ERROR: cannot launch node of type

Antoine

Hello,

I am having issues while trying to run ros examples from dai_ws/depthai_examples folder.
I am following the procedure like so :
~/dai_ws$ source devel/setup.bash
roslaunch depthai_examples rgb_publisher.launch

... logging to /home/antoine/.ros/log/1489c84a-050a-11ee-98d9-13ec91018afe/roslaunch-ubuntu-13728.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.177.6.241:46487/

SUMMARY
========

PARAMETERS
 * /rgb_publisher/camera_param_uri: package://depthai...
 * /rgb_publisher/tf_prefix: oak
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    oak_state_publisher (robot_state_publisher/robot_state_publisher)
    rgb_publisher (depthai_examples/rgb_stereo_node)

ROS_MASTER_URI=http://10.177.6.241:11311

process[oak_state_publisher-1]: started with pid [13750]
ERROR: cannot launch node of type [depthai_examples/rgb_stereo_node]: Cannot locate node of type [rgb_stereo_node] in package [depthai_examples]. Make sure file exists in package path and permission is set to executable (chmod +x)

Then I went to the cd src/depthai-ros/depthai_examples/src/ to check if the files where executables. As they were appearing white, I use chmod +x on the files.

But the problem is still here.
I also tried the solution in this discussion : microsoft/AirSim#2591, but the problem persists.
How can I solve my problem ?
Thanks

erik

cc @Luxonis-Adam

Luxonis-Adam

Hi, rgbpublisher is deprecated, currently the best way to get rgb image is to run stereo_inertial_node

Antoine

Thank you for the respond,
I've tried the stereo_inertial_node
by running :

~/dai_ws$ source devel/setup.bash
roslaunch depthai_examples rgb_publisher.launch
roslaunch depthai_examples stereo_inertial_node.launch

And the result :

... logging to /home/antoine/.ros/log/1fe7bfbe-06a2-11ee-8b69-b72e985b6436/roslaunch-ubuntu-2911.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.177.6.241:45353/

SUMMARY
========

PARAMETERS
 * /depth_image_to_rgb_pointcloud/queue_size: 10
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /stereo_inertial_publisher/LRchecktresh: 5
 * /stereo_inertial_publisher/angularVelCovariance: 0
 * /stereo_inertial_publisher/confidence: 200
 * /stereo_inertial_publisher/depth_aligned: True
 * /stereo_inertial_publisher/detectionClassesCount: 80
 * /stereo_inertial_publisher/dotProjectormA: 200.0
 * /stereo_inertial_publisher/enableDotProjector: False
 * /stereo_inertial_publisher/enableFloodLight: False
 * /stereo_inertial_publisher/enableSpatialDetection: True
 * /stereo_inertial_publisher/expTime: 20000
 * /stereo_inertial_publisher/extended: False
 * /stereo_inertial_publisher/floodLightmA: 200.0
 * /stereo_inertial_publisher/imuMode: 1
 * /stereo_inertial_publisher/linearAccelCovariance: 0
 * /stereo_inertial_publisher/lrcheck: True
 * /stereo_inertial_publisher/manualExposure: False
 * /stereo_inertial_publisher/mode: depth
 * /stereo_inertial_publisher/monoResolution: 720p
 * /stereo_inertial_publisher/mxId: 
 * /stereo_inertial_publisher/nnName: x
 * /stereo_inertial_publisher/poeMode: False
 * /stereo_inertial_publisher/previewHeight: 416
 * /stereo_inertial_publisher/previewWidth: 416
 * /stereo_inertial_publisher/rectify: True
 * /stereo_inertial_publisher/resourceBaseFolder: /home/antoine/dai...
 * /stereo_inertial_publisher/rgbResolution: 1080p
 * /stereo_inertial_publisher/rgbScaleDinominator: 3
 * /stereo_inertial_publisher/rgbScaleNumerator: 2
 * /stereo_inertial_publisher/sensIso: 800
 * /stereo_inertial_publisher/stereo_fps: 15
 * /stereo_inertial_publisher/subpixel: True
 * /stereo_inertial_publisher/syncNN: True
 * /stereo_inertial_publisher/tf_prefix: oak
 * /stereo_inertial_publisher/usb2Mode: False

NODES
  /
    depth_image_convertion_nodelet (nodelet/nodelet)
    depth_image_to_rgb_pointcloud (nodelet/nodelet)
    nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    stereo_inertial_publisher (depthai_examples/stereo_inertial_node)

ROS_MASTER_URI=http://10.177.6.241:11311

process[oak_state_publisher-1]: started with pid [2934]
ERROR: cannot launch node of type [depthai_examples/stereo_inertial_node]: Cannot locate node of type [stereo_inertial_node] in package [depthai_examples]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[nodelet_manager-3]: started with pid [2935]
process[depth_image_convertion_nodelet-4]: started with pid [2936]
process[depth_image_to_rgb_pointcloud-5]: started with pid [2937]
process[rviz-6]: started with pid [2943]
[ INFO] [1686300394.834919442]: Initializing nodelet with 4 worker threads.

So I was thinking that it is not working but by running rostopic list i have these topics running :

/clicked_point
/initialpose
/joint_states
/move_base_simple/goal
/nodelet_manager/bond
/rosout
/rosout_agg
/stereo_inertial_publisher/color/camera_info
/stereo_inertial_publisher/color/image
/stereo_inertial_publisher/stereo/depth
/stereo_inertial_publisher/stereo/image
/stereo_inertial_publisher/stereo/image/compressed
/stereo_inertial_publisher/stereo/image/compressed/parameter_descriptions
/stereo_inertial_publisher/stereo/image/compressed/parameter_updates
/stereo_inertial_publisher/stereo/image/compressedDepth
/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_descriptions
/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_updates
/stereo_inertial_publisher/stereo/image/theora
/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions
/stereo_inertial_publisher/stereo/image/theora/parameter_updates
/stereo_inertial_publisher/stereo/points
/tf
/tf_static

I suppose it is working properly as I have /stereo_inertial_publisher/color/image topic, but I am not shure about it.
What do you think ?
Thanks.

Luxonis-Adam

Hi, you can check what's published on the topic with rviz/rqt/ rostopic echo. Just a small note that RGB only configuration is available in depthai_ros_driver as well, with some more configuration options.

Antoine

I have this error in rviz when I launch the stereo_inertial_publisher example. I think it is related to the error.

I am not sure it was what you asked when you said "check what's published on the topic rviz/rqt/ rostopic echo" but i did not found what you where speaking about. Do you have any more information ?
Thank you.

Antoine

I am trying with a different camera : the OAK-D-Pro-POE, but I'm still having this issue. Should I restart the installation of the dai_ws package ?
I don't understand if the topic available are comming from the camera of not. How can I know that the camera is running there ?

[Edit] : I figured that the topic where not related to the fact that the camera is running, as the topic are showing even as the camera is not connected to the PC.

I have two issues right now :

The PoE camera can not be wired directly to the PC to get data from the camera, I have to wired the camera to the same LAN as my PC is connected to.
I still have the issue with the ERROR: cannot launch node of type [depthai_examples/stereo_inertial_node]: Cannot locate node of type [stereo_inertial_node] in package [depthai_examples]. Make sure file exists in package path and permission is set to executable (chmod +x)
That means I can not be sure that the camera I am using is working and if I have to ship it back for faulty reasons.

Luxonis-Adam

Hi, Antoine , are you able to run the camera with the default python script? Here is a bug report template, maybe we can get more information from that if you paste the info.

Antoine

Luxonis-Adam Well, I have new issues with the basic python scripts examples from depthai-python. The only script still working is the mono_full_resolution_saver.py script.
For all others scripts I have issues like :

script_edge_detector_saving_frame.py:37: DeprecationWarning: RGB is deprecated, use CAM_A or address camera by name instead.
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)

or
[error] No IR drivers were detected!

We started to communicate with the support to exchange the camera but we are afraid that the shipping could take a long time. In an other hand, if all those problems are related to the device itself, we will have to change it.
We just wanted confirmation that it could be related to the hardware and that we need to change it in order to bypass all these errors.

Luxonis-Adam

Hi @Antoine, I guess the best way to check if camera is working properly is via the demo script if there are issues here, we can try to debug it together with @erik