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zivid / zivid-ros

Official ROS driver for Zivid 3D cameras
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ROS2 - zivid_camera node dies right after launching it #113

Closed dk-teknologisk-gtr closed 1 month ago

dk-teknologisk-gtr commented 2 months ago

Hi, I am experiencing some issues when running the camera driver. I am running the branch master in ROS2 Humble. I have cloned the repo and build it in my workspace. The SDK is correctly installed in my Ubuntu 22 machine. I can see the camera and take pointcloud data correctly with ZividStudio.

$ ros2 run zivid_camera zivid_camera
[ros2run]: Trace/breakpoint trap

Also when I try to use one of the launch file provided:

$ ros2 launch zivid_samples sample_with_rviz.launch sample:=sample_capture_cpp

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-22-12-34-57-568827-ubuntu20-149843
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [zivid_camera-1]: process started with pid [149847]
[INFO] [sample_capture_cpp-2]: process started with pid [149849]
[INFO] [rviz2-3]: process started with pid [149851]
[sample_capture_cpp-2] [INFO] [1724330097.690943148] [sample_capture_cpp]: Started the sample_capture node
[sample_capture_cpp-2] [INFO] [1724330097.691008280] [sample_capture_cpp]: Setting parameter 'settings_yaml'
[rviz2-3] [INFO] [1724330097.818892038] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1724330097.818953988] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-3] [INFO] [1724330097.832721753] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1724330097.935993822] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1724330097.950747737] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [zivid_camera-1]: process has died [pid 149847, exit code -5, cmd '/ros2_ws/install/zivid_camera/lib/zivid_camera/zivid_camera --ros-args -r __node:=zivid_camera'].

Is there anything I am doing wrong?

To add a bit more on my question this is the output of running the zivid_camera driver with gdb:

$ ros2 run --prefix 'gdb -ex run --args' zivid_camera zivid_camera
GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
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Reading symbols from /ros2_ws/install/zivid_camera/lib/zivid_camera/zivid_camera...
(No debugging symbols found in /ros2_ws/install/zivid_camera/lib/zivid_camera/zivid_camera)
Starting program: /ros2_ws/install/zivid_camera/lib/zivid_camera/zivid_camera 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff6873640 (LWP 154009)]
[New Thread 0x7fffe78c1640 (LWP 154010)]
[New Thread 0x7fffe7039640 (LWP 154011)]
[New Thread 0x7fffe6838640 (LWP 154012)]
[New Thread 0x7fffe6037640 (LWP 154013)]
[New Thread 0x7fffe5836640 (LWP 154014)]
[New Thread 0x7fffe5035640 (LWP 154015)]
[New Thread 0x7fffe4774640 (LWP 154016)]
[New Thread 0x7fffe3f5e640 (LWP 154031)]
[New Thread 0x7fffe3330640 (LWP 154036)]
[New Thread 0x7fffe2b2f640 (LWP 154037)]
[New Thread 0x7fffe232e640 (LWP 154038)]
[Thread 0x7fffe2b2f640 (LWP 154037) exited]
[New Thread 0x7fffbb463640 (LWP 154039)]
[New Thread 0x7fffb9c41640 (LWP 154040)]
[New Thread 0x7fffb9240640 (LWP 154041)]
[New Thread 0x7fffb8a3f640 (LWP 154042)]
[New Thread 0x7fffb1fff640 (LWP 154043)]
[New Thread 0x7fffb17fe640 (LWP 154044)]
[New Thread 0x7fffb0ffd640 (LWP 154045)]

Thread 1 "zivid_camera" received signal SIGSEGV, Segmentation fault.
0x00007ffff601e788 in zivid_camera::ZividCamera::setParametersCallback(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) () from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
(gdb) bt
#0  0x00007ffff601e788 in zivid_camera::ZividCamera::setParametersCallback(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ()
   from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#1  0x00007ffff602cc3c in std::_Function_handler<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&), std::_Bind<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (zivid_camera::ZividCamera::*(zivid_camera::ZividCamera*, std::_Placeholder<1>))(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&)> >::_M_invoke(std::_Any_data const&, std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) () from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#2  0x00007ffff7ed0402 in ?? () from /opt/ros/humble/lib/librclcpp.so
#3  0x00007ffff7ed2c63 in ?? () from /opt/ros/humble/lib/librclcpp.so
#4  0x00007ffff7ed354d in ?? () from /opt/ros/humble/lib/librclcpp.so
#5  0x00007ffff7ed3cb7 in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool) () from /opt/ros/humble/lib/librclcpp.so
#6  0x00007ffff6038c2a in auto rclcpp::Node::declare_parameter<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool) ()
   from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#7  0x00007ffff6041caf in zivid_camera::CaptureSettingsController<Zivid::Settings>::CaptureSettingsController(rclcpp::Node&) () from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#8  0x00007ffff6026892 in zivid_camera::ZividCamera::ZividCamera(rclcpp::NodeOptions const&) () from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#9  0x00007ffff605083c in rclcpp_components::NodeFactoryTemplate<zivid_camera::ZividCamera>::create_node_instance(rclcpp::NodeOptions const&) ()
   from /ros2_ws/install/zivid_camera/lib/libzivid_camera_component.so
#10 0x0000555555558215 in main ()
(gdb) continue
Continuing.

Thread 1 "zivid_camera" received signal SIGTRAP, Trace/breakpoint trap.
__pthread_kill_implementation (no_tid=0, signo=5, threadid=140737344065344) at ./nptl/pthread_kill.c:44
44  ./nptl/pthread_kill.c: No such file or directory.
(gdb) continue
Continuing.
[Thread 0x7fffe6838640 (LWP 154012) exited]
[Thread 0x7fffe6037640 (LWP 154013) exited]
[Thread 0x7fffe5836640 (LWP 154014) exited]
[Thread 0x7fffe5035640 (LWP 154015) exited]
[Thread 0x7fffe7039640 (LWP 154011) exited]
[Thread 0x7fffe4774640 (LWP 154016) exited]
[Thread 0x7fffe78c1640 (LWP 154010) exited]
[Thread 0x7fffb0ffd640 (LWP 154045) exited]
[Thread 0x7fffb17fe640 (LWP 154044) exited]
[Thread 0x7fffb1fff640 (LWP 154043) exited]
[Thread 0x7fffb8a3f640 (LWP 154042) exited]
[Thread 0x7fffb9240640 (LWP 154041) exited]
[Thread 0x7fffb9c41640 (LWP 154040) exited]
[Thread 0x7fffbb463640 (LWP 154039) exited]
[Thread 0x7fffe232e640 (LWP 154038) exited]
[Thread 0x7fffe3f5e640 (LWP 154031) exited]
[Thread 0x7ffff6873640 (LWP 154009) exited]
[Thread 0x7ffff7664f40 (LWP 154006) exited]
[Thread 0x7fffe3330640 (LWP 154036) exited]
[New process 154006]
[Inferior 1 (process 154006) exited with code 01]
(gdb)

By doing a bit of debugging it I see that I have to provide a setting yaml file from ZividStudio, how can I provide that directly in the launch file? I don't see any example in the package zivid_samples.

Output of ZividListCameras:

$ ZividListCameras 
Found 1 camera(s).
{ Serial Number: 2233EA1B, Status: firmwareUpdateRequired, Model: zividTwo, Model Name: Zivid 2 M70, IP Address: 172.28.60.5, Firmware Version: 1.22.4+767786a5, Hardware Revision: B3 }

Thank you in advance for your help!

apartridge commented 2 months ago

Hi @dk-teknologisk-gtr, could you zip all the files you find in ~/.cache/Zivid/API/Log and send them to me at stian.pedersen (at) zivid.com? It may contain some extra information. I will try to reproduce with the same commands on my PC, I am out of office tomorrow, but I will test this early next week.

By doing a bit of debugging it I see that I have to provide a setting yaml file from ZividStudio, how can I provide that directly in the launch file? I don't see any example in the package zivid_samples.

With our ROS2 driver you can specify settings either as a path to a .yml file, or a YAML (multi-line) string (basically copy the contents of a settings.yml file saved from Zivid Studio). Use 'settings_yaml' when you want to use a YAML string, and 'settings_file_path' when you want to use a .yml file. We will look at making a launch file example for this.

johningve commented 2 months ago

I am able to reproduce a similar crash in a docker container with Ubuntu 22.04 and Ros2 Humble. On my desktop with 24.04 and Ros2 Jazzy it runs just fine.

dk-teknologisk-gtr commented 2 months ago

Yes, I am actually running it in a docker container with Ubuntu 22.04 and Ros2 Humble. I have followed the step in https://support.zivid.com/en/latest/api-reference/docker/install-zivid-in-docker.html (NVIDIA settings) one month ago (with the ROS1 version of the driver) and everything worked just fine.

I have the SDK installed also in my host machine (Ubuntu 20.04).

johningve commented 2 months ago

Looks like a memory bug:

#0  0x00007a44a931a928 in std::_Optional_base_impl<Zivid::Settings2D, std::_Optional_base<Zivid::Settings2D, false, false> >::_M_is_engaged (this=0x68) at /usr/include/c++/11/optional:433
#1  0x00007a44a931a3c6 in std::optional<Zivid::Settings2D>::has_value (this=0x68) at /usr/include/c++/11/optional:945
#2  0x00007a44a9310dfc in zivid_camera::CaptureSettingsController<Zivid::Settings2D>::onSetParameter (this=0x20, parameterName="settings_yaml") at /root/ros2_ws/src/zivid-ros/zivid_camera/src/zivid_camera.cpp:274
#3  0x00007a44a92fc1ec in zivid_camera::ZividCamera::setParametersCallback (this=0x5c9fc99752b0, parameters=std::vector of length 1, capacity 1 = {...}) at /root/ros2_ws/src/zivid-ros/zivid_camera/src/zivid_camera.cpp:530
530           settings_2d_controller_->onSetParameter(param.get_name());
(gdb) p settings_2d_controller_
$3 = std::unique_ptr<zivid_camera::CaptureSettingsController<Zivid::Settings2D>> = {get() = 0x20}
(gdb)
johningve commented 2 months ago

Can you try the fix in https://github.com/zivid/zivid-ros/pull/114 and see if that resolves the issue?

dk-teknologisk-gtr commented 2 months ago

Hi @johningve, yes that fixed the problem. Now I can connect to the camera and correctly read parameters file! Thank you

falfab commented 2 months ago

Hi @johningve, had the same issue using ROS Humble on Ubuntu 22.04.

114 solved the issue for me.

Thanks

apartridge commented 1 month ago

https://github.com/zivid/zivid-ros/pull/114 is now merged, so this issue is fixed.