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[noetic] Teledyne Camera #130

Open theDimitron opened 12 months ago

theDimitron commented 12 months ago

Hey,

I'm trying to start the ROS-node with my Teledyne Nano-C1940 (over GigE). The instructions I was following: https://www.flir.de/support-center/iis/machine-vision/application-note/using-ros-with-spinnaker/ Unfortunately without success. At the initialization phase a bunch of the errors are coming out and if i try to grab any image topic the node simply crashes within a couple of seconds.

Do I do something wrong, or the driver dose nos support that type (manufacture) of camera?

Here is the terminal output:

_jetson:~/catkin_ws$ roslaunch spinnaker_camera_driver camera.launch ... logging to /home/horizonuam/.ros/log/3eb09878-4e2b-11ee-903b-48b02da4c8ac/roslaunch-horizonuam-jetson-68216.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://jetson:35823/

SUMMARY

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) image_proc_debayer (nodelet/nodelet) spinnaker_camera_nodelet (nodelet/nodelet)

auto-starting new master process[master]: started with pid [68235] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3eb09878-4e2b-11ee-903b-48b02da4c8ac process[rosout-1]: started with pid [68256] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [68264] process[camera/spinnaker_camera_nodelet-3]: started with pid [68265] process[camera/image_proc_debayer-4]: started with pid [68266] [ INFO] [1694165814.561969255]: Initializing nodelet with 12 worker threads. [ INFO] [1694165816.087964356]: [SpinnakerCamera]: Number of cameras detected: 1 [ INFO] [1694165816.135005844]: [SpinnakerCamera::connect]: Using Serial: 10 [ INFO] [1694165816.135230007]: [SpinnakerCamera::connect]: Detected device type: GigEVision [ INFO] [1694165816.927920305]: [SpinnakerCamera::connect]: Camera model name: Nano-C1940 [ INFO] [1694165816.932048723]: [SpinnakerCamera]: (H2511395) DeviceLinkThroughputLimit set to 125000000. [ WARN] [1694165816.932232789]: SpinnakerCamera::connect: Could not detect camera model name. [ERROR] [1694165816.975518409]: [SpinnakerCamera]: (H2511395) Feature name BinningHorizontal not implemented. [ERROR] [1694165816.975821870]: [SpinnakerCamera]: (H2511395) Feature name BinningVertical not implemented. [ERROR] [1694165816.976107570]: [SpinnakerCamera]: (H2511395) Feature name DecimationHorizontal not implemented. [ERROR] [1694165816.976336694]: [SpinnakerCamera]: (H2511395) Feature name DecimationVertical not implemented. [ INFO] [1694165816.977549866]: [SpinnakerCamera]: (H2511395) ReverseX set to 0. [ INFO] [1694165816.978600154]: [SpinnakerCamera]: (H2511395) ReverseY set to 0. [ INFO] [1694165816.983527689]: [SpinnakerCamera]: (H2511395) OffsetX set to 0. [ INFO] [1694165816.990922399]: [SpinnakerCamera]: (H2511395) OffsetY set to 0. [ INFO] [1694165816.996864414]: [SpinnakerCamera]: (H2511395) Width set to 1936. [ INFO] [1694165817.000099186]: [SpinnakerCamera]: (H2511395) Height set to 1216. [ INFO] [1694165817.001866030]: [SpinnakerCamera]: (H2511395) OffsetX set to 0. [ INFO] [1694165817.003614346]: [SpinnakerCamera]: (H2511395) OffsetY set to 0. [ INFO] [1694165817.005441479]: [SpinnakerCamera]: (H2511395) PixelFormat set to BayerRG8. [ERROR] [1694165817.005655787]: [SpinnakerCamera]: (H2511395) Feature name IspEnable not implemented. [ INFO] [1694165817.008166579]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRateEnable set to 1. [ INFO] [1694165817.011195171]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRate set to 30. [ INFO] [1694165817.012909662]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRateEnable set to 1. [ INFO] [1694165817.013995216]: [SpinnakerCamera]: (H2511395) TriggerMode set to Off. [ WARN] [1694165817.014938623]: [SpinnakerCamera]: (H2511395) Enumeration TriggerSource not available. [ INFO] [1694165817.015149090]: [SpinnakerCamera]: (H2511395) TriggerSelector set to FrameStart. [ WARN] [1694165817.016149650]: [SpinnakerCamera]: (H2511395) Enumeration TriggerActivation not available. [ INFO] [1694165817.022751772]: [SpinnakerCamera]: (H2511395) TriggerMode set to Off. [ WARN] [1694165817.022928767]: [SpinnakerCamera]: (H2511395) Entry name Line0 not available.

[ WARN] [1694165817.023339365]: - EnumEntry_LineSelector_Line1 (display Line 1, symbolic Line1) [ WARN] [1694165817.023444263]: - EnumEntry_LineSelector_Line2 (display Line 2, symbolic Line2) [ WARN] [1694165817.023495656]: - EnumEntry_LineSelector_Line3 (display Line 3, symbolic Line3) [ WARN] [1694165817.023543048]: - EnumEntry_LineSelector_Line4 (display Line 4, symbolic Line4) [ WARN] [1694165817.023629578]: [SpinnakerCamera]: (H2511395) Enumeration LineMode not writable. [ERROR] [1694165817.023752300]: [SpinnakerCamera]: (H2511395) Enumeration name LineSource not implemented. [ INFO] [1694165817.026772572]: [SpinnakerCamera]: (H2511395) ExposureMode set to Timed. [ WARN] [1694165817.029038944]: [SpinnakerCamera]: (H2511395) Enumeration ExposureAuto not available. [ERROR] [1694165817.029543848]: [SpinnakerCamera]: (H2511395) Feature name AutoExposureExposureTimeUpperLimit not implemented. [ WARN] [1694165817.029823501]: [SpinnakerCamera]: (H2511395) Entry name All not available.

[ WARN] [1694165817.030158642]: - EnumEntry_GainSelector_SensorAll (display Sensor, symbolic SensorAll) [ WARN] [1694165817.030322133]: - EnumEntry_GainSelector_DigitalAll (display Digital, symbolic DigitalAll) [ WARN] [1694165817.030484247]: [SpinnakerCamera]: (H2511395) Enumeration GainAuto not available. [ INFO] [1694165817.032910462]: [SpinnakerCamera]: (H2511395) BlackLevel set to 2. [ERROR] [1694165817.033086785]: [SpinnakerCamera]: (H2511395) Feature name GammaEnable not implemented. [ERROR] [1694165817.033258276]: [SpinnakerCamera]: (H2511395) Feature name Gamma not implemented. [ WARN] [1694165817.033525320]: [SpinnakerCamera]: (H2511395) Entry name Continuous not available.

[ WARN] [1694165817.033862669]: - EnumEntry_BalanceWhiteAuto_Off (display Off, symbolic Off) [ WARN] [1694165817.034023824]: - EnumEntry_BalanceWhiteAuto_OnDemand (display On Demand, symbolic OnDemand) [ WARN] [1694165817.034192243]: - EnumEntry_BalanceWhiteAuto_Periodic (display Periodic, symbolic Periodic)

[ERROR] [1694165842.383050565]: [SpinnakerCamera]: (H2511395) Feature name BinningHorizontal not implemented. [ERROR] [1694165842.383206023]: [SpinnakerCamera]: (H2511395) Feature name BinningVertical not implemented. [ERROR] [1694165842.383285736]: [SpinnakerCamera]: (H2511395) Feature name DecimationHorizontal not implemented. [ERROR] [1694165842.383390314]: [SpinnakerCamera]: (H2511395) Feature name DecimationVertical not implemented. [ INFO] [1694165842.384382906]: [SpinnakerCamera]: (H2511395) ReverseX set to 0. [ INFO] [1694165842.385314793]: [SpinnakerCamera]: (H2511395) ReverseY set to 0. [ INFO] [1694165842.388614750]: [SpinnakerCamera]: (H2511395) OffsetX set to 0. [ INFO] [1694165842.390497180]: [SpinnakerCamera]: (H2511395) OffsetY set to 0. [ INFO] [1694165842.393745616]: [SpinnakerCamera]: (H2511395) Width set to 1936. [ INFO] [1694165842.395486667]: [SpinnakerCamera]: (H2511395) Height set to 1216. [ INFO] [1694165842.397304360]: [SpinnakerCamera]: (H2511395) OffsetX set to 0. [ INFO] [1694165842.399007332]: [SpinnakerCamera]: (H2511395) OffsetY set to 0. [ INFO] [1694165842.400739711]: [SpinnakerCamera]: (H2511395) PixelFormat set to BayerRG8. [ERROR] [1694165842.400853601]: [SpinnakerCamera]: (H2511395) Feature name IspEnable not implemented. [ INFO] [1694165842.402599645]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRateEnable set to 1. [ INFO] [1694165842.404678622]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRate set to 30. [ INFO] [1694165842.406319608]: [SpinnakerCamera]: (H2511395) AcquisitionFrameRateEnable set to 1. [ INFO] [1694165842.407272264]: [SpinnakerCamera]: (H2511395) TriggerMode set to Off. [ WARN] [1694165842.407405130]: [SpinnakerCamera]: (H2511395) Enumeration TriggerSource not available. [ INFO] [1694165842.407558124]: [SpinnakerCamera]: (H2511395) TriggerSelector set to FrameStart. [ WARN] [1694165842.408523612]: [SpinnakerCamera]: (H2511395) Enumeration TriggerActivation not available. [ INFO] [1694165842.409552812]: [SpinnakerCamera]: (H2511395) TriggerMode set to Off. [ WARN] [1694165842.409673358]: [SpinnakerCamera]: (H2511395) Entry name Line0 not available.

[ WARN] [1694165842.409885809]: - EnumEntry_LineSelector_Line1 (display Line 1, symbolic Line1) [ WARN] [1694165842.409957203]: - EnumEntry_LineSelector_Line2 (display Line 2, symbolic Line2) [ WARN] [1694165842.410036436]: - EnumEntry_LineSelector_Line3 (display Line 3, symbolic Line3) [ WARN] [1694165842.410113845]: - EnumEntry_LineSelector_Line4 (display Line 4, symbolic Line4) [ WARN] [1694165842.410208439]: [SpinnakerCamera]: (H2511395) Enumeration LineMode not writable. [ERROR] [1694165842.410298328]: [SpinnakerCamera]: (H2511395) Enumeration name LineSource not implemented. [ INFO] [1694165842.411260423]: [SpinnakerCamera]: (H2511395) ExposureMode set to Timed. [ WARN] [1694165842.412185398]: [SpinnakerCamera]: (H2511395) Enumeration ExposureAuto not available. [ERROR] [1694165842.412290264]: [SpinnakerCamera]: (H2511395) Feature name AutoExposureExposureTimeUpperLimit not implemented. [ WARN] [1694165842.412397626]: [SpinnakerCamera]: (H2511395) Entry name All not available.

[ WARN] [1694165842.412559548]: - EnumEntry_GainSelector_SensorAll (display Sensor, symbolic SensorAll) [ WARN] [1694165842.412640253]: - EnumEntry_GainSelector_DigitalAll (display Digital, symbolic DigitalAll) [ WARN] [1694165842.412769343]: [SpinnakerCamera]: (H2511395) Enumeration GainAuto not available. [ INFO] [1694165842.415180678]: [SpinnakerCamera]: (H2511395) BlackLevel set to 2. [ERROR] [1694165842.415244551]: [SpinnakerCamera]: (H2511395) Feature name GammaEnable not implemented. [ERROR] [1694165842.415300872]: [SpinnakerCamera]: (H2511395) Feature name Gamma not implemented. [ WARN] [1694165842.415381449]: [SpinnakerCamera]: (H2511395) Entry name Continuous not available.

[ WARN] [1694165842.415492971]: - EnumEntry_BalanceWhiteAuto_Off (display Off, symbolic Off) [ WARN] [1694165842.415534348]: - EnumEntry_BalanceWhiteAuto_OnDemand (display On Demand, symbolic OnDemand) [ WARN] [1694165842.415579340]: - EnumEntry_BalanceWhiteAuto_Periodic (display Periodic, symbolic Periodic) [ INFO] [1694165842.482064467]: using default calibration URL [ INFO] [1694165842.482214453]: camera calibration URL: file:///home/horizonuam/.ros/camera_info/0.yaml [ INFO] [1694165842.482368280]: Unable to open camera calibration file [/home/horizonuam/.ros/camera_info/0.yaml] [ WARN] [1694165842.482411032]: Camera calibration file /home/horizonuam/.ros/camera_info/0.yaml not found. [ERROR] [1694165859.981454366]: [SpinnakerCamera::grabImage] Failed to retrieve buffer with error: Spinnaker: Failed waiting for EventData on NEW_BUFFERDATA event. [-1011] [ERROR] [1694165859.982058888]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]

jtaveau commented 3 months ago

I've exactly the same using a Blackfly S BFS-PGE-63S4C, which Jetson are you using?

jtaveau commented 3 months ago

I found the issue, I'll open a PR by the end of this week.

theDimitron commented 3 months ago

I've exactly the same using a Blackfly S BFS-PGE-63S4C, which Jetson are you using?

Hey, it was Jetson Orin AGX, and do not remember what Jetpack that was

jtaveau commented 3 months ago

Apparently the socket buffer size is too small on the Orin, even if you;re using the 10G interface, using the commands at the bottom increasing rmem will solve this issue. 

sudo sysctl –w net.core.rmem_max=33554432
sudo sysctl –w net.core.wmem_max=33554432
sudo sysctl –w net.core.rmem_default=33554432
sudo sysctl –w net.core.wmem_default=33554432