awesomebytes
commented
3 years ago My fist try would be execute docker with --privileged and remove the volume mounting rule to really discard it's a docker thing. Note that you are exposing /dev as a volume and it's actually a device (so it needs to be mounted differently AFAIK).
If it doesn't work, I'd try to execute the script on the script folders that tests just the opencv subscriber (no ROS or anything fancy in it, if you don't have X enabled for that container, you'll need to comment out the showing the image from the script but you could just print that you got a frame). If that doesn't work... Well I guess it doesn't work for you setup? That said, I used the node in docker on a webcam and it worked a while ago.
You can also try to install some other tool that accesses the webcam to see
if they can access it. cheese comes to mind (but again, you'll need
X/graphical system enabled to be able to open the window).
Sorry for the brevity, writing from my phone.
On Tue, Mar 23, 2021, 08:06 Jędrzej Beniamin Orbik @.***> wrote:
I have a problem with accessing the camera in docker. The video_stream_opencv is being run in docker as a root user so the access permission to the device are not an issue. Everything works fine on docker with Ubuntu 20.04 host machine but on a different computer with Ubuntu 18.04 in docker I am getting following output:
started roslaunch server http://172.18.0.2:44913/
SUMMARY
PARAMETERS
- /camera0/camera0_stream/buffer_queue_size: 100
- /camera0/camera0_stream/camera_info_url:
- /camera0/camera0_stream/camera_name: camera0
- /camera0/camera0_stream/flip_horizontal: False
- /camera0/camera0_stream/flip_vertical: False
- /camera0/camera0_stream/fps: 30.0
- /camera0/camera0_stream/frame_id: world
- /camera0/camera0_stream/height: 0
- /camera0/camera0_stream/loop_videofile: False
- /camera0/camera0_stream/set_camera_fps: 30.0
- /camera0/camera0_stream/start_frame: 0
- /camera0/camera0_stream/stop_frame: -1
- /camera0/camera0_stream/video_stream_provider: 4
- /camera0/camera0_stream/width: 0
- /rosdistro: noetic
- /rosversion: 1.15.9
NODES /camera0/ camera0_stream (video_stream_opencv/video_stream)
auto-starting new master process[master]: started with pid [599] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5ab6d9ec-8b50-11eb-846a-0242ac120002 process[rosout-1]: started with pid [609] started core service [/rosout] process[camera0/camera0_stream-2]: started with pid [616] [ INFO] [1616446281.084626564]: Initializing nodelet with 12 worker threads. [ INFO] [1616446281.231082240]: Camera name: camera0 [ INFO] [1616446281.231145549]: Provided camera_info_url: '' [ INFO] [1616446281.231181137]: Publishing with frame_id: world [ INFO] [1616446281.231210516]: Setting camera FPS to: 30 [ INFO] [1616446281.231237541]: Throttling to fps: 30 [ INFO] [1616446281.231265247]: Setting buffer size for capturing frames to: 100 [ INFO] [1616446281.231288768]: Flip horizontal image is: false [ INFO] [1616446281.231311911]: Flip vertical image is: false [ INFO] [1616446281.231342150]: Video start frame is: 0 [ INFO] [1616446281.231372180]: Video stop frame is: -1 [ INFO] [1616446289.123753215]: using default calibration URL [ INFO] [1616446289.123886318]: camera calibration URL: file:///root/.ros/camera_info/camera0.yaml [ INFO] [1616446289.124076802]: Unable to open camera calibration file [/root/.ros/camera_info/camera0.yaml] [ WARN] [1616446289.124140005]: Camera calibration file /root/.ros/camera_info/camera0.yaml not found. [ INFO] [1616446289.124444183]: Opening VideoCapture with provider: /dev/video4 [ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (935) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1 [ INFO] [1616446290.302166801]: Video stream provider type detected: videodevice [ INFO] [1616446290.302266712]: Camera reports FPS: 5 [ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (1186) setProperty OpenCV | GStreamer warning: GStreamer: unhandled property [ WARN:1] global ../modules/videoio/src/cap_gstreamer.cpp (1758) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module v4l2src0 reported: Device '/dev/video4' failed during initialization [ WARN:1] global ../modules/videoio/src/cap_gstreamer.cpp (515) startPipeline OpenCV | GStreamer warning: unable to start pipeline [ERROR] [1616446291.852088783]: Could not capture frame (frame_counter: 0) [ WARN] [1616446291.852207511]: Waiting for device... [ WARN] [1616446291.952562714]: Waiting for device... [ WARN] [1616446292.052847656]: Waiting for device... [ WARN] [1616446292.153119626]: Waiting for device... [ WARN] [1616446292.253407089]: Waiting for device... [ WARN] [1616446292.353719961]: Waiting for device... [ WARN] [1616446292.454032736]: Waiting for device... [ WARN] [1616446292.554347708]: Waiting for device... [ WARN] [1616446292.654681905]: Waiting for device... [ WARN] [1616446292.754938392]: Waiting for device... [ WARN] [1616446292.855224316]: Waiting for device... [ WARN] [1616446292.955508793]: Waiting for device... [ WARN] [1616446293.055815889]: Waiting for device... [ WARN] [1616446293.156144592]: Waiting for device... [ WARN] [1616446293.256436284]: Waiting for device... [ WARN] [1616446293.356739560]: Waiting for device... [ WARN] [1616446293.457051838]: Waiting for device... [ WARN] [1616446293.557366183]: Waiting for device... [ WARN] [1616446293.657679612]: Waiting for device... [ WARN] [1616446293.757997069]: Waiting for device... [ WARN] [1616446293.858312195]: Waiting for device... [ WARN] [1616446293.958634418]: Waiting for device... ...
I am using the following options for running docker container:
version: "2.4" services: robonet: build: context: .. dockerfile: ./docker/Dockerfile image: robonet container_name: robonet working_dir: /root environment:
- DISPLAY=:0 runtime: nvidia volumes:
- /dev:/dev command: bash stdin_open: true tty: true device_cgroup_rules:
- 'c : rmw'
I am able to access the camera on the machine without any problems though when I tried the (https://github.com/mviereck/x11docker)[x11docker], so I assume it is video_stream_opencv or (maybe?) GStreamer specific.
Please let me know if any additional information would be helpful.
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Jendker
I have a problem with accessing the camera in docker. The video_stream_opencv is being run in docker as a root user so the access permission to the device are not an issue. Everything works fine on docker with Ubuntu 20.04 host machine but on a different computer with Ubuntu 18.04 in docker I am getting following output if I subscribe to the created camera rostopic:
and sometimes after subscribing to the topic I get the following output because the device
/dev/videoXdisappears after I try subscribing until I reconnect the camera:I am using the following options for running docker container:
I am able to access the camera on the machine without any problems though when I tried the x11docker, so I assume it is video_stream_opencv or (maybe?) GStreamer specific.
Please let me know if any additional information would be helpful.