Device already closed or disconnected: Input/output error

marlu

Hi there,

I occasionally face the following error: [ERROR] [1698735357.490855309]: Device already closed or disconnected: Input/output error

I suspect that it might be related to the incorrect shut down of the camera, i.e. when the robot host PC unexpectedly powers off. Is there any known cause of this issue?

jakaskerl

Hi marlu
What does your setup look like? Are you running any commands to manually close the device? When does this issue arise; is it during the re-launch, during shutdown, ...?

Thanks,
Jaka

marlu

Hi jakaskerl
, our robot is equipped with modular camera consisting of OV9282 stereo pair with IMX378FF RGB camera. The error usually occurs when the device has not been closed properly, i.e. when the robot host PC unexpectedly powers off. It appears during the camera relaunch.

[ INFO] [1698735353.143380424]: Loading nodelet /oak_module_front of type depthai_ros_driver/Camera to m
anager oak_module_front_nodelet_manager with the following remappings:
[ INFO] [1698735353.146474000]: waitForService: Service [/oak_module_front_nodelet_manager/load_nodelet]
 could not connect to host [10.42.0.1:56943], waiting...
[ INFO] [1698735353.163142418]: Initializing nodelet with 8 worker threads.
[ INFO] [1698735353.167115334]: waitForService: Service [/oak_module_front_nodelet_manager/load_nodelet]
 is now available.
[ INFO] [1698735353.741632821]: Connecting to the camera using mxid: 14442C10013FE7D600
[ INFO] [1698735357.036716159]: Camera with MXID: 14442C10013FE7D600 and Name: 3.1.2 connected!
[ INFO] [1698735357.037536250]: USB SPEED: SUPER_PLUS
[ INFO] [1698735357.047137689]: Device type: OAK-FFC-4P
[ WARN] [1698735357.048931561]: Device has no IR drivers
[ INFO] [1698735357.049745092]: Pipeline type: RGBD
[ WARN] [1698735357.062304963]: Resolution 1080 not supported by sensor IMX378. Using default resolution
 1080P
[ERROR] [1698735357.490855309]: Device already closed or disconnected: Input/output error
[FATAL] [1698735359.647111829]: Failed to load nodelet '/oak_module_front` of type `depthai_ros_driver/C
amera` to manager `oak_module_front_nodelet_manager'
[FATAL] [1698735359.647205515]: Failed to load nodelet '/depth_image_to_pointcloud` of type `depth_image
_proc/point_cloud_xyz` to manager `oak_module_front_nodelet_manager'
[oak_module_front_nodelet_manager-2] process has died [pid 3714, exit code -11, cmd /opt/ros/noetic/lib/
nodelet/nodelet manager /nodelet_manager/load_nodelet:=oak_module_front/nodelet_manager/load_nodelet /no
delet_manager/unload_nodelet:=oak_module_front/nodelet_manager/unload_nodelet /nodelet_manager/list:=oak
_module_front/nodelet_manager/list __name:=oak_module_front_nodelet_manager __log:=/home/pr_admin/.ros/l
og/90e43a4e-77b8-11ee-8c6a-231073194813/oak_module_front_nodelet_manager-2.log].
log file: /home/pr_admin/.ros/log/90e43a4e-77b8-11ee-8c6a-231073194813/oak_module_front_nodelet_manager-
2*.log
================================================================================REQUIRED process [oak_mo
dule_front-3] has died!
process has died [pid 3715, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driv
er/Camera oak_module_front_nodelet_manager __name:=oak_module_front __log:=/home/pr_admin/.ros/log/90e43
a4e-77b8-11ee-8c6a-231073194813/oak_module_front-3.log].
log file: /home/pr_admin/.ros/log/90e43a4e-77b8-11ee-8c6a-231073194813/oak_module_front-3*.log
Initiating shutdown!
================================================================================
[depth_image_to_pointcloud-4] killing on exit
[oak_module_front-3] killing on exit
[oak_module_front_state_publisher-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done