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slightech / MYNT-EYE-D-SDK

MYNT EYE D SDK (MYNT® EYE Depth Camera)
http://www.myntai.com/mynteye/depth
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MYNT EYE P D1100 - ROS Wrapper not working #84

Open project-pantheon opened 3 years ago

project-pantheon commented 3 years ago

Hi,

I have tried using the new camera MYNT EYE P 1100 with the ROS environment and when I try to launch the ROS Wrapper the outcome is the one attached in the following. In particular, it should be noticed that the device compared to others that we have got does not seem to be recognized. Does anyone have any experience with this new depth camera? The website says that this camera is supposed to be supported in ROS but we are having troubles.

renzo@T580:~/libs/MYNT-EYE-D-SDK$ roslaunch mynteye_wrapper_d mynteye.launch ... logging to /home/renzo/.ros/log/e47e55c2-6bea-11eb-947d-b46bfc377b84/roslaunch-T580-20047.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://T580:46195/

SUMMARY

PARAMETERS

NODES / b2d_broadcaster (tf/static_transform_publisher) b2imu_broadcaster (tf/static_transform_publisher) b2imu_processed_broadcaster (tf/static_transform_publisher) b2l_c_broadcaster (tf/static_transform_publisher) b2l_m_broadcaster (tf/static_transform_publisher) b2p_broadcaster (tf/static_transform_publisher) b2r_c_broadcaster (tf/static_transform_publisher) b2r_m_broadcaster (tf/static_transform_publisher) b2temp_broadcaster (tf/static_transform_publisher) mynteye_wrapper_d_node (mynteye_wrapper_d/mynteye_wrapper_d_node)

ROS_MASTER_URI=http://localhost:11311

process[b2l_m_broadcaster-1]: started with pid [20109] process[b2l_c_broadcaster-2]: started with pid [20110] process[b2r_m_broadcaster-3]: started with pid [20118] process[b2r_c_broadcaster-4]: started with pid [20127] process[b2d_broadcaster-5]: started with pid [20139] process[b2p_broadcaster-6]: started with pid [20145] process[b2imu_broadcaster-7]: started with pid [20161] process[b2temp_broadcaster-8]: started with pid [20171] process[b2imu_processed_broadcaster-9]: started with pid [20185] process[mynteye_wrapper_d_node-10]: started with pid [20195] [ INFO] [1612994652.568442089]: Initializing nodelet with 8 worker threads. [ INFO] [1612994652.619190267]: base_frame: mynteye_link [ INFO] [1612994652.619220255]: left_mono_frame: mynteye_left_mono_frame [ INFO] [1612994652.619231933]: left_color_frame: mynteye_left_color_frame [ INFO] [1612994652.619248185]: right_mono_frame: mynteye_right_mono_frame [ INFO] [1612994652.619261141]: right_color_frame: mynteye_right_color_frame [ INFO] [1612994652.619273206]: depth_frame: mynteye_depth_frame [ INFO] [1612994652.619285422]: points_frame: mynteye_points_frame [ INFO] [1612994652.619297304]: imu_frame: mynteye_imu_frame [ INFO] [1612994652.619331336]: temp_frame: mynteye_temp_frame [ INFO] [1612994652.619349008]: imu_frame_processed: mynteye_imu_frame_processed I/eSPDI_API: eSPDI: EtronDI_InitunameData.release = 4.15.0-133-generic version 4.15.0

[ INFO] [1612994653.819855213]: Device Information

[ INFO] [1612994653.819911192]: 0 | index: 0, name: /dev/video2, type: 2, pid: 0x120, vid: 0x1e4e, chip_id: 0x15, fw_version: SICI-B12-B0135P-016-006-Beta4-ISO_Plugout2M(Interleave), serial_number: D110012001C0B9A8D0B3E0B4

[mynteye_wrapper_d_node-10] process has died [pid 20195, exit code -11, cmd /home/renzo/libs/MYNT-EYE-D-SDK/wrappers/ros/devel/lib/mynteye_wrapper_d/mynteye_wrapper_d_node __name:=mynteye_wrapper_d_node __log:=/home/renzo/.ros/log/e47e55c2-6bea-11eb-947d-b46bfc377b84/mynteye_wrapper_d_node-10.log]. log file: /home/renzo/.ros/log/e47e55c2-6bea-11eb-947d-b46bfc377b84/mynteye_wrapper_d_node-10*.log

project-pantheon commented 3 years ago

Hi,

As a follow up to my previous request. Is there anybody that can help us out with this issue?

project-pantheon commented 3 years ago

Hi,

We are completely stuck with these cameras MYNT EYE P as they do not work on ROS as advertised. Does anybody know how to handle this problem?

nitschw commented 1 year ago

Did you ever get this working? I know this is an old post but I am experiencing the same issue with the same camera (MYNT EYE P). I am using Ubuntu 18.04 and ROS Melodic. Trying to get this working on a Jetson Nano Jetpack 4.6.1. About to reverse engineer their node code.

nitschw commented 1 year ago

Okay I fixed it. At least a bandaid. I know this is a dead project now but in case someone needs it in the future. I rebuilt the wrapper for debugging (also seen in the diff) and I found that it was failing when it checked versions. So it seems version check results are used for a couple of small things I just commented them out and things work just fine now when I rebuild:

index 802763f..772670f 100755
--- a/Makefile
+++ b/Makefile
@@ -111,7 +111,7 @@ samples: install
 ros: install
 ifeq ($(HOST_OS),Linux)
        @$(call echo,Make $@)
-       @cd ./wrappers/ros && catkin_make
+       @cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=Debug
 endif

 cleanros:
diff --git a/src/mynteyed/internal/camera_p.cc b/src/mynteyed/internal/camera_p.cc
index df52c65..70790e4 100644
--- a/src/mynteyed/internal/camera_p.cc
+++ b/src/mynteyed/internal/camera_p.cc
@@ -287,8 +287,8 @@ void CameraPrivate::EnableProcessMode(const ProcessMode& mode) {
 }

 void CameraPrivate::EnableProcessMode(const std::int32_t& mode) {
-  if (Version(1, 6) > descriptors_->firmware_version)
-    motions_->EnableProcessMode(mode);
+  //if (Version(1, 6) > descriptors_->firmware_version)
+  //  motions_->EnableProcessMode(mode);
 }

 bool CameraPrivate::IsImageInfoSupported() const {
diff --git a/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_wrapper_nodelet.cc b/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_wrapper_nodelet.cc
index 6e97687..99929b7 100755
--- a/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_wrapper_nodelet.cc
@@ -291,9 +291,12 @@ class MYNTEYEWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM(dashes);

       params.dev_index = dev_index;
     }
+    /*
     spec_version = mynteye->GetDescriptors()->spec_version;
     {
       std::vector<StreamInfo> color_infos;
       std::vector<StreamInfo> depth_infos;
       mynteye->GetStreamInfos(dev_index, &color_infos, &depth_infos);
@@ -311,7 +314,7 @@ class MYNTEYEWrapperNodelet : public nodelet::Nodelet {
         NODELET_INFO_STREAM(info.index << " | " << info);
       }
       NODELET_INFO_STREAM(dashes);
-    }
+    }*/

     pub_mesh_ = nh.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
     // where to get the mesh from
@@ -445,7 +448,7 @@ class MYNTEYEWrapperNodelet : public nodelet::Nodelet {

   void openDevice() {
     if (mynteye->IsOpened()) return;
     // Set stream data callbacks
     std::vector<ImageType> types{
       ImageType::IMAGE_LEFT_COLOR,
@@ -749,9 +752,9 @@ class MYNTEYEWrapperNodelet : public nodelet::Nodelet {

   void publishAlignImu(bool imu_sub,
       bool imu_processed_sub, bool temp_sub) {
-    if (spec_version <= Version(1, 0)) {
-      timestampAlign();
-    }
+    //if (spec_version <= Version(1, 0)) {
+    //  timestampAlign();
+    //}

     if (imu_accel == nullptr || imu_gyro == nullptr) {
       return;