Open prachitgupta opened 4 weeks ago
RustyCPR
commented
2 weeks ago Hi @prachitgupta I see you installed some of the initial packages from source.
sudo systemctl stop turtlebot4.serviceThanks, Rusty
prachitgupta
commented
1 week ago Thanks for the response 1) so I modified the config files turtlebot4_bringup package to enable the stereo node and changed the path of the workspace for the turtlebot4 service to build from while booting up to my local source installation. 2) the files I edited were oakd_lite.yaml to enable stereo mode and oakd.launch (changed camera default model from pro to lite posted as attachment
/oakd_lite.yaml
/oakd:
ros__parameters:
camera:
i_enable_imu: true
i_enable_ir: true
i_nn_type: none
i_pipeline_type: RGBD # Change to RGBD to enable depth
i_usb_speed: SUPER_PLUS
rgb:
i_board_socket_id: 0
i_fps: 30.0
i_height: 720
i_interleaved: false
i_max_q_size: 10
i_preview_size: 250
i_enable_preview: true
i_low_bandwidth: true
i_keep_preview_aspect_ratio: true
i_publish_topic: false
i_resolution: '1080'
i_width: 1280
stereo:
i_board_socket_id: 1
i_fps: 30.0
i_height: 480
i_width: 640
i_depth_align: true
i_subpixel: true
i_lr_check: true
i_extended: false
i_confidence_threshold: 200
i_left_right_check_threshold: 5
i_enable_preview: true
i_publish_topic: true
use_sim_time: false/oakd.launch.py
#!/usr/bin/env python3
# Copyright 2021 Clearpath Robotics, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# @author Roni Kreinin (rkreinin@clearpathrobotics.com)
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
pkg_turtlebot4_bringup = get_package_share_directory('turtlebot4_bringup')
camera = LaunchConfiguration('camera')
params_file = LaunchConfiguration('params_file')
namespace = LaunchConfiguration('namespace')
ARGUMENTS = [
DeclareLaunchArgument('camera', default_value='oakd_lite'),
DeclareLaunchArgument('params_file',
default_value=[PathJoinSubstitution(
[pkg_turtlebot4_bringup, 'config', camera]), '.yaml']),
DeclareLaunchArgument('namespace', default_value='',
description='Robot namespace')
]
namespaced_param_file = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True)
node = ComposableNodeContainer(
name='oakd_container',
namespace=namespace,
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='depthai_ros_driver',
plugin='depthai_ros_driver::Camera',
name='oakd',
parameters=[namespaced_param_file]
),
],
output='screen',
)
ld = LaunchDescription(ARGUMENTS)
ld.add_action(node)
return ldhere's the output of ros2 launch turtlebot4_bringup oakd.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-06-17-13-24-40-594365-ubuntu-1681
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1694]
[component_container-1] [INFO] [1718630682.886451880] [oakd_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1718630684.381246145] [oakd_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1718630684.381470602] [oakd_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1718630684.448653938] [oakd]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1718630687.168663093] [oakd]: Camera with MXID: 19443010C1F73C1200 and Name: 1.1.2 connected!
[component_container-1] [INFO] [1718630687.170477487] [oakd]: USB SPEED: SUPER
[component_container-1] [INFO] [1718630687.199171366] [oakd]: Device type: OAK-D-LITE
[component_container-1] [INFO] [1718630687.203198420] [oakd]: Pipeline type: RGBD
[component_container-1] [INFO] [1718630687.265120070] [oakd]: Finished setting up pipeline.
[component_container-1] [19443010C1F73C1200] [1.1.2] [0.969] [MonoCamera(6)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[component_container-1] [19443010C1F73C1200] [1.1.2] [0.971] [MonoCamera(4)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[component_container-1] [INFO] [1718630687.785046729] [oakd]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oakd' in container '/oakd_container'
[component_container-1] [19443010C1F73C1200] [1.1.2] [2.079] [IMU(9)] [critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!Hi @prachitgupta Can you update the two imu and ir parameters in the oakd_lite.yaml to false, save and retest?
ros__parameters:
camera:
i_enable_imu: false
i_enable_ir: falseRegards, Rusty
Robot Model
Turtlebot4 Lite
ROS distro
Humble
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
Version: 1.0.0-1jammy.20230228.211027 package turtlebot4_bringup installed from source rest installed as usual
Type of issue
Camera
Expected behaviour
get data on /oakd/stereo/image_raw/compressedDepth or any other oakd/stereo topics
Actual behaviour
no stereo topics seen by default on manually editing the configuration files of turtlebot4_bringup build from source getting oakd/stereo topics but no data is bieng published on them
Error messages
To Reproduce
using humble H.2.5 on create 3 , configured discovery server on rpi with turtlebot4 packages preinstalled with the flashed image source installation and changing ros workspace settings to configure custom turtlebot4 package
Clone, source /opt/ros/humble/setup.bash and build turtlebot4_robot package
Modify the oakd_pro.yaml (or oakd_lite.yaml for Turtlebot 4 Lite) file to enable the stereo topic, see examples of different config files here: https://github.com/luxonis/depthai-ros/tree/humble/depthai_ros_driver/config
Link to your custom workspace using the turtlebot4-setup tool: run turtlebot4-setup navigate to ROS Setup -> Bash Setup select WORKSPACE_SETUP enter the path to your local setup.bash for your workspace. This will allow the turtlebot4 setup tool to locate and source these packages. e.g. /home/administrator/ros_ws/install/setup.bash
Reinstall the turtlebot4 service using the turtlebot4-setup tool under Robot Upstart -> Install. run turtlebot4-setup navigate to ROS Setup -> Robot Upstart select Install and agree as necessary
oakd_lite.yaml file configurations
/oakd: ros__parameters: camera: i_enable_imu: true i_enable_ir: true i_nn_type: none i_pipeline_type: RGBD # Change to RGBD to enable depth i_usb_speed: SUPER_PLUS rgb: i_board_socket_id: 0 i_fps: 30.0 i_height: 720 i_interleaved: false i_max_q_size: 10 i_preview_size: 250 i_enable_preview: true i_low_bandwidth: true i_keep_preview_aspect_ratio: true i_publish_topic: false i_resolution: '1080' i_width: 1280 stereo: i_board_socket_id: 1 i_fps: 30.0 i_height: 480 i_width: 640 i_depth_align: true i_subpixel: true i_lr_check: true i_extended: false i_confidence_threshold: 200 i_left_right_check_threshold: 5 i_enable_preview: true i_publish_topic: true use_sim_time: false
also tried : /oak: ros__parameters: camera: i_nn_type: none i_pipeline_type: Depth right: i_publish_topic: true stereo: i_extended_disp: true
Other notes
ignoring the steps I have taken , please help me getting depth data from turtlebot4 lite in general completely new to working with this bot and urgent;y need depth data for my research project