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orbbec / OrbbecSDK_ROS1

OrbbecSDK ROS wrapper
Apache License 2.0
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Depth topics publishing empty while Color works fine #31

Open shobhitagg opened 8 months ago

shobhitagg commented 8 months ago

I am trying to dockerize the ROS1 application. Attaching my Dockerfile and run.sh files (added the extension .txt for individual file upload). I hope that they will help replicate the issue.

The camera initializes fine when I launch roslaunch orbbec_camera femto_bolt.launch. If I try subscribing to camera/color topics, I get the image and camera_info fine. But I get no messages when I subscribe to color/depth or color/ir image. The ROS1 package works all good on the host machine.

Please help if you have any ideas.

run.sh.txt Dockerfile.txt

shobhitagg commented 8 months ago

After some more debugging, I see the the pipeline is not able to load depth engine plugin. Here is the output when I install OrbbecSDK in the docker and test run the pipeline.

[04/01 20:35:24.489643][info][821][Pipeline.cpp:239] Try to start streams!
[04/01 20:35:24.489733][info][821][VideoSensor.cpp:663] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30}
[04/01 20:35:24.489750][info][821][MSDEConverterDevice.cpp:544] Start real profile,width:7680 height:434
[04/01 20:35:24.491595][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.491700][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.491774][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.491787][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.491857][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.491869][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.491937][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.491946][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492011][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492020][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492085][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492094][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492158][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492177][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492243][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492252][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492319][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492328][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492393][info][860][MSDEConverterDevice.cpp:75] Depth engine got nvram data size:491008
[04/01 20:35:24.492402][error][860][MSDEConverterDevice.cpp:99] Failed to load depth engine plugin,init depth engine failed.
[04/01 20:35:24.492574][info][821][Pipeline.cpp:252] Start streams done!
[04/01 20:35:24.492595][info][821][Pipeline.cpp:235] Pipeline start done!

I think it is not able to load libdepthengine.so as highlighted in this issue. But I checked and the .so file is available in the lib folder of SDK.