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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
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ROS 1 Noetic Support for OAK-D LR #471

Open TFM99102 opened 11 months ago

TFM99102 commented 11 months ago

Is the OAK-D LR currently supported by the ROS code? I have followed the readme file but it does not work for the OAK-D LR. If there is currently no support, are there any plans to support the device in the future?

Kind regards

Serafadam commented 11 months ago

Hi, could you post some more information as described in bug report template?

TFM99102 commented 11 months ago

Hey, I'm trying to work with the OAK-D Long range: Product link:

I have installed everything according to the readme. I'm trying to launch the stereo_inertial_node roslaunch depthai_examples stereo_inertial_node.launch camera_model:=OAK-D-LR For the camera_model i want to set OAK-D-LR but this is failing ( I have looked into the URDF files and there is no file for my camera model) --> that is why I'm thinking the model is currently not supported. Error message when launching with camera_model:=OAK-D-LR `... logging to /home/urban/.ros/log/fce0fd42-9f48-11ee-9ef7-48b02de60df0/roslaunch-urban0-5334.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://urban0:41375/

SUMMARY

PARAMETERS

NODES / depth_image_convertion_nodelet (nodelet/nodelet) depth_image_to_rgb_pointcloud (nodelet/nodelet) nodelet_manager (nodelet/nodelet) oak_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) stereo_inertial_publisher (depthai_examples/stereo_inertial_node)

auto-starting new master process[master]: started with pid [5368] ROS_MASTER_URI=http://localhost:11311

setting /run_id to fce0fd42-9f48-11ee-9ef7-48b02de60df0 process[rosout-1]: started with pid [5389] started core service [/rosout] process[oak_state_publisher-2]: started with pid [5396] process[stereo_inertial_publisher-3]: started with pid [5397] process[nodelet_manager-4]: started with pid [5398] process[depth_image_convertion_nodelet-5]: started with pid [5402] process[depth_image_to_rgb_pointcloud-6]: started with pid [5406] process[rviz-7]: started with pid [5408] [ INFO] [1703084633.593621150]: Initializing nodelet with 12 worker threads. nnPath ,, /opt/ros/noetic/share/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob 1280 720 1280 720 Listing available devices... terminate called after throwing an instance of 'std::runtime_error' what(): ros::NodeHandle() from Node "/stereo_inertial_publisher" DepthAI Device with MxId "" not found. " [ERROR] [1703084634.721312214]: Could not load resource [package://depthai_descriptions/urdf/models/OAK-D-LR.stl]: Unable to open file "package://depthai_descriptions/urdf/models/OAK-D-LR.stl". ================================================================================REQUIRED process [stereo_inertial_publisher-3] has died! process has died [pid 5397, exit code -6, cmd /opt/ros/noetic/lib/depthai_examples/stereo_inertial_node name:=stereo_inertial_publisher log:=/home/urban/.ros/log/fce0fd42-9f48-11ee-9ef7-48b02de60df0/stereo_inertial_publisher-3.log]. log file: /home/urban/.ros/log/fce0fd42-9f48-11ee-9ef7-48b02de60df0/stereo_inertial_publisher-3*.log Initiating shutdown!

[rviz-7] killing on exit [depth_image_to_rgb_pointcloud-6] killing on exit [depth_image_convertion_nodelet-5] killing on exit [nodelet_manager-4] killing on exit [stereo_inertial_publisher-3] killing on exit [oak_state_publisher-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete **Error message when launching with camera_model:=OAK-D** ... logging to /home/urban/.ros/log/eb9b0418-9f4a-11ee-8a5d-48b02de60df0/roslaunch-urban0-5964.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://urban0:37899/

SUMMARY

PARAMETERS

NODES / depth_image_convertion_nodelet (nodelet/nodelet) depth_image_to_rgb_pointcloud (nodelet/nodelet) nodelet_manager (nodelet/nodelet) oak_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) stereo_inertial_publisher (depthai_examples/stereo_inertial_node)

auto-starting new master process[master]: started with pid [5996] ROS_MASTER_URI=http://localhost:11311

setting /run_id to eb9b0418-9f4a-11ee-8a5d-48b02de60df0 process[rosout-1]: started with pid [6017] started core service [/rosout] process[oak_state_publisher-2]: started with pid [6024] process[stereo_inertial_publisher-3]: started with pid [6025] process[nodelet_manager-4]: started with pid [6026] process[depth_image_convertion_nodelet-5]: started with pid [6027] process[depth_image_to_rgb_pointcloud-6]: started with pid [6033] process[rviz-7]: started with pid [6035] [ INFO] [1703085463.578881410]: Initializing nodelet with 12 worker threads. nnPath ,, /opt/ros/noetic/share/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob 1280 720 1280 720 Listing available devices... terminate called after throwing an instance of 'std::runtime_error' what(): ros::NodeHandle() from Node "/stereo_inertial_publisher" DepthAI Device with MxId "" not found. " ================================================================================REQUIRED process [stereo_inertial_publisher-3] has died! process has died [pid 6025, exit code -6, cmd /opt/ros/noetic/lib/depthai_examples/stereo_inertial_node name:=stereo_inertial_publisher log:=/home/urban/.ros/log/eb9b0418-9f4a-11ee-8a5d-48b02de60df0/stereo_inertial_publisher-3.log]. log file: /home/urban/.ros/log/eb9b0418-9f4a-11ee-8a5d-48b02de60df0/stereo_inertial_publisher-3*.log Initiating shutdown!

[rviz-7] killing on exit [depth_image_to_rgb_pointcloud-6] killing on exit [depth_image_convertion_nodelet-5] killing on exit [nodelet_manager-4] killing on exit [stereo_inertial_publisher-3] killing on exit [oak_state_publisher-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done ` Attach system log

TFM99102 commented 10 months ago

Hey any updates on this ?

Serafadam commented 10 months ago

Hi @TFM99102 , sorry for the inconvenience. LR support will be updated this week (hopefully today/tomorrow) by @danilo-pejovic

TFM99102 commented 10 months ago

Thanks, I look forward to the issue being resolved.

danilo-pejovic commented 10 months ago

I am working on it, we are updating couple of our cameras. I will let you know when I am ready to push changes for LR.