Closed fehlfarbe closed 7 years ago
Grillen80
commented
7 years ago Dear Fehlfarbe, I'm running into the same problem while running the basler camera. A bunch of error messages appear while starting the roslaunch application. Did you get it running or are you still stucking in the same problem. I hope that someone could help me out.
marc-up
commented
7 years ago I think it's a problem of your network configuration.
@fehlfarbe are you using a RaspberryPI? Why is your inter-pkg-delay set to 11772?
When using GigE cameras you first have to set the MTU size of your NIC to the maximum supported (9000 is a good guess, validate e.g. via ifconfig).
The corresponding parameter in the config file of the node should be set as well.
Here is the description taken out of the default.yaml in the config folder:
The MTU size. Only used for GigE cameras. To prevent lost frames configure the camera has to be configured with the MTU size the network card supports. A value greater 3000 should be good (~1500 for RaspberryPI)
Next you have to figure out what would be the minimum required inter-pkg-delay value to prevent these Error: 3774873620 The buffer was incompletely grabbed. errors. I tried to explain how this can be done In the last post of issue #16
So what you can do is to run the PylonViewerApp, set exposure_time to min and MTU size so that you get the maximum possible frame-rate, run the acquisition in the free-running mode and check the logging-console. In the transport-layer-selection, you then have to increase the inter-pkg-delay and check the statistics till you are satisfied with the result.
fehlfarbe
commented
7 years ago Thanks! I looked at the inter-pkg-delay and MTU in PylonViewerApp and it was set to inter-pkg-delay: 0 and MTU: 1500 which works with ~85 fps and no errors. The pylon_camera driver doesn't work with these settings but when I increase the MTU of my network device from 1500 to 3000 it's working.
AustinDeric
commented
7 years ago I am also having this issue when trying to run the pylon_camera_node:
roslaunch frame_finder frame_finder.launch
SUMMARY
========
PARAMETERS
* /pylon_camera_node/camera_frame: pylon_camera_node
* /pylon_camera_node/camera_info_url: f
* /pylon_camera_node/device_user_id:
* /pylon_camera_node/frame_rate: 5.0
* /pylon_camera_node/image_encoding: bayer_bggr8
* /pylon_camera_node/inter_pkg_delay: 1000
* /pylon_camera_node/mtu_size: 3000
* /rosdistro: kinetic
* /rosversion: 1.12.7
NODES
/
pylon_camera_node (pylon_camera/pylon_camera_node)
auto-starting new master
process[master]: started with pid [11221]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to fe0e75f4-76c4-11e7-af08-54ee753af24d
process[rosout-1]: started with pid [11234]
started core service [/rosout]
process[pylon_camera_node-2]: started with pid [11245]
[ INFO] [1501597411.282207032]: No Device User ID set -> Will open the camera device found first
[ INFO] [1501597411.541916380]: Found camera with DeviceUserID Basler21135423: acA1600-20gc
[ INFO] [1501597411.693350871]: Cam does not support binning.
[ INFO] [1501597411.694335945]: Cam has exposure time range: [25 - 1e+06] measured in microseconds.
[ INFO] [1501597411.694379570]: Cam has gain range: [230 - 850] measured in device specific units.
[ INFO] [1501597411.695333398]: Cam has gammma range: [0 - 65536].
[ INFO] [1501597411.696272587]: Cam has pylon auto brightness range: [50 - 205] which is the average pixel intensity.
[ INFO] [1501597411.706390826]: Cam supports the following [GenAPI|ROS] image encodings: ['Mono8'|'mono8'] ['BayerBG8'|'bayer_bggr8'] ['BayerBG12'|'NO_ROS_EQUIVALENT'] ['YUV422Packed'|'NO_ROS_EQUIVALENT'] ['YUV422_YUYV_Packed'|'NO_ROS_EQUIVALENT'] ['BayerBG12Packed'|'NO_ROS_EQUIVALENT']
[ERROR] [1501597412.037458239]: Error: 3774873620 The buffer was incompletely grabbed. This can be caused by performance problems of the network hardware used, i.e. network adapter, switch, or ethernet cable. To fix this, try increasing the camera's Inter-Packet Delay in the Transport Layer category to reduce the required bandwidth, and adjust the camera's Packet Size setting to the highest supported frame size.
[ INFO] [1501597412.062628500]: CameraInfoURL needed for rectification! ROS-Param: '/pylon_camera_node/camera_info_url' = 'f' is invalid!
[ WARN] [1501597412.062692889]: Will only provide distorted /image_raw images!
[ INFO] [1501597412.066251535]: Startup settings: encoding = 'bayer_bggr8', binning = [1, 1], exposure = 10000, gain = 0.225806, gamma = 1, shutter mode = default_shutter_mode
[ INFO] [1501597412.066848119]: Start image grabbing if node connects to topic with a frame_rate of: 5 Hz
[ INFO] [1501597412.067197611]: Camera not calibrated
void-robotics
commented
7 years ago I'm also stuck like @AustinDeric; any more help?
AustinDeric
commented
7 years ago @nathangeorge1 What i ended up doing was setting my network adapter mtu to 9000 using the command (substitute your network adapter for eth0):
ifconfig eth0 mtu 9000
then in the config set your mtu also to 9000. My inter_pkg_delay was 10000 but i am not sure the delay parameter had any impact. this should work for you.
It would be great if the ros pylon script worked as well as the pylon viewer app. This Issue should not be closed.
void-robotics
commented
7 years ago hello @AustinDeric I just set ifconfig enp0s3 mtu 9000 and also set within pylon_camera/config/default.yaml the mtu_size: 9000 and even inter_pkg_delay: 10000 just in case; but I'm still stuck
My error output:
roslaunch pylon_camera pylon_camera_node.launch
... logging to /home/nathan/.ros/log/515c97ae-7eae-11e7-baa9-080027eb2e78/roslaunch-nathan-bloom-2610.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://nathan-bloom:33043/
SUMMARY
========
PARAMETERS
* /pylon_camera_node/camera_frame: pylon_camera_node
* /pylon_camera_node/camera_info_url:
* /pylon_camera_node/device_user_id:
* /pylon_camera_node/frame_rate: 5.0
* /pylon_camera_node/inter_pkg_delay: 10000
* /pylon_camera_node/mtu_size: 9000
* /rosdistro: kinetic
* /rosversion: 1.12.7
NODES
/
pylon_camera_node (pylon_camera/pylon_camera_node)
auto-starting new master
process[master]: started with pid [2621]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 515c97ae-7eae-11e7-baa9-080027eb2e78
process[rosout-1]: started with pid [2634]
started core service [/rosout]
process[pylon_camera_node-2]: started with pid [2642]
[ INFO] [1502467282.125749617]: No Device User ID set -> Will open the camera device found first
[ INFO] [1502467282.382652598]: Found camera with DeviceUserID : acA1920-40gm
[ INFO] [1502467282.672967684]: Cam has binning range: x(hz) = [1 - 4], y(vt) = [1 - 4].
[ INFO] [1502467282.673051216]: Cam has exposure time range: [76 - 1e+07] measured in microseconds.
[ INFO] [1502467282.673072759]: Cam has gain range: [0 - 360] measured in device specific units.
[ INFO] [1502467282.678157004]: Cam has gammma range: [0 - 3.99998].
[ INFO] [1502467282.680596096]: Cam has pylon auto brightness range: [50 - 205] which is the average pixel intensity.
[ INFO] [1502467282.697544524]: Cam supports the following [GenAPI|ROS] image encodings: ['Mono8'|'mono8'] ['Mono12'|'NO_ROS_EQUIVALENT'] ['Mono12Packed'|'NO_ROS_EQUIVALENT']
[ WARN] [1502467282.697629581]: No image encoding provided. Will use 'mono8' or 'rgb8' as fallback!
[ERROR] [1502467282.976288487]: Error: 3774873620 The buffer was incompletely grabbed. This can be caused by performance problems of the network hardware used, i.e. network adapter, switch, or ethernet cable. To fix this, try increasing the camera's Inter-Packet Delay in the Transport Layer category to reduce the required bandwidth, and adjust the camera's Packet Size setting to the highest supported frame size.
[ WARN] [1502467282.982311260]: [] name not valid for camera_info_manger
[ INFO] [1502467283.031941094]: CameraInfoURL needed for rectification! ROS-Param: '/pylon_camera_node/camera_info_url' = '' is invalid!
[ WARN] [1502467283.032043894]: Will only provide distorted /image_raw images!
[ INFO] [1502467283.039714413]: Startup settings: encoding = 'mono8', binning = [1, 1], exposure = 3000, gain = 0, gamma = 1, shutter mode = default_shutter_mode
[ INFO] [1502467283.042175607]: Start image grabbing if node connects to topic with a frame_rate of: 5 Hz
[ INFO] [1502467283.042642946]: Camera not calibrated
martomi
commented
7 years ago I had the same problem and solved it the following way:
1) My network adapter didn't support MTU size larger than 1500, so increasing that was not an option. If you can increase it to at least 3000, it should work.
2) The pylon camera node is running with default parameter for mtu_size at 3000 => In order to decrease it you need to remove the comment in the config file and set it to 1500. But there's a catch!
The parameter file is designed in a way that is extremely error-prone to configure:
gige: as well. Not only in front of mtu_size!mtu_size and inter_pkg_delay parameters you'll have to put them as child parameters under the same gige: parameter!None of those would work:
Wrong example 1:
# gige:
mtu_size: 1500
# gige:
inter_pkg_delay: 0Wrong example 2:
gige:
mtu_size: 1500
gige:
inter_pkg_delay: 0Here's the configuration that worked for me:
gige:
mtu_size: 1500
inter_pkg_delay: 0Verify you have configured it correctly! When you start the node, you should get this in the parameters summary:
* /pylon_camera_node/gige/inter_pkg_delay: 0
* /pylon_camera_node/gige/mtu_size: 1500Note the /gige/ part that everyone in the comments above seems to be missing!
Hope that helps.
suho0515
commented
5 years ago @martomi that was correct! i solved it with your mention! thanks!
eyildiz-ugoe
commented
5 years ago @AustinDeric This suggestion worked for me. Thanks.
Triocrossing
commented
5 years ago @martomi
Thanks for saving me out ; )
eyildiz-ugoe
commented
4 years ago Even though I set it to 3000 or 9000 in the config, when I launched the node it printed 1500. All other config settings were loaded but not this. So, in order to solve this, you must use the /opt/pylon5/bin/PylonViewerApp and follow this.
I want to capture images from a Basler acA1300-60gm and the ROS pylon_camera node. I can open and control the camera with Pylon's PylonViewerApp. But when I'm starting the ROS node with
roslaunch pylon_camera pylon_camera_node.launchI get error messages that the frames can't be grabbed:When I start the ROS image viewer
rosrun image_view image_view image:=/pylon_camera_node/image_rawI dont't get images but more error messages from the pylon_camera_node:I tried different settings for packet delay, binning, framerate and PoE switch/PoE inserter but it's alway the same problem. After i started and closed the roslauncher I can't open the camera with PylonViewerApp until I replugged the device. The app prints these error messages to console:
Any idea what's wrong?