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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Red truck cameras not working #932

Open TonysCousin opened 4 years ago

TonysCousin commented 4 years ago

Types of Issue

Descriptive summary

None of the 4 Mako cameras on the red truck cab are generating data. • None of the cameras show an image using the sensor visualization rviz icon from the desktop. • The two forward cameras (10.100 and 20.100) are showing power indicators (back of camera has a green light and an orange light). I reconnected the ether net cables to be sure they are tight. On the spectra end, both Ethernet cables show a yellow and a red light. I reconnected both of these ends also. Both cameras can be pinged whether we are on or off the “switch” network. • The two rear cameras (30.100 and 50.100) are showing “network not connected” when I am off the “switch” network. When I turn that network on, pings here just hang. • For all of these cameras, it looks like the ros topics are connected correctly (each is publishing on an image_raw), but there is no data on these topics.

Carma version where this issue was discovered

N/A - this was discovered using Autoware sensor visualization and ROS/rviz.

Expected behavior

Each camera produces a video stream on its respective .../image_raw topic.

Actual behavior

None of the .../image_raw topics has any data on it.

Steps to reproduce the actual behavior

  1. Run the sensor visualization from the desktop icon.
  2. Turn on each of the cameras, as desired.
  3. In a terminal window, type rostopic list

Related work

Filed as AStuff support ticket #3534.

TonysCousin commented 4 years ago

Marked as sev 3 since we are not yet in a position to use object detection data that depends on the cameras. Once that functionality is released, this would become a sev 1.

TonysCousin commented 4 years ago

I edited the Autoware platform.launch file to set each of the forward cameras' acquisition_mode field from "Off" to "Continuous", per suggestion from Cam Brown at AStuff. Sensor visualization still did not work for either of the cameras.