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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Device: 2bc5/0402@1/4 is not connected #187

Closed shodow closed 1 year ago

shodow commented 1 year ago

platform: orangepi CPU:Rockchip RK3588S system: ubuntu 20.04 ros: noetic 1.16.0 camera: Astra S

roslaunch astra_camera astra.launch
... logging to /home/orangepi/.ros/log/22b0eeb8-036a-11ee-9e4a-b81332734626/roslaunch-orangepi5b-5901.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://orangepi5b:43537/

SUMMARY
========

PARAMETERS
 * /camera/camera/camera_name: camera
 * /camera/camera/color_depth_synchronization: False
 * /camera/camera/color_format: RGB
 * /camera/camera/color_fps: 30
 * /camera/camera/color_height: 480
 * /camera/camera/color_info_uri: 
 * /camera/camera/color_width: 640
 * /camera/camera/connection_delay: 100
 * /camera/camera/depth_align: False
 * /camera/camera/depth_format: Y11
 * /camera/camera/depth_fps: 30
 * /camera/camera/depth_height: 480
 * /camera/camera/depth_width: 640
 * /camera/camera/device_num: 1
 * /camera/camera/enable_color: True
 * /camera/camera/enable_d2c_viewer: False
 * /camera/camera/enable_depth: True
 * /camera/camera/enable_ir: True
 * /camera/camera/enable_point_cloud: True
 * /camera/camera/enable_point_cloud_xyzrgb: False
 * /camera/camera/enable_publish_extrinsic: False
 * /camera/camera/flip_color: False
 * /camera/camera/flip_depth: False
 * /camera/camera/flip_ir: False
 * /camera/camera/ir_format: Y10
 * /camera/camera/ir_fps: 30
 * /camera/camera/ir_height: 480
 * /camera/camera/ir_info_uri: 
 * /camera/camera/ir_width: 640
 * /camera/camera/oni_log_level: verbose
 * /camera/camera/oni_log_path: 
 * /camera/camera/oni_log_to_console: False
 * /camera/camera/oni_log_to_file: False
 * /camera/camera/product_id: 
 * /camera/camera/publish_tf: True
 * /camera/camera/serial_number: 
 * /camera/camera/tf_publish_rate: 10.0
 * /camera/camera/vendor_id: 0x2bc5
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    camera (astra_camera/astra_camera_node)

ROS_MASTER_URI=http://localhost:11311

process[camera/camera-1]: started with pid [5915]
[ INFO] [1685946502.683087240]: Starting camera node...
[ INFO] [1685946502.697952301]: Creating camera node...
[ INFO] [1685946502.699506560]: OBCameraNodeFactory::OBCameraNodeFactory
[ INFO] [1685946502.699538059]: Initializing OBCameraNodeFactory...
[ INFO] [1685946502.730212995]: init Done
[ INFO] [1685946502.730260536]: Creating camera node done...
[ INFO] [1685946502.730334034]: Query device
[ INFO] [1685946502.730475781]: Found 1 devices
[ INFO] [1685946502.730589237]: Device connected: (name, Astra) (uri, 2bc5/0402@1/4) (vendor, Orbbec)
[ INFO] [1685946502.730656902]: Trying to open device: 2bc5/0402@1/4
[ INFO] [1685946502.831132365]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1685946502.850829366]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4117
[ INFO] [1685946502.851080485]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946502.851273273]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946502.963989269]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946502.964231347]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.079618370]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.079893697]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.191892791]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.192139536]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.304097798]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.304340751]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.416422093]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.416674088]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.529380167]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.529770992]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.643250555]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.643642839]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.730784583]: wait for device  to be connected
[ INFO] [1685946503.756958780]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.757464519]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.757789721]: Query device
[ INFO] [1685946503.759357104]: Device connected: (name, Astra) (uri, 2bc5/0402@1/4) (vendor, Orbbec)
[ INFO] [1685946503.760752117]: Trying to open device: 2bc5/0402@1/4
[ INFO] [1685946503.861235871]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1685946503.874386843]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4117
[ INFO] [1685946503.874780001]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.874928165]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946503.987121797]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946503.987367375]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.099631297]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.099880666]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.212731993]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.212980779]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.326138640]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.326385677]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.439380792]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.439632203]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.551929082]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.552315533]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1685946504.664731410]: Device: 2bc5/0402@1/4 is not connected
[ INFO] [1685946504.665121068]: OBCameraNodeFactory::onDeviceConnected close done.
shodow commented 1 year ago

lsusb 

Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 008 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 007 Device 002: ID 046d:c077 Logitech, Inc. M105 Optical Mouse
Bus 007 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 001 Device 004: ID 2bc5:0402  
Bus 001 Device 003: ID 0b95:1790 ASIX Electronics Corp. AX88179 Gigabit Ethernet
Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

groups orangepi

orangepi : orangepi tty disk dialout sudo audio video plugdev games users systemd-journal input netdev ssh bluetooth docker
shiukaheng commented 1 year ago

I'm going through a similar issue:

PARAMETERS
 * /camera/camera/camera_name: camera
 * /camera/camera/color_depth_synchronization: False
 * /camera/camera/color_format: RGB
 * /camera/camera/color_fps: 30
 * /camera/camera/color_height: 480
 * /camera/camera/color_info_uri: 
 * /camera/camera/color_width: 640
 * /camera/camera/connection_delay: 100
 * /camera/camera/depth_align: False
 * /camera/camera/depth_format: Y11
 * /camera/camera/depth_fps: 30
 * /camera/camera/depth_height: 480
 * /camera/camera/depth_width: 640
 * /camera/camera/device_num: 1
 * /camera/camera/enable_color: True
 * /camera/camera/enable_d2c_viewer: False
 * /camera/camera/enable_depth: True
 * /camera/camera/enable_ir: True
 * /camera/camera/enable_point_cloud: True
 * /camera/camera/enable_point_cloud_xyzrgb: False
 * /camera/camera/enable_publish_extrinsic: False
 * /camera/camera/flip_color: False
 * /camera/camera/flip_depth: False
 * /camera/camera/flip_ir: False
 * /camera/camera/ir_format: Y10
 * /camera/camera/ir_fps: 30
 * /camera/camera/ir_height: 480
 * /camera/camera/ir_info_uri: 
 * /camera/camera/ir_width: 640
 * /camera/camera/oni_log_level: verbose
 * /camera/camera/oni_log_path: 
 * /camera/camera/oni_log_to_console: False
 * /camera/camera/oni_log_to_file: False
 * /camera/camera/product_id: 
 * /camera/camera/publish_tf: True
 * /camera/camera/serial_number: 
 * /camera/camera/tf_publish_rate: 10.0
 * /camera/camera/vendor_id: 0x2bc5
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    camera (astra_camera/astra_camera_node)

auto-starting new master
process[master]: started with pid [10399]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6864a988-0a3e-11ee-8552-502b73a91884
process[rosout-1]: started with pid [10409]
started core service [/rosout]
process[camera/camera-2]: started with pid [10416]
[ INFO] [1686697365.571685382]: Starting camera node...
[ INFO] [1686697365.577590326]: Creating camera node...
[ INFO] [1686697365.578186462]: OBCameraNodeFactory::OBCameraNodeFactory
[ INFO] [1686697365.578200857]: Initializing OBCameraNodeFactory...
[ INFO] [1686697365.597393299]: init Done
[ INFO] [1686697365.597414069]: Creating camera node done...
[ INFO] [1686697365.597435290]: Query device
[ INFO] [1686697365.597459444]: Found 1 devices
[ INFO] [1686697365.597480271]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697365.597493298]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697365.697661740]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697365.705488328]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697365.705597747]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.705664017]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697365.810955147]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.811072881]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697365.917710623]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.917828478]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.023175392]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.023298330]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.128634536]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.128754659]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.234133582]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.234253553]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.339670664]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.339786014]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.444983417]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.445099316]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.550544131]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.550670563]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.597533359]: wait for device  to be connected
[ INFO] [1686697366.652240259]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.652277533]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.652296666]: Query device
[ INFO] [1686697366.652314389]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697366.652332663]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697366.752533173]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697366.757584428]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697366.757668972]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.757681014]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.862999489]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.863116163]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.968359731]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.968473435]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.070748827]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.070776207]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.174015419]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.174090184]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.279433952]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.279552688]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.384936276]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.385054316]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.487003520]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.487048503]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.588431207]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.588459743]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.597436384]: wait for device  to be connected
[ INFO] [1686697367.692856531]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.692936322]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.692975243]: Query device
[ INFO] [1686697367.693011039]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697367.693052419]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697367.793290031]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697367.798535760]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697367.798623925]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.798663440]: OBCameraNodeFactory::onDeviceConnected close done.
^C[ INFO] [1686697367.900460127]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.900498971]: OBCameraNodeFactory::onDeviceConnected close done.
[camera/camera-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I am also running the thing in docker. I ran the setup script manually in the host and forwarded the device in. Wonder if you are doing something similar?

The host is Linux Mint 21.1, the container Ubuntu 20.04, running noetic.

Update: Seems to be fixed for me if I ran the container as privilleged! Update 2: Or not... It seems to work intermittently. It works in RViz for a while, then gets disconnected. Once disconnected, it suffers the same problems.

shodow commented 1 year ago

I'm going through a similar issue:

PARAMETERS
 * /camera/camera/camera_name: camera
 * /camera/camera/color_depth_synchronization: False
 * /camera/camera/color_format: RGB
 * /camera/camera/color_fps: 30
 * /camera/camera/color_height: 480
 * /camera/camera/color_info_uri: 
 * /camera/camera/color_width: 640
 * /camera/camera/connection_delay: 100
 * /camera/camera/depth_align: False
 * /camera/camera/depth_format: Y11
 * /camera/camera/depth_fps: 30
 * /camera/camera/depth_height: 480
 * /camera/camera/depth_width: 640
 * /camera/camera/device_num: 1
 * /camera/camera/enable_color: True
 * /camera/camera/enable_d2c_viewer: False
 * /camera/camera/enable_depth: True
 * /camera/camera/enable_ir: True
 * /camera/camera/enable_point_cloud: True
 * /camera/camera/enable_point_cloud_xyzrgb: False
 * /camera/camera/enable_publish_extrinsic: False
 * /camera/camera/flip_color: False
 * /camera/camera/flip_depth: False
 * /camera/camera/flip_ir: False
 * /camera/camera/ir_format: Y10
 * /camera/camera/ir_fps: 30
 * /camera/camera/ir_height: 480
 * /camera/camera/ir_info_uri: 
 * /camera/camera/ir_width: 640
 * /camera/camera/oni_log_level: verbose
 * /camera/camera/oni_log_path: 
 * /camera/camera/oni_log_to_console: False
 * /camera/camera/oni_log_to_file: False
 * /camera/camera/product_id: 
 * /camera/camera/publish_tf: True
 * /camera/camera/serial_number: 
 * /camera/camera/tf_publish_rate: 10.0
 * /camera/camera/vendor_id: 0x2bc5
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    camera (astra_camera/astra_camera_node)

auto-starting new master
process[master]: started with pid [10399]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6864a988-0a3e-11ee-8552-502b73a91884
process[rosout-1]: started with pid [10409]
started core service [/rosout]
process[camera/camera-2]: started with pid [10416]
[ INFO] [1686697365.571685382]: Starting camera node...
[ INFO] [1686697365.577590326]: Creating camera node...
[ INFO] [1686697365.578186462]: OBCameraNodeFactory::OBCameraNodeFactory
[ INFO] [1686697365.578200857]: Initializing OBCameraNodeFactory...
[ INFO] [1686697365.597393299]: init Done
[ INFO] [1686697365.597414069]: Creating camera node done...
[ INFO] [1686697365.597435290]: Query device
[ INFO] [1686697365.597459444]: Found 1 devices
[ INFO] [1686697365.597480271]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697365.597493298]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697365.697661740]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697365.705488328]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697365.705597747]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.705664017]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697365.810955147]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.811072881]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697365.917710623]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697365.917828478]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.023175392]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.023298330]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.128634536]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.128754659]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.234133582]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.234253553]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.339670664]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.339786014]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.444983417]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.445099316]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.550544131]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.550670563]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.597533359]: wait for device  to be connected
[ INFO] [1686697366.652240259]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.652277533]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.652296666]: Query device
[ INFO] [1686697366.652314389]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697366.652332663]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697366.752533173]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697366.757584428]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697366.757668972]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.757681014]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.862999489]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.863116163]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697366.968359731]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697366.968473435]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.070748827]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.070776207]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.174015419]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.174090184]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.279433952]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.279552688]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.384936276]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.385054316]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.487003520]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.487048503]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.588431207]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.588459743]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.597436384]: wait for device  to be connected
[ INFO] [1686697367.692856531]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.692936322]: OBCameraNodeFactory::onDeviceConnected close done.
[ INFO] [1686697367.692975243]: Query device
[ INFO] [1686697367.693011039]: Device connected: (name, Astra) (uri, 2bc5/0402@1/5) (vendor, Orbbec)
[ INFO] [1686697367.693052419]: Trying to open device: 2bc5/0402@1/5
[ INFO] [1686697367.793290031]: OBCameraNodeFactory::onDeviceConnected Open device start
[ INFO] [1686697367.798535760]: OBCameraNodeFactory::onDeviceConnected Open device done, STATUS 4099
[ INFO] [1686697367.798623925]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.798663440]: OBCameraNodeFactory::onDeviceConnected close done.
^C[ INFO] [1686697367.900460127]: Device: 2bc5/0402@1/5 is not connected
[ INFO] [1686697367.900498971]: OBCameraNodeFactory::onDeviceConnected close done.
[camera/camera-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I am also running the thing in docker. I ran the setup script manually in the host and forwarded the device in. Wonder if you are doing something similar?

The host is Linux Mint 21.1, the container Ubuntu 20.04, running noetic.

Update: Seems to be fixed for me if I ran the container as privilleged! Update 2: Or not... It seems to work intermittently. It works in RViz for a while, then gets disconnected. Once disconnected, it suffers the same problems.

Hi, i found a solution, camera Astra S need to use command 'roslaunch orbbec_camera astra.launch' to using camera. you can find example here https://github.com/OrbbecDeveloper/OrbbecSDK_ROS1.