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luxonis / depthai-ros

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

Open TFM99102 opened 6 months ago

TFM99102 commented 6 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 6 months ago

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

TFM99102 commented 6 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 5 months ago

Hey any updates on this ?

Serafadam commented 5 months ago

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

TFM99102 commented 5 months ago

Thanks, I look forward to the issue being resolved.

danilo-pejovic commented 5 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.