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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[BUG] Right stereo camera is not detected with OAK-D SR PoE #516

Closed dmn-seasony closed 6 months ago

dmn-seasony commented 6 months ago

Describe the bug We just received the production units of OAK-D SR PoE, but it seems like one of the RGB camera sensors is not detected. I tried two different units and both have the same problem. This in turn causes the ROS driver (which is what we intend to use) to fail to start because it expects 3 sensors to be present. We did not have these issues with the engineering sample which we tested previously.

Minimal Reproducible Example

$ python3 -c 'from depthai_sdk import OakCamera; oak = OakCamera(); print(oak.device.getConnectedCameraFeatures())'
[{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, name: tof}, {socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left}]

Expected behavior One more entry in the list above, corresponding to the right RGB camera.

Attach system log

Details ``` { "architecture": "64bit ELF", "machine": "x86_64", "platform": "Linux-6.5.0-25-generic-x86_64-with-glibc2.35", "processor": "x86_64", "python_build": "main Nov 20 2023 15:14:05", "python_compiler": "GCC 11.4.0", "python_implementation": "CPython", "python_version": "3.10.12", "release": "6.5.0-25-generic", "system": "Linux", "version": "#25~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Feb 20 16:09:15 UTC 2", "win32_ver": "", "packages": [ "ackermann-msgs==2.0.2", "action-msgs==1.2.1", "action-tutorials-interfaces==0.20.3", "action-tutorials-py==0.20.3", "actionlib-msgs==4.2.3", "AHRS==0.3.1", "ament-cmake-test==1.3.8", "ament-copyright==0.12.10", "ament-cppcheck==0.12.10", "ament-cpplint==0.12.10", "ament-flake8==0.12.10", "ament-index-python==1.4.0", "ament-lint==0.12.10", "ament-lint-cmake==0.12.10", "ament-package==0.14.0", "ament-pep257==0.12.10", "ament-uncrustify==0.12.10", "ament-xmllint==0.12.10", "angles==1.15.0", "blobconverter==1.4.3", "bond==3.0.2", "builtin-interfaces==1.2.1", "camera-calibration==3.0.3", "cfgv==3.4.0", "comm==0.2.2", "composition-interfaces==1.2.1", "control-msgs==4.4.0", "controller-manager==2.39.1", "controller-manager-msgs==2.39.1", "cv-bridge==3.2.1", "demo-nodes-py==0.20.3", "depthai==2.22.0.0", "depthai-pipeline-graph==0.0.5", "depthai-ros-driver==2.9.0", "depthai-ros-msgs==2.9.0", "depthai-sdk==1.13.1", "depthai-viewer==0.1.8", "diagnostic-msgs==4.2.3", "diagnostic-updater==3.1.2", "distlib==0.3.8", "domain-coordinator==0.10.0", "dwb-msgs==1.1.13", "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", "filelock==3.13.1", "foxglove-msgs==2.3.0", "gazebo-msgs==3.7.0", "generate-parameter-library-py==0.3.7", "geographic-msgs==1.0.5", "geometry-msgs==4.2.3", "identify==2.5.35", "image-geometry==3.2.1", "interactive-markers==2.3.2", "ipympl==0.9.3", "ipywidgets==8.1.2", "jupyterlab_widgets==3.0.10", "laser-geometry==2.4.0", "launch==1.0.5", "launch-ros==0.19.7", "launch-testing==1.0.5", "launch-testing-ros==0.19.7", "launch-xml==1.0.5", "launch-yaml==1.0.5", "lifecycle-msgs==1.2.1", "logging-demo==0.20.3", "map-msgs==2.1.0", "marshmallow==3.17.0", "message-filters==4.3.3", "nav-2d-msgs==1.1.13", "nav-msgs==4.2.3", "nav2-common==1.1.13", "nav2-msgs==1.1.13", "nav2-simple-commander==1.0.0", "nodeenv==1.8.0", "numpy==1.26.4", "opencv-contrib-python==4.9.0.80", "osrf-pycommon==2.0.2", "pcl-msgs==1.0.0", "pendulum-msgs==0.20.3", "platformdirs==4.2.0", "pre-commit==3.6.2", "pyarrow==10.0.1", "python-qt-binding==1.1.2", "pytube==15.0.0", "PyTurboJPEG==1.6.4", "qt-dotgraph==2.2.3", "qt-gui==2.2.3", "qt-gui-cpp==2.2.3", "qt-gui-py-common==2.2.3", "Qt.py==1.3.10", "quality-of-service-demo-py==0.20.3", "rcl-interfaces==1.2.1", "rclpy==3.3.12", "rcutils==5.1.5", "resource-retriever==3.1.1", "rmw-dds-common==1.6.0", "robot-localization==3.5.2", "ros2action==0.18.9", "ros2bag==0.15.9", "ros2cli==0.18.9", "ros2component==0.18.9", "ros2controlcli==2.39.1", "ros2doctor==0.18.9", "ros2interface==0.18.9", "ros2launch==0.19.7", "ros2lifecycle==0.18.9", "ros2multicast==0.18.9", "ros2node==0.18.9", "ros2param==0.18.9", "ros2pkg==0.18.9", "ros2run==0.18.9", "ros2service==0.18.9", "ros2topic==0.18.9", "rosbag2-interfaces==0.15.9", "rosbag2-py==0.15.9", "rosbags==0.9.22", "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==2.2.2", "rosidl-typesupport-fastrtps-cpp==2.2.2", "rosidl-typesupport-introspection-c==3.1.5", "rosidl-typesupport-introspection-cpp==3.1.5", "rpyutils==0.2.1", "rqt-action==2.0.1", "rqt-bag==1.1.4", "rqt-bag-plugins==1.1.4", "rqt-console==2.0.3", "rqt-graph==1.3.0", "rqt-gui==1.1.7", "rqt-gui-py==1.1.7", "rqt-msg==1.2.0", "rqt-plot==1.1.2", "rqt-publisher==1.5.0", "rqt-py-common==1.1.7", "rqt-py-console==1.0.2", "rqt-reconfigure==1.1.2", "rqt-service-caller==1.0.5", "rqt-shell==1.0.2", "rqt-srv==1.0.3", "rqt-topic==1.5.0", "ruamel.yaml==0.18.6", "ruamel.yaml.clib==0.2.8", "scripts==3.7.0", "sensor-msgs==4.2.3", "sensor-msgs-py==4.2.3", "sentry-sdk==1.21.0", "shape-msgs==4.2.3", "sick-safetyscanners2-interfaces==1.0.0", "slam-toolbox==2.6.8", "smclib==3.0.2", "sros2==0.10.4", "statistics-msgs==1.2.1", "std-msgs==4.2.3", "std-srvs==4.2.3", "stereo-msgs==4.2.3", "teleop-twist-keyboard==2.3.2", "test-msgs==1.2.1", "tf2-geometry-msgs==0.25.6", "tf2-kdl==0.25.6", "tf2-msgs==0.25.6", "tf2-py==0.25.6", "tf2-ros-py==0.25.6", "tf2-tools==0.25.6", "theora-image-transport==2.5.0", "topic-monitor==0.20.3", "trajectory-msgs==4.2.3", "turtlesim==1.4.2", "types-pyside2==5.15.2.1.7", "unique-identifier-msgs==2.2.1", "urllib3==2.2.1", "virtualenv==20.25.1", "vision-msgs==4.1.1", "visualization-msgs==4.2.3", "widgetsnbextension==4.0.10", "wiimote-msgs==3.3.0", "xacro==2.0.8", "xmltodict==0.13.0", "zstandard==0.22.0" ], "usb": [ "NoLib" ], "uname": [ "Linux daniel-ThinkPad-P15-Gen-2i 6.5.0-25-generic luxonis/depthai#25~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Feb 20 16:09:15 UTC 2 x86_64 x86_64" ] } ```
Erol444 commented 6 months ago

Moved the ticket here as it's more ROS-related. @dmn-seasony , are you using the latest depthai version (2.25)?

dmn-seasony commented 6 months ago

@Erol444 It is not a problem specific to ROS, see the MRE. I just updated to the latest version of depthai and the problem is still there. Edit: Turns out I had an older version of the depthai package installed through ROS/apt, and that was taking precedence over the pip version. Uninstalled the older version and now it works.