[BUG] Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND

trocolit2 commented 1 month ago

Dear all,

I am facing an issue with running the ROS2 driver for the Humble version. The driver software was installed via ROS2 Humble repository, which has the deptai_ros_driver version 2.26. The is the OAK-D-LR, with Bootloader version 0.028. The OS is the Ubuntu 22.04.

After I ran the launch from the deptai_ros_driver, I got the following result:

$ ros2 launch depthai_ros_driver camera.launch.py 
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2024-07-14-16-12-04-268345-thinkpad-70120
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [70134]
[component_container-1] [INFO] [1720959124.896794941] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1720959124.902123062] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1720959124.902184528] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1720959124.909118012] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1720959124.909140517] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1720959124.909147900] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1720959124.909153298] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1720959124.909158666] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1720959124.909163688] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1720959124.909168640] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1720959124.909173957] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1720959124.909179045] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1720959124.909184054] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-1] [INFO] [1720959124.910413550] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[component_container-1] [INFO] [1720959124.947646296] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1720959124.947682938] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1720959124.955290283] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1720959132.608889113] [oak]: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
[component_container-1] [INFO] [1720959132.609003490] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2024-07-14 16:12:15.691] [depthai] [warning] Skipping X_LINK_BOOTLOADER device with name "1.7" ()
[component_container-1] [ERROR] [1720959136.707464666] [oak]: No available devices
[component_container-1] [INFO] [1720959136.707616192] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1720959140.775311768] [oak]: No available devices
[component_container-1] [INFO] [1720959140.775454914] [oak]: No ip/mxid specified, connecting to the next available device.
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

I suspected the udev rules were not correct, however, I cloned the repository from the depthai-python, and tested the utility python scripts _devicemanager.py and the _camtest.py. From these scripts, I could access the camera information and acquire data. It proves the udev is correct.

Terminal Output from the _camtest.py

./cam_test.py 
DepthAI version: 2.27.0.0
DepthAI path: /home/ros2/.local/lib/python3.10/site-packages/depthai.cpython-310-x86_64-linux-gnu.so
Enabled cameras:
   cama : color
   camb : color
   camc : color
CAM:  cama
CAM:  camb
CAM:  camc
[19443010616C742700] [1.7] [1.096] [ColorCamera(7)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[19443010616C742700] [1.7] [1.097] [ColorCamera(5)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[19443010616C742700] [1.7] [1.097] [ColorCamera(3)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
Connected cameras:
 -socket CAM_A : AR0234 1920 x 1200 focus:fixed - COLOR
 -socket CAM_B : AR0234 1920 x 1200 focus:fixed - COLOR
 -socket CAM_C : AR0234 1920 x 1200 focus:fixed - COLOR
USB speed: SUPER
IR drivers: []
Cam:      cama          camb          camc     [host | capture timestamp]
FPS:  18.42| 18.00  18.17| 18.00  18.67| 18.37

I dug the source code the line where the error rises, and I found this line

I played with the bootupTimeout (WAIT_FOR_BOOTUP_TIMEOUT) values, but increasing or decreasing the time did not affect the error.

I also monitored the lsusb to see the device boot and when the device is not running, the values are: Bus 001 Device 043: ID 03e7:f63c Intel Luxonis Bootloader When I run the ROS driver, the devices change name to Bus 002 Device 019: ID 03e7:f63b Intel Myriad VPU [Movidius Neural Compute Stick] and stay for a few seconds, until come back to the initial USB name.

Could you help me? Please!

In case you more information, please do not hesitate to ask.

Serafadam commented 1 month ago

Hi, could you please post more logs following the bug template? You can skip running stereo_inertial_node as this one won't support OAK-D-LR

trocolit2 commented 1 month ago

Bug Description:

The camera OAK-D-LR presenting the issue during initialization with the camera launch from the _depthai_rosdriver. The driver start the device, but after the bootloader initialization, the driver can not find the device. The error:[oak]: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND After the booting error, the driver skips the camera connection:[warning] Skipping X_LINK_BOOTLOADER device with name "1.7" (). The camera is ignored by the driver, which can not connect the device anymore.

Minimal Reproducible Example To reproduce the error, please following the steps:

Install the ROS2 Humble framework
Install the depthai_ros_driver and its dependencies ros-humble-depthai 2.26.1-1jammy.20240612.131023 ros-humble-depthai-bridge 2.9.0-1jammy.20240612.132958 ros-humble-depthai-descriptions 2.9.0-1jammy.20240530.095931 ros-humble-depthai-examples 2.9.0-1jammy.20240612.134331 ros-humble-depthai-ros-driver 2.9.0-1jammy.20240627.145557 ros-humble-depthai-ros-msgs 2.9.0-1jammy.20240523.230218
Connect the camera OAK-D-LR, bootloader version 0.028, via USB 3.
```
$lusb
Bus 001 Device 024: ID 03e7:f63c Intel Luxonis Bootloader
```
Set the ROS2 Humble source. . install/setup.bash

Run the depthai_ros_driver camera launch: ros2 launch depthai_ros_driver camera.launch.py, the output

$ ros2 launch depthai_ros_driver camera.launch.py 
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2024-07-16-10-10-35-469979-thinkpad-364
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [378]
[component_container-1] [INFO] [1721110235.858445227] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1721110235.863551060] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1721110235.863579507] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1721110235.869022040] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1721110235.869040687] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1721110235.869044891] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1721110235.869047947] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1721110235.869050868] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1721110235.869053590] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1721110235.869056257] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1721110235.869059074] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1721110235.869061823] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1721110235.869064539] [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-1] [INFO] [1721110235.869978600] [oak_container]: Load Library: /home/ros2/dev/fast_usv_gimbal/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1721110235.908728814] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1721110235.908796527] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1721110235.916522009] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721110253.565013351] [oak]: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
[component_container-1] [INFO] [1721110253.565149140] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2024-07-16 10:10:56.664] [depthai] [warning] Skipping X_LINK_BOOTLOADER device with name "1.9" ()
[component_container-1] [ERROR] [1721110257.701019261] [oak]: No available devices
[component_container-1] [INFO] [1721110257.701173208] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721110261.800907928] [oak]: No available devices
[component_container-1] [INFO] [1721110261.801063424] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721110265.937104683] [oak]: No available devices
[component_container-1] [INFO] [1721110265.937274773] [oak]: No ip/mxid specified, connecting to the next available device.
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

Other Tests

When I run the cam_test.py from the repository depthai-python I got the correct behavior. Below are the steps:

Clone the repo from depthai-python
In the folder depthai-python/utilities, install the requirements
Connect the camera OAK-D-LR, bootloader version 0.028, via USB 3.

Run the script cam_test.py

$ ./cam_test.py 
DepthAI version: 2.24.0.0
DepthAI path: /home/ros2/.local/lib/python3.10/site-packages/depthai.cpython-310-x86_64-linux-gnu.so
Enabled cameras:
cama : color
camb : color
camc : color
CAM:  cama
CAM:  camb
CAM:  camc
[19443010616C742700] [1.1.4.2] [1.132] [ColorCamera(7)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[19443010616C742700] [1.1.4.2] [1.132] [ColorCamera(5)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[19443010616C742700] [1.1.4.2] [1.133] [ColorCamera(3)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
Connected cameras:
-socket CAM_A : AR0234 1920 x 1200 focus:fixed - COLOR
-socket CAM_B : AR0234 1920 x 1200 focus:fixed - COLOR
-socket CAM_C : AR0234 1920 x 1200 focus:fixed - COLOR
USB speed: SUPER
IR drivers: []
Cam:      cama          camb          camc     [host | capture timestamp]
FPS:  17.56| 17.65  17.55| 17.65  17.65| 17.65

dmesg output

$ sudo dmesg
[ 5576.711520] usb 1-1.4.2: USB disconnect, device number 24
[ 5580.058112] usb 1-1.4.2: new high-speed USB device number 25 using xhci_hcd
[ 5580.207118] usb 1-1.4.2: New USB device found, idVendor=03e7, idProduct=f63c, bcdDevice= 1.00
[ 5580.207123] usb 1-1.4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 5580.207124] usb 1-1.4.2: Product: Luxonis Bootloader
[ 5580.207125] usb 1-1.4.2: Manufacturer: Intel Corporation
[ 5580.207126] usb 1-1.4.2: SerialNumber: 19443010616C742700
[ 5719.303393] usb 1-1.4.2: USB disconnect, device number 25
[ 5719.979285] pcieport 0000:00:1d.0: PME: Spurious native interrupt!
[ 5720.323030] usb 4-1.4.2: new SuperSpeed USB device number 7 using xhci_hcd
[ 5720.344211] usb 4-1.4.2: New USB device found, idVendor=03e7, idProduct=f63b, bcdDevice= 1.00
[ 5720.344221] usb 4-1.4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 5720.344225] usb 4-1.4.2: Product: Luxonis Device
[ 5720.344227] usb 4-1.4.2: Manufacturer: Intel Corporation
[ 5720.344230] usb 4-1.4.2: SerialNumber: 19443010616C742700

Expected behavior From the _deptai_rosdriver was expected the node creation and topic availability to acquire image from the camera via USB.

Pipeline Graph

The pipeline Graph did not created an image graph. However the command was executed with verbose, and the output are:

$ pipeline_graph run "ros2 launch depthai_ros_driver camera.launch.py" -v
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ros2'
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2024-07-16-11-09-02-625957-thinkpad-1627
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1641]
[component_container-1] [INFO] [1721113743.008203251] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1721113743.012400338] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1721113743.012433490] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1721113743.021323585] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1721113743.021356339] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1721113743.021362779] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1721113743.021367236] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1721113743.021371594] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1721113743.021375878] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1721113743.021379849] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1721113743.021384108] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1721113743.021388192] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1721113743.021392152] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-1] [INFO] [1721113743.022823541] [oak_container]: Load Library: /home/ros2/dev/fast_usv_gimbal/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[component_container-1] [INFO] [1721113743.062883269] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1721113743.062923890] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [2024-07-16 11:09:03.064] [depthai] [debug] Library information - version: 2.26.1, commit:  from , build: 2024-06-12 13:10:23 +0000, libusb enabled: true
[component_container-1] [2024-07-16 11:09:03.070] [depthai] [debug] Initialize - finished
[component_container-1] [INFO] [1721113743.070189717] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2024-07-16 11:09:03.125] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 58ms
[component_container-1] [2024-07-16 11:09:03.409] [depthai] [debug] Resources - Archive 'depthai-device-fwp-24a3b465b979de3f69410cd225914d8bd029f3ba.tar.xz' open: 1ms, archive read: 342ms
[component_container-1] [2024-07-16 11:09:03.588] [host] [debug] Device - OpenVINO version: universal
[component_container-1] [19443010616C742700] [1.1.4.2] [1721113743.588] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
[component_container-1] libnop:
[component_container-1] 0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
[component_container-1] 0020: 00 be be be be be be be 00 bb 00 be be
[component_container-1] [2024-07-16 11:09:03.606] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.1.4.2, mxid=19443010616C742700, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[component_container-1] [2024-07-16 11:09:03.611] [depthai] [debug] Connected bootloader version 0.0.28
[component_container-1] [19443010616C742700] [1.1.4.2] [1721113744.455] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 843ms
[component_container-1] [2024-07-16 11:09:04.455] [depthai] [debug] DeviceBootloader about to be closed...
[component_container-1] [2024-07-16 11:09:04.456] [depthai] [debug] XLinkResetRemote of linkId: (0)
[component_container-1] [2024-07-16 11:09:05.702] [depthai] [debug] DeviceBootloader closed, 1247
[component_container-1] [2024-07-16 11:09:05.705] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.1.4.2, mxid=19443010616C742700, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[component_container-1] [ERROR] [1721113760.712890399] [oak]: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
[component_container-1] [INFO] [1721113760.713083698] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2024-07-16 11:09:23.841] [depthai] [warning] Skipping X_LINK_BOOTLOADER device with name "1.1.4.2" ()
[component_container-1] [ERROR] [1721113764.873015737] [oak]: No available devices
[component_container-1] [INFO] [1721113764.873207918] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721113768.977108214] [oak]: No available devices
[component_container-1] [INFO] [1721113768.977295921] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721113773.072916174] [oak]: No available devices
[component_container-1] [INFO] [1721113773.073080861] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1721113777.197040924] [oak]: No available devices

Attach system log

output of log_system_information.py

$ ./log_system_information.py 
{
"architecture": "64bit ELF",
"machine": "x86_64",
"platform": "Linux-6.5.0-1025-oem-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": "6.5.0-1025-oem",
"system": "Linux",
"version": "#26-Ubuntu SMP PREEMPT_DYNAMIC Tue Jun 18 12:35:22 UTC 2024",
"win32_ver": "",
"packages": [
    "action-msgs==1.2.1",
    "actionlib-msgs==4.2.3",
    "ament-cmake-test==1.3.9",
    "ament-copyright==0.12.11",
    "ament-cppcheck==0.12.11",
    "ament-cpplint==0.12.11",
    "ament-flake8==0.12.11",
    "ament-index-python==1.4.0",
    "ament-lint==0.12.11",
    "ament-lint-cmake==0.12.11",
    "ament-mypy==0.12.11",
    "ament-package==0.14.0",
    "ament-pep257==0.12.11",
    "ament-uncrustify==0.12.11",
    "ament-xmllint==0.12.11",
    "angles==1.15.0",
    "appdirs==1.4.4",
    "argcomplete==1.8.1",
    "attrs==21.2.0",
    "beautifulsoup4==4.10.0",
    "beniget==0.4.1",
    "blinker==1.4",
    "blobconverter==1.4.3",
    "bloom==0.12.0",
    "breezy==3.2.1",
    "bringup-base==0.0.0",
    "bringup-testing==0.0.0",
    "Brotli==1.0.9",
    "builtin-interfaces==1.2.1",
    "camera-calibration==3.0.4",
    "catkin-pkg==1.0.0",
    "catkin-pkg-modules==1.0.0",
    "certifi==2020.6.20",
    "chardet==4.0.0",
    "charset-normalizer==2.0.12",
    "colcon-argcomplete==0.3.3",
    "colcon-bash==0.5.0",
    "colcon-cd==0.2.1",
    "colcon-cmake==0.2.28",
    "colcon-common-extensions==0.3.0",
    "colcon-core==0.16.1",
    "colcon-defaults==0.2.8",
    "colcon-devtools==0.3.0",
    "colcon-installed-package-information==0.2.1",
    "colcon-library-path==0.2.1",
    "colcon-metadata==0.2.5",
    "colcon-mixin==0.2.3",
    "colcon-notification==0.3.0",
    "colcon-output==0.2.13",
    "colcon-override-check==0.0.1",
    "colcon-package-information==0.4.0",
    "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",
    "composition-interfaces==1.2.1",
    "configobj==5.0.6",
    "control-msgs==4.6.0",
    "controller-manager==2.41.0",
    "controller-manager-msgs==2.41.0",
    "cov-core==1.15.0",
    "coverage==6.2",
    "cryptography==3.4.8",
    "cv-bridge==3.2.1",
    "cycler==0.11.0",
    "dbus-python==1.2.18",
    "decorator==4.4.2",
    "Deprecated==1.2.13",
    "depthai==2.24.0.0",
    "depthai-pipeline-graph==0.0.3",
    "depthai-ros-driver==2.9.0",
    "depthai-ros-msgs==2.9.0",
    "depthai-sdk==1.9.4",
    "diagnostic-msgs==4.2.3",
    "diagnostic-updater==4.0.0",
    "distinctipy==1.3.4",
    "distlib==0.3.4",
    "distro==1.7.0",
    "distro-info==1.1+ubuntu0.2",
    "docutils==0.17.1",
    "domain-coordinator==0.10.0",
    "dulwich==0.20.31",
    "empy==3.3.4",
    "example-interfaces==0.9.3",
    "fast-usv-gimbal-bringup==0.0.0",
    "fastbencode==0.0.5",
    "fastimport==0.9.14",
    "ffmpy3==0.2.4",
    "flake8==4.0.1",
    "fonttools==4.29.1",
    "foxglove-msgs==2.3.0",
    "fs==2.4.12",
    "gast==0.5.2",
    "geometry-msgs==4.2.3",
    "gpg==1.16.0",
    "html5lib==1.1",
    "httplib2==0.20.2",
    "idna==3.3",
    "image-geometry==3.2.1",
    "importlib-metadata==4.6.4",
    "iniconfig==1.1.1",
    "interactive-markers==2.3.2",
    "jeepney==0.7.1",
    "keyring==23.5.0",
    "kiwisolver==1.3.2",
    "lark==1.1.1",
    "laser-geometry==2.4.0",
    "launch==1.0.6",
    "launch-pytest==1.0.6",
    "launch-ros==0.19.7",
    "launch-testing==1.0.6",
    "launch-testing-ros==0.19.7",
    "launch-xml==1.0.6",
    "launch-yaml==1.0.6",
    "launchpadlib==1.10.16",
    "lazr.restfulclient==0.14.4",
    "lazr.uri==1.0.6",
    "lidar-c32-msgs==1.2.0",
    "lifecycle-msgs==1.2.1",
    "livox-interfaces==0.0.1",
    "lxml==4.8.0",
    "lz4==3.1.3+dfsg",
    "map-msgs==2.1.0",
    "marine-msgs==0.0.0",
    "marshmallow==3.17.0",
    "matplotlib==3.5.1",
    "mcap==1.1.1",
    "mcap-ros1-support==0.0.8",
    "mccabe==0.6.1",
    "mercurial==6.1.1",
    "message-filters==4.3.4",
    "mocap4r2-control-msgs==0.0.7",
    "more-itertools==8.10.0",
    "mpi4py==3.1.3",
    "mpmath==0.0.0",
    "mypy==0.942",
    "mypy-extensions==0.4.3",
    "nav-msgs==4.2.3",
    "netifaces==0.11.0",
    "nose2==0.9.2",
    "notify2==0.3",
    "numpy==1.21.4",
    "oauthlib==3.2.0",
    "olefile==0.46",
    "opencv-contrib-python==4.5.5.62",
    "osrf-pycommon==2.0.2",
    "ouster-sensor-msgs==0.12.2",
    "packaging==21.3",
    "patiencediff==0.2.1",
    "pcl-msgs==1.0.0",
    "Pillow==9.3.0",
    "pip==24.1.2",
    "pluggy==0.13.0",
    "ply==3.11",
    "psutil==5.9.3",
    "py==1.10.0",
    "pyasn1==0.6.0",
    "pycairo==1.20.1",
    "pycodestyle==2.8.0",
    "pydocstyle==6.1.1",
    "pydot==1.4.2",
    "pyflakes==2.4.0",
    "PyGithub==1.55",
    "Pygments==2.11.2",
    "PyGObject==3.42.1",
    "PyJWT==2.3.0",
    "PyNaCl==1.5.0",
    "pyparsing==2.4.7",
    "PyQt5==5.15.5",
    "PyQt5-Qt5==5.15.14",
    "PyQt5-sip==12.13.0",
    "PySimpleGUI==5.0.0",
    "pytest==6.2.5",
    "pytest-cov==3.0.0",
    "pytest-timeout==2.1.0",
    "python-apt==2.4.0+ubuntu3",
    "python-dateutil==2.8.1",
    "python-gitlab==2.10.1",
    "python-qt-binding==1.1.2",
    "pythran==0.10.0",
    "pytube==15.0.0",
    "PyTurboJPEG==1.6.4",
    "pytz==2022.1",
    "pyusb==1.2.1",
    "PyYAML==5.4.1",
    "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",
    "rcl-interfaces==1.2.1",
    "rclpy==3.3.13",
    "rcutils==5.1.6",
    "requests==2.26.0",
    "requests-toolbelt==0.9.1",
    "resource-retriever==3.1.2",
    "rmw-dds-common==1.6.0",
    "roman==3.3",
    "ros2action==0.18.10",
    "ros2bag==0.15.11",
    "ros2cli==0.18.10",
    "ros2component==0.18.10",
    "ros2doctor==0.18.10",
    "ros2interface==0.18.10",
    "ros2launch==0.19.7",
    "ros2lifecycle==0.18.10",
    "ros2multicast==0.18.10",
    "ros2node==0.18.10",
    "ros2param==0.18.10",
    "ros2pkg==0.18.10",
    "ros2run==0.18.10",
    "ros2service==0.18.10",
    "ros2topic==0.18.10",
    "rosbag2-interfaces==0.15.11",
    "rosbag2-py==0.15.11",
    "rosbags==0.9.11",
    "rosdep==0.24.0",
    "rosdep-modules==0.24.0",
    "rosdistro==0.9.1",
    "rosdistro-modules==0.9.1",
    "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",
    "rospkg==1.5.1",
    "rospkg-modules==1.5.1",
    "rospy-utils==0.0.0",
    "rpyutils==0.2.1",
    "rqt==1.1.7",
    "rqt-action==2.0.1",
    "rqt-bag==1.1.5",
    "rqt-bag-plugins==1.1.5",
    "rqt-console==2.0.3",
    "rqt-controller-manager==2.41.0",
    "rqt-gauges==0.0.3",
    "rqt-graph==1.3.1",
    "rqt-gui==1.1.7",
    "rqt-gui-py==1.1.7",
    "rqt-joint-trajectory-controller==2.35.0",
    "rqt-moveit==1.0.1",
    "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-robot-dashboard==0.5.8",
    "rqt-robot-monitor==1.0.6",
    "rqt-robot-steering==1.0.0",
    "rqt-runtime-monitor==1.0.0",
    "rqt-service-caller==1.0.5",
    "rqt-shell==1.0.2",
    "rqt-srv==1.0.3",
    "rqt-tf-tree==1.0.5",
    "rqt-topic==1.5.0",
    "rsa==4.9",
    "ruamel.yaml==0.18.6",
    "ruamel.yaml.clib==0.2.8",
    "scipy==1.10.1",
    "SecretStorage==3.3.1",
    "sensor-msgs==4.2.3",
    "sensor-msgs-py==4.2.4",
    "sentry-sdk==1.5.1",
    "setuptools==59.6.0",
    "shape-msgs==4.2.3",
    "six==1.16.0",
    "snowballstemmer==2.2.0",
    "soupsieve==2.3.1",
    "sros2==0.10.5",
    "statistics-msgs==1.2.1",
    "std-msgs==4.2.3",
    "std-srvs==4.2.3",
    "stereo-msgs==4.2.3",
    "sympy==1.9",
    "tabulate==0.8.9",
    "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==2.5.1",
    "toml==0.10.2",
    "tomli==1.2.2",
    "trajectory-msgs==4.2.3",
    "typed-ast==1.4.3",
    "types-PySide2==5.15.2.1.7",
    "typing-extensions==3.10.0.2",
    "ufoLib2==0.13.1",
    "unattended-upgrades==0.1",
    "unicodedata2==14.0.0",
    "unique-identifier-msgs==2.2.1",
    "urllib3==1.26.5",
    "vcstool==0.3.0",
    "vcstools==0.1.42",
    "vision-msgs==4.1.1",
    "visualization-msgs==4.2.3",
    "wadllib==1.3.6",
    "webencodings==0.5.1",
    "wheel==0.37.1",
    "wrapt==1.13.3",
    "xacro==2.0.8",
    "xmltodict==0.13.0",
    "zipp==1.0.0",
    "zstandard==0.23.0"
],
"usb": [
    {
        "port": 4,
        "vendor_id": "0x17ef",
        "product_id": "0x30b8",
        "speed": "SuperPlus"
    },
    {
        "port": 4,
        "vendor_id": "0x17ef",
        "product_id": "0x30b6",
        "speed": "SuperPlus"
    },
    {
        "port": 1,
        "vendor_id": "0x8087",
        "product_id": "0x0b40",
        "speed": "SuperPlus"
    },
    {
        "port": 0,
        "vendor_id": "0x1d6b",
        "product_id": "0x0003",
        "speed": "SuperPlus"
    },
    {
        "port": 0,
        "vendor_id": "0x1d6b",
        "product_id": "0x0002",
        "speed": "High"
    },
    {
        "port": 0,
        "vendor_id": "0x1d6b",
        "product_id": "0x0003",
        "speed": "SuperPlus"
    },
    {
        "port": 8,
        "vendor_id": "0x04f2",
        "product_id": "0xb74f",
        "speed": "High"
    },
    {
        "port": 6,
        "vendor_id": "0x06cb",
        "product_id": "0x00f9",
        "speed": "Full"
    },
    {
        "port": 10,
        "vendor_id": "0x8087",
        "product_id": "0x0033",
        "speed": "Full"
    },
    {
        "port": 4,
        "vendor_id": "0x17ef",
        "product_id": "0x30bb",
        "speed": "Full"
    },
    {
        "port": 4,
        "vendor_id": "0x17ef",
        "product_id": "0x30b9",
        "speed": "High"
    },
    {
        "port": 2,
        "vendor_id": "0x03e7",
        "product_id": "0xf63c",
        "speed": "High"
    },
    {
        "port": 4,
        "vendor_id": "0x17ef",
        "product_id": "0x30b7",
        "speed": "High"
    },
    {
        "port": 1,
        "vendor_id": "0x046d",
        "product_id": "0xc52b",
        "speed": "Full"
    },
    {
        "port": 3,
        "vendor_id": "0x0bda",
        "product_id": "0x5411",
        "speed": "High"
    },
    {
        "port": 2,
        "vendor_id": "0x17ef",
        "product_id": "0x30b5",
        "speed": "Full"
    },
    {
        "port": 1,
        "vendor_id": "0x17ef",
        "product_id": "0x30b4",
        "speed": "Full"
    },
    {
        "port": 1,
        "vendor_id": "0x17ef",
        "product_id": "0x30ba",
        "speed": "High"
    },
    {
        "port": 0,
        "vendor_id": "0x1d6b",
        "product_id": "0x0002",
        "speed": "High"
    }
],
"uname": [
    "Linux thinkpad 6.5.0-1025-oem #26-Ubuntu SMP PREEMPT_DYNAMIC Tue Jun 18 12:35:22 UTC 2024 x86_64 x86_64"
]
}
System info gathered successfully

Which OS/OS version are you using? Ubuntu 22.04 Which ROS distribution are you using? Humble Is depthai-ros built from source or installed from apt? I tried both I have the same issue. For this test I installed via apt. Is depthai/depthai-core library installed from rosdep or manually? Installed via rosdep, ros-humble-depthai 2.26.1-1jammy.20240612.131023 ros-humble-depthai-bridge 2.9.0-1jammy.20240612.132958 ros-humble-depthai-descriptions 2.9.0-1jammy.20240530.095931 ros-humble-depthai-examples 2.9.0-1jammy.20240612.134331 ros-humble-depthai-ros-driver 2.9.0-1jammy.20240627.145557 ros-humble-depthai-ros-msgs 2.9.0-1jammy.20240523.230218

Serafadam commented 1 month ago

Hi, just to be sure, could you run

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

and replug the device after that?

trocolit2 commented 1 month ago

Hi, @Serafadam

Thanks for your reply. I did it already. I think the udev rules are correct, otherwise, I will not be able to get the information from the device, like the version and images (posted https://github.com/luxonis/depthai-ros/issues/560#issue-2407423284).

Adittional information

I tested with the docker image(luxonis/depthai:latest), and I was able to connect the camera.

$docker run --privileged -v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw' -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --network host --rm -i -t luxonis/depthai:latest python3 /depthai/depthai_demo.py
Using depthai module from:  /root/.local/lib/python3.9/site-packages/depthai.cpython-39-x86_64-linux-gnu.so
Depthai version installed:  2.24.0.0
/depthai/depthai_demo.py:589: DeprecationWarning: sipPyTypeDict() is deprecated, the extension module should use sipPyTypeDictRef() instead
  class WorkerSignals(QObject):
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Setting up demo...
Available devices:
[0] 19443010616C742700 [X_LINK_BOOTLOADER]
USB Connection speed: UsbSpeed.SUPER
Downloading /root/.cache/blobconverter/mobilenet-ssd_openvino_2021.4_6shave.blob...

Done
[19443010616C742700] [1.9] [21.037] [ColorCamera(6)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[19443010616C742700] [1.9] [21.038] [MonoCamera(0)] [error] AR0234 only supports THE_1200_P resolution, defaulting to it

GUI Screenshot

However, the issue with the ROS driver continues.

trocolit2 commented 1 month ago

Dear @Serafadam

I tested the camera with the PoE and it t works with the deptai_ros_driver launch. But when I connect the camera via USB, the issue persists.

Did you manage to reproduce the issue?

Regards.

Serafadam commented 1 month ago

Hi, unfortunately I haven't been able to replicate that issue, but could you test if you can connect via either MXID or USB port name directly? This can be done by setting either following parameters: camera.i_mx_id: 19443010616C742700 or camera.i_usb_port_id: 1.1.4.2

trocolit2 commented 1 month ago

Hi @Serafadam

I tested with your suggestion, related the mxid and the _usb_portid, and it make no difference.

To help with the issue replication, I can generate an docker image with my base system environment, and share with you. Is it work for you?

Regards.

luxonis / depthai-ros

[BUG] Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND #560