976.888793295] [rcl]: Subscription finalized [component_container-2] [DEBUG] [1699510976.888806651] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.888810385] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.888814056] [rcl]: Finalizing subscription [component_container-2] [DEBUG] [1699510976.889133724] [rcl]: Subscription finalized [component_container-2] [DEBUG] [1699510976.889149603] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.889154121] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.889158133] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.889361513] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.889374152] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.889378967] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.889384121] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.889613454] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.889631270] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.889636020] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.889639910] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.889966396] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.889989217] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.889993782] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.889997689] [rcl]: Finalizing subscription [component_container-2] [DEBUG] [1699510976.890313948] [rcl]: Subscription finalized [component_container-2] [DEBUG] [1699510976.890328950] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.890620303] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.890630220] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.890989842] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.891000512] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.891432957] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.891444793] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.891845602] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.891857790] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.892530359] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.892543661] [rcl]: Finalizing service [component_container-2] [DEBUG] [1699510976.892925979] [rcl]: Service finalized [component_container-2] [DEBUG] [1699510976.892939895] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.892944031] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.892948056] [rcl]: Finalizing publisher [component_container-2] [DEBUG] [1699510976.893241733] [rcl]: Publisher finalized [component_container-2] [DEBUG] [1699510976.893271151] [rcl]: Finalizing node [component_container-2] [DEBUG] [1699510976.893363821] [rcl]: Node finalized [component_container-2] [DEBUG] [1699510976.911760423] [rcl]: Finalizing event [component_container-2] [DEBUG] [1699510976.911796029] [rcl]: Event finalized [component_container-2] [DEBUG] [1699510976.911803256] [rcl]: Finalizing subscription [component_container-2] [DEBUG] [1699510976.912916050] [rcl]: Subscription finalized [component_container-2] [DEBUG] [1699510976.912971746] [rcl]: Finalizing node [component_container-2] [DEBUG] [1699510976.917933646] [rcl]: Node finalized [component_container-2] [DEBUG] [1699510977.018695183] [rclcpp]: SignalHandler::uninstall(): notifying deferred signal handler [component_container-2] [DEBUG] [1699510977.018757812] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1699510977.018772499] [rclcpp]: deferred_signal_handler(): signal handling uninstalled [component_container-2] [DEBUG] [1699510977.018936166] [rclcpp]: signal handler uninstalled ```

[Serafadam]

Hi, to load custom YOLO model, you would need to set the "zoo" parameter to "path" and then provide the path to the .blob file, similarly to how the current yolo example is set up.

[mkarklins]

Thank you very much - works as expected!

I just didn't know where to look for the problem based on the error log.