OAK-D-LR failed to connect to device

rsantan

Hello,

I am facing some connectivity issues with the new OAK-D-LR camera. When launching the stereoinertialnode example it finds the camera but then it outputs an error that it is not able to connect. Please find error below:
[INFO] [launch]: All log files can be found below /home/roberto/.ros/log/2024-01-12-11-28-52-669591-roberto-Precision-7770-12159

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [robot_state_publisher-1]: process started with pid [12172]

[INFO] [stereo_inertial_node-2]: process started with pid [12174]

[INFO] [component_container-3]: process started with pid [12176]

[INFO] [rviz2-4]: process started with pid [12178]

[robot_state_publisher-1] Link oak-d_frame had 4 children

[robot_state_publisher-1] Link oak_left_camera_frame had 1 children

[robot_state_publisher-1] Link oak_left_camera_optical_frame had 0 children

[robot_state_publisher-1] Link oak_model_origin had 0 children

[robot_state_publisher-1] Link oak_rgb_camera_frame had 1 children

[robot_state_publisher-1] Link oak_rgb_camera_optical_frame had 0 children

[robot_state_publisher-1] Link oak_right_camera_frame had 1 children

[robot_state_publisher-1] Link oak_right_camera_optical_frame had 0 children

[robot_state_publisher-1] [INFO] [1705080532.889669900] [oak_state_publisher]: got segment oak-d-base-frame

[robot_state_publisher-1] [INFO] [1705080532.889731606] [oak_state_publisher]: got segment oak-d_frame

[robot_state_publisher-1] [INFO] [1705080532.889742580] [oak_state_publisher]: got segment oak_left_camera_frame

[robot_state_publisher-1] [INFO] [1705080532.889750898] [oak_state_publisher]: got segment oak_left_camera_optical_frame

[robot_state_publisher-1] [INFO] [1705080532.889758369] [oak_state_publisher]: got segment oak_model_origin

[robot_state_publisher-1] [INFO] [1705080532.889765728] [oak_state_publisher]: got segment oak_rgb_camera_frame

[robot_state_publisher-1] [INFO] [1705080532.889772793] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame

[robot_state_publisher-1] [INFO] [1705080532.889779795] [oak_state_publisher]: got segment oak_right_camera_frame

[robot_state_publisher-1] [INFO] [1705080532.889786553] [oak_state_publisher]: got segment oak_right_camera_optical_frame

[component_container-3] [INFO] [1705080533.127031740] [container]: Load Library: /opt/ros/galactic/lib/libdepth_image_proc.so

[component_container-3] [INFO] [1705080533.155008840] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>

[component_container-3] [INFO] [1705080533.155039620] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric_node' in container '/container'

[component_container-3] [INFO] [1705080533.158007921] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>

[component_container-3] [INFO] [1705080533.158024394] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>

[component_container-3] [INFO] [1705080533.158028409] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😃isparityNode>

[component_container-3] [INFO] [1705080533.158032224] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyzNode>

[component_container-3] [INFO] [1705080533.158034878] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyzRadialNode>

[component_container-3] [INFO] [1705080533.158037631] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyziNode>

[component_container-3] [INFO] [1705080533.158040423] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyziRadialNode>

[component_container-3] [INFO] [1705080533.158043201] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyzrgbNode>

[component_container-3] [INFO] [1705080533.158045926] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc:😛ointCloudXyzrgbNode>

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container '/container'

[rviz2-4] [INFO] [1705080533.440713634] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-4] [INFO] [1705080533.440785041] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)

[stereo_inertial_node-2] 1280 720 1280 720

[rviz2-4] [INFO] [1705080533.463975763] [rviz2]: Stereo is NOT SUPPORTED

[component_container-3] [WARN] [1705080533.538455034] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[component_container-3] [WARN] [1705080533.538614034] [point_cloud_xyzrgb_node]: New subscription discovered on topic '/stereo/points', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

[rviz2-4] [INFO] [1705080533.663774575] [rviz2]: Stereo is NOT SUPPORTED

[stereo_inertial_node-2] Listing available devices...

[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500

[rviz2-4] [WARN] [1705080533.712560172] [rviz2]: The STL file 'package://depthai_bridge/urdf/models/OAK-D-LR.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [19.719] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance

[stereo_inertial_node-2] Device Mx ID: 18443010E10D47F500

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [19.733] [system] [error] Attempted to start Color camera - NOT detected!

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [19.733] [system] [error] Attempted to start Mono Left camera - NOT detected!

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [19.733] [system] [error] Attempted to start Mono Right camera - NOT detected!

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [20.819] [IMU(5)] [critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!

[stereo_inertial_node-2] terminate called after throwing an instance of 'std::runtime_error'

[stereo_inertial_node-2] what(): Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE

[ERROR] [stereo_inertial_node-2]: process has died [pid 12174, exit code -6, cmd '/home/roberto/home2/dai_ws/install/depthai_examples/lib/depthai_examples/stereo_inertial_node --ros-args --params-file /tmp/launch_params_nd2idyhx --params-file /tmp/launch_params_kln0hhk3 --params-file /tmp/launch_params_7gdh233p --params-file /tmp/launch_params_78ccbfol --params-file /tmp/launch_params_8_gf61jz --params-file /tmp/launch_params_b9nkivxd --params-file /tmp/launch_params_tmdbnvbw --params-file /tmp/launch_params_tdsqiqie --params-file /tmp/launch_params_j3m41trm --params-file /tmp/launch_params_46sq33cp --params-file /tmp/launch_params_5ir1e5k3 --params-file /tmp/launch_params_pm8hcwrk --params-file /tmp/launch_params_2mapznoe --params-file /tmp/launch_params_t4ckiad5 --params-file /tmp/launch_params_yo9drd66 --params-file /tmp/launch_params_jxwlt19i --params-file /tmp/launch_params_biea1gsp --params-file /tmp/launch_params_499xluor --params-file /tmp/launch_params_q6a6u3ci --params-file /tmp/launch_params_zysmw2rh --params-file /tmp/launch_params_zvbcgujq --params-file /tmp/launch_params_kqh2s7z8 --params-file /tmp/launch_params_gisfo2el --params-file /tmp/launch_params_l4m0_jgu --params-file /tmp/launch_params_nr6adj6x --params-file /tmp/launch_params_1157snng --params-file /tmp/launch_params_ljy_l4f4 --params-file /tmp/launch_params_bpbfhc8f --params-file /tmp/launch_params_f0zze_0t --params-file /tmp/launch_params__1o2agu0 --params-file /tmp/launch_params_0adz2x8i --params-file /tmp/launch_params_a0mb45m2 --params-file /tmp/launch_params_xkz7xsyx'].

[rviz2-4] [INFO] [1705080566.678859045] [rviz2]: Stereo is NOT SUPPORTED

jakaskerl

Hi rsantan
Looks like there might be IMU missing from the device:

[stereo_inertial_node-2] [18443010E10D47F500] [1.12] [20.819] [IMU(5)] [critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!

cc @Luxonis-Adam Is this ROS specific, or could it be a HW problem?

Thanks,
Jaka

Luxonis-Adam

Hi, this issue is related to STL files, it is currently investigated by @DaniloPejovic and the fix should be available this week.

rsantan

Hi @DaniloPejovic @Luxonis-Adam ,

Would it be possible to get an update once the issue is fixed? Also, there seems to be an inconsistency with the connection on this particular device, when connecting directly via Ethernet I am not able to establish communication with my laptop, but it works fine when using an Ethernet to USB adapter. Any thought of what could be happening? It only happens in ROS Galactic; I tried it in Iron and seems to work fine.

rsantan

Are there any updates on this ticket ?

Luxonis-Adam

Hi @rsantan, for now the updates are available on this branch, they will be later merged into the main Humble and other branches, regarding galactic, we do not support it anymore as it has reached EOL and updates won't be published by the ROS organization, so we recommend using either Humble or Iron versions.