After trying multiple approaches I have not been able to properly communicate with the new OAK-D-LR. The only time that the camera was recognized we using the prebuilt ROS1 Noetic image. I am using ROS2 Galactic and when I run the example stereo_inertial_node I get the following error:
/opt/ros/galactic/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/roberto/.ros/log/2024-01-11-14-31-15-773878-roberto-Precision-7770-13225
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [13238]
[INFO] [stereo_inertial_node-2]: process started with pid [13240]
[INFO] [component_container-3]: process started with pid [13242]
[INFO] [rviz2-4]: process started with pid [13244]
[robot_state_publisher-1] Link oak-d_frame had 4 children
[robot_state_publisher-1] Link oak_left_camera_frame had 1 children
[robot_state_publisher-1] Link oak_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link oak_model_origin had 0 children
[robot_state_publisher-1] Link oak_rgb_camera_frame had 1 children
[robot_state_publisher-1] Link oak_rgb_camera_optical_frame had 0 children
[robot_state_publisher-1] Link oak_right_camera_frame had 1 children
[robot_state_publisher-1] Link oak_right_camera_optical_frame had 0 children
[robot_state_publisher-1] [INFO] [1705005076.014018921] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-1] [INFO] [1705005076.014055860] [oak_state_publisher]: got segment oak-d_frame
[robot_state_publisher-1] [INFO] [1705005076.014060635] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-1] [INFO] [1705005076.014063728] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1705005076.014066588] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-1] [INFO] [1705005076.014069446] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-1] [INFO] [1705005076.014072352] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-1] [INFO] [1705005076.014075115] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-1] [INFO] [1705005076.014077754] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-3] [INFO] [1705005076.257599521] [container]: Load Library: /opt/ros/galactic/lib/libdepth_image_proc.so
[component_container-3] [INFO] [1705005076.289203806] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.289237179] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/container'
[component_container-3] [INFO] [1705005076.293350640] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293364365] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293367697] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293370686] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293373337] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293376020] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293378662] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293382142] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293385001] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/container'
[rviz2-4] [INFO] [1705005076.538628662] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1705005076.538704971] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1705005076.554648739] [rviz2]: Stereo is NOT SUPPORTED
[stereo_inertial_node-2] 1280 720 1280 720
[component_container-3] [WARN] [1705005076.638974612] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-3] [WARN] [1705005076.639332623] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-4] [INFO] [1705005076.712499440] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [ERROR] [1705005076.715142386] [rviz2]: Error retrieving file [file:///home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl]: Couldn't open file /home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl
[rviz2-4] [ERROR] [1705005076.715175359] [rviz2]: FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716169107] [rviz2]: could not load model 'package://depthai_bridge/urdf/models/OAK-D-LR.stl' for link 'oak_model_origin': FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716205496] [rviz2]: Error retrieving file [file:///home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl]: Couldn't open file /home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl
[rviz2-4] [ERROR] [1705005076.716214234] [rviz2]: FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716225367] [rviz2]: could not load model 'package://depthai_bridge/urdf/models/OAK-D-LR.stl' for link 'oak_model_origin': FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[stereo_inertial_node-2] Listing available devices...
[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.964] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Color camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Mono Left camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Mono Right camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1342.064] [IMU(5)] [critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!
[stereo_inertial_node-2] terminate called after throwing an instance of 'std::runtime_error'
[stereo_inertial_node-2] what(): Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE
[ERROR] [stereo_inertial_node-2]: process has died [pid 13240, exit code -6, cmd '/home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/stereo_inertial_node --ros-args --params-file /tmp/launch_params_gmz86p6e --params-file /tmp/launch_params_9vz_kpk8 --params-file /tmp/launch_params_aphcks4a --params-file /tmp/launch_params_b15kcd0i --params-file /tmp/launch_params_avbu772p --params-file /tmp/launch_params_6iuvgrwd --params-file /tmp/launch_params_tuf0ufe6 --params-file /tmp/launch_params_rxdazopx --params-file /tmp/launch_paramsm4e7iak --params-file /tmp/launch_params_a1blm3d8 --params-file /tmp/launch_params_z9yusz06 --params-file /tmp/launch_params_ufxit6 --params-file /tmp/launch_params_yhm26_nw --params-file /tmp/launch_params_vjnxsb7r --params-file /tmp/launch_params_gn1g3jhk --params-file /tmp/launch_params_tgbrb5y4 --params-file /tmp/launch_params_9lv4_8xx --params-file /tmp/launch_params_0rd9u7vo --params-file /tmp/launch_params_8e69sjka --params-file /tmp/launch_params_t5il41a5 --params-file /tmp/launch_params_kzp83ms6 --params-file /tmp/launch_params_4byklud5 --params-file /tmp/launch_params_wwouvzah --params-file /tmp/launch_params_r25xrgtp --params-file /tmp/launch_params_hjl592my --params-file /tmp/launch_params_ao081516 --params-file /tmp/launch_params_q6bmi9l2 --params-file /tmp/launch_params_cdf0__ow --params-file /tmp/launch_params_trrlft3q --params-file /tmp/launch_params_4aoy_pi0 --params-file /tmp/launch_params_leqijcj8 --params-file /tmp/launch_params_ejkx4_rc --params-file /tmp/launch_params_pi4cb1'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 13238]
[INFO] [rviz2-4]: process has finished cleanly [pid 13244]
[INFO] [component_container-3]: process has finished cleanly [pid 13242]
When running rgb_stereo_node I get:
[INFO] [launch]: All log files can be found below /home/roberto/.ros/log/2024-01-11-14-39-27-950285-roberto-Precision-7770-13599
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgb_stereo_node-1]: process started with pid [13602]
[INFO] [robot_state_publisher-2]: process started with pid [13604]
[robot_state_publisher-2] Link oak-d_frame had 5 children
[robot_state_publisher-2] Link oak_imu_frame had 0 children
[robot_state_publisher-2] Link oak_left_camera_frame had 1 children
[robot_state_publisher-2] Link oak_left_camera_optical_frame had 0 children
[robot_state_publisher-2] Link oak_model_origin had 0 children
[robot_state_publisher-2] Link oak_rgb_camera_frame had 1 children
[robot_state_publisher-2] Link oak_rgb_camera_optical_frame had 0 children
[robot_state_publisher-2] Link oak_right_camera_frame had 1 children
[robot_state_publisher-2] Link oak_right_camera_optical_frame had 0 children
[robot_state_publisher-2] [INFO] [1705005568.173174230] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-2] [INFO] [1705005568.173212608] [oak_state_publisher]: got segment oak-d_frame
[robot_state_publisher-2] [INFO] [1705005568.173218358] [oak_state_publisher]: got segment oak_imu_frame
[robot_state_publisher-2] [INFO] [1705005568.173222109] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-2] [INFO] [1705005568.173225642] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-2] [INFO] [1705005568.173228975] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-2] [INFO] [1705005568.173232181] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-2] [INFO] [1705005568.173235333] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-2] [INFO] [1705005568.173238457] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-2] [INFO] [1705005568.173241599] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Color camera - NOT detected!
[rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Mono Left camera - NOT detected!
[rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Mono Right camera - NOT detected!
[rgb_stereo_node-1] /home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/rgb_stereo_node: symbol lookup error: /home/roberto/home2/dai_ws/install/depthai_bridge/lib/libdepthai_bridge.so: undefined symbol: _ZNK3dai18CalibrationHandler20getDefaultIntrinsicsENS_17CameraBoardSocketE
[ERROR] [rgb_stereo_node-1]: process has died [pid 13602, exit code 127, cmd '/home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/rgb_stereo_node --ros-args --params-file /tmp/launch_params_hvabfi7m --params-file /tmp/launch_params_xkgex_5x --params-file /tmp/launch_params_5807b0k3 --params-file /tmp/launch_params_lbh9km7a --params-file /tmp/launch_params_nn4ku1ok --params-file /tmp/launch_paramsnmnmwhf --params-file /tmp/launch_params_qmqg2e16 --params-file /tmp/launch_params_x9h72a_0 --params-file /tmp/launch_params_lx4of_8y --params-file /tmp/launch_params_sj4ywyys --params-file /tmp/launch_params_ayqsqepf --params-file /tmp/launch_params_z_3ppa37 --params-file /tmp/launch_params_n4mistjq --params-file /tmp/launch_params_u96ubym5'].
After trying multiple approaches I have not been able to properly communicate with the new OAK-D-LR. The only time that the camera was recognized we using the prebuilt ROS1 Noetic image. I am using ROS2 Galactic and when I run the example stereo_inertial_node I get the following error:
/opt/ros/galactic/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html from pkg_resources import load_entry_point [INFO] [launch]: All log files can be found below /home/roberto/.ros/log/2024-01-11-14-31-15-773878-roberto-Precision-7770-13225 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [13238] [INFO] [stereo_inertial_node-2]: process started with pid [13240] [INFO] [component_container-3]: process started with pid [13242] [INFO] [rviz2-4]: process started with pid [13244] [robot_state_publisher-1] Link oak-d_frame had 4 children [robot_state_publisher-1] Link oak_left_camera_frame had 1 children [robot_state_publisher-1] Link oak_left_camera_optical_frame had 0 children [robot_state_publisher-1] Link oak_model_origin had 0 children [robot_state_publisher-1] Link oak_rgb_camera_frame had 1 children [robot_state_publisher-1] Link oak_rgb_camera_optical_frame had 0 children [robot_state_publisher-1] Link oak_right_camera_frame had 1 children [robot_state_publisher-1] Link oak_right_camera_optical_frame had 0 children [robot_state_publisher-1] [INFO] [1705005076.014018921] [oak_state_publisher]: got segment oak-d-base-frame [robot_state_publisher-1] [INFO] [1705005076.014055860] [oak_state_publisher]: got segment oak-d_frame [robot_state_publisher-1] [INFO] [1705005076.014060635] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1705005076.014063728] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1705005076.014066588] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1705005076.014069446] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1705005076.014072352] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1705005076.014075115] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1705005076.014077754] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-3] [INFO] [1705005076.257599521] [container]: Load Library: /opt/ros/galactic/lib/libdepth_image_proc.so [component_container-3] [INFO] [1705005076.289203806] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.289237179] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/container'
[component_container-3] [INFO] [1705005076.293350640] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293364365] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293367697] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293370686] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293373337] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293376020] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293378662] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293382142] [container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container-3] [INFO] [1705005076.293385001] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/container'
[rviz2-4] [INFO] [1705005076.538628662] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1705005076.538704971] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1705005076.554648739] [rviz2]: Stereo is NOT SUPPORTED
[stereo_inertial_node-2] 1280 720 1280 720
[component_container-3] [WARN] [1705005076.638974612] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-3] [WARN] [1705005076.639332623] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-4] [INFO] [1705005076.712499440] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [ERROR] [1705005076.715142386] [rviz2]: Error retrieving file [file:///home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl]: Couldn't open file /home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl
[rviz2-4] [ERROR] [1705005076.715175359] [rviz2]: FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716169107] [rviz2]: could not load model 'package://depthai_bridge/urdf/models/OAK-D-LR.stl' for link 'oak_model_origin': FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716205496] [rviz2]: Error retrieving file [file:///home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl]: Couldn't open file /home/roberto/home2/dai_ws/install/depthai_bridge/share/depthai_bridge/urdf/models/OAK-D-LR.stl
[rviz2-4] [ERROR] [1705005076.716214234] [rviz2]: FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] [ERROR] [1705005076.716225367] [rviz2]: could not load model 'package://depthai_bridge/urdf/models/OAK-D-LR.stl' for link 'oak_model_origin': FileNotFoundException: Cannot locate resource package://depthai_bridge/urdf/models/OAK-D-LR.stl in resource group OgreAutodetect. in ResourceGroupManager::openResource at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.2/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceGroupManager.cpp (line 703)
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "oak-d_frame" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[stereo_inertial_node-2] Listing available devices...
[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.964] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Color camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Mono Left camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1340.979] [system] [error] Attempted to start Mono Right camera - NOT detected!
[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [1342.064] [IMU(5)] [critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!
[stereo_inertial_node-2] terminate called after throwing an instance of 'std::runtime_error'
[stereo_inertial_node-2] what(): Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE
[ERROR] [stereo_inertial_node-2]: process has died [pid 13240, exit code -6, cmd '/home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/stereo_inertial_node --ros-args --params-file /tmp/launch_params_gmz86p6e --params-file /tmp/launch_params_9vz_kpk8 --params-file /tmp/launch_params_aphcks4a --params-file /tmp/launch_params_b15kcd0i --params-file /tmp/launch_params_avbu772p --params-file /tmp/launch_params_6iuvgrwd --params-file /tmp/launch_params_tuf0ufe6 --params-file /tmp/launch_params_rxdazopx --params-file /tmp/launch_paramsm4e7iak --params-file /tmp/launch_params_a1blm3d8 --params-file /tmp/launch_params_z9yusz06 --params-file /tmp/launch_params_ufxit6 --params-file /tmp/launch_params_yhm26_nw --params-file /tmp/launch_params_vjnxsb7r --params-file /tmp/launch_params_gn1g3jhk --params-file /tmp/launch_params_tgbrb5y4 --params-file /tmp/launch_params_9lv4_8xx --params-file /tmp/launch_params_0rd9u7vo --params-file /tmp/launch_params_8e69sjka --params-file /tmp/launch_params_t5il41a5 --params-file /tmp/launch_params_kzp83ms6 --params-file /tmp/launch_params_4byklud5 --params-file /tmp/launch_params_wwouvzah --params-file /tmp/launch_params_r25xrgtp --params-file /tmp/launch_params_hjl592my --params-file /tmp/launch_params_ao081516 --params-file /tmp/launch_params_q6bmi9l2 --params-file /tmp/launch_params_cdf0__ow --params-file /tmp/launch_params_trrlft3q --params-file /tmp/launch_params_4aoy_pi0 --params-file /tmp/launch_params_leqijcj8 --params-file /tmp/launch_params_ejkx4_rc --params-file /tmp/launch_params_pi4cb1'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 13238] [INFO] [rviz2-4]: process has finished cleanly [pid 13244] [INFO] [component_container-3]: process has finished cleanly [pid 13242]
When running rgb_stereo_node I get:
[INFO] [launch]: All log files can be found below /home/roberto/.ros/log/2024-01-11-14-39-27-950285-roberto-Precision-7770-13599 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rgb_stereo_node-1]: process started with pid [13602] [INFO] [robot_state_publisher-2]: process started with pid [13604] [robot_state_publisher-2] Link oak-d_frame had 5 children [robot_state_publisher-2] Link oak_imu_frame had 0 children [robot_state_publisher-2] Link oak_left_camera_frame had 1 children [robot_state_publisher-2] Link oak_left_camera_optical_frame had 0 children [robot_state_publisher-2] Link oak_model_origin had 0 children [robot_state_publisher-2] Link oak_rgb_camera_frame had 1 children [robot_state_publisher-2] Link oak_rgb_camera_optical_frame had 0 children [robot_state_publisher-2] Link oak_right_camera_frame had 1 children [robot_state_publisher-2] Link oak_right_camera_optical_frame had 0 children [robot_state_publisher-2] [INFO] [1705005568.173174230] [oak_state_publisher]: got segment oak-d-base-frame [robot_state_publisher-2] [INFO] [1705005568.173212608] [oak_state_publisher]: got segment oak-d_frame [robot_state_publisher-2] [INFO] [1705005568.173218358] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-2] [INFO] [1705005568.173222109] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-2] [INFO] [1705005568.173225642] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-2] [INFO] [1705005568.173228975] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-2] [INFO] [1705005568.173232181] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-2] [INFO] [1705005568.173235333] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-2] [INFO] [1705005568.173238457] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-2] [INFO] [1705005568.173241599] [oak_state_publisher]: got segment oak_right_camera_optical_frame [rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Color camera - NOT detected! [rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Mono Left camera - NOT detected! [rgb_stereo_node-1] [18443010E10D47F500] [1.12] [481.382] [system] [error] Attempted to start Mono Right camera - NOT detected! [rgb_stereo_node-1] /home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/rgb_stereo_node: symbol lookup error: /home/roberto/home2/dai_ws/install/depthai_bridge/lib/libdepthai_bridge.so: undefined symbol: _ZNK3dai18CalibrationHandler20getDefaultIntrinsicsENS_17CameraBoardSocketE [ERROR] [rgb_stereo_node-1]: process has died [pid 13602, exit code 127, cmd '/home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/rgb_stereo_node --ros-args --params-file /tmp/launch_params_hvabfi7m --params-file /tmp/launch_params_xkgex_5x --params-file /tmp/launch_params_5807b0k3 --params-file /tmp/launch_params_lbh9km7a --params-file /tmp/launch_params_nn4ku1ok --params-file /tmp/launch_paramsnmnmwhf --params-file /tmp/launch_params_qmqg2e16 --params-file /tmp/launch_params_x9h72a_0 --params-file /tmp/launch_params_lx4of_8y --params-file /tmp/launch_params_sj4ywyys --params-file /tmp/launch_params_ayqsqepf --params-file /tmp/launch_params_z_3ppa37 --params-file /tmp/launch_params_n4mistjq --params-file /tmp/launch_params_u96ubym5'].