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turtlebot / turtlebot4

Turtlebot4 common packages.
Apache License 2.0
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Camera not consistently working #442

Closed xylhal closed 2 days ago

xylhal commented 1 month ago

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

Not sure what version it is

Type of issue

Camera

Expected behaviour

OAKD Camera to consistently publish images

Actual behaviour

I observed multiple issues:

  1. The /oakd topics are not always consistently present when list the topics
  2. The most common behavior I have observed is that the topic is present, but when I visualize it in Rviz, the preview just shows a blank image (despite the Turtlebot being undocked)
  3. Sometimes, when I restart Rviz and the turtlebot, there is initial image that is shown in the Rviz, but it freezes at the same image even if I move the Turtlebot
  4. When I attempt to echo the topic /oakd/rgb/preview/image_raw, I get the warning that "A message was lost !!!"

Error messages

No response

To Reproduce

  1. Undock the turtlebot
  2. ros2 launch turtlebot4_viz view_robot.launch.py

Other notes

No response

RustyCPR commented 1 month ago

Hi there @xylhal
Thanks for reaching out.

"Sometimes, when I restart Rviz and the turtlebot, " after rebooting are you sshing in again and relaunching RVIZ? Can you please provide the terminal outputs with any errors?

Thank you, Rusty

xylhal commented 1 month ago

Hi there @RustyCPR

I'm actually not launching rviz from the RPi. I am running everything remotely from another machine. So, I didn't do any ssh. What I meant by restarting rviz and turtlebot simply means physically restarting the turtlebot and creating a new terminal on my remote machine to start rviz.

I've attached 5 images below.

  1. Screenshot from view_robot.launch.py robot_launch_terminal
  2. Screenshot from Rviz when view_robot.launch.py is running in the terminal robot_launch
  3. Screenshot from view_model.launch.py model_launch
  4. Screenshot from Rviz when view_model.launch.py is running in the terminal model_launch_terminal
  5. Terminal when I echo the camera topic echo_topic

Please let me know how else can I debug this?

xylhal commented 1 month ago

I would add that I realize sometimes the terminal does print some messages when echoing the topic, but the Rviz remains blank. Screenshot from 2024-07-23 12-01-15

RustyCPR commented 4 weeks ago

Hi @xylhal

Run: ros2 launch turtlebot4_viz view_model.launch.py if your not using mapping

Point 5 image with error "A message was lost!!!" What type of wifi network are you running? If you're on a 2.4GHz network can you try a faster 5GHz?

Regards, Rusty

xylhal commented 2 days ago

Hi @RustyCPR

I was using 5 GHz all along, but the problem has mainly gone away, though I'm not sure why. I'm facing another issue now, which I will open in a separate issue.