Camera frequently restarting

asperry

I am working with an OAK-D S2 POE and simply running the camera with depthai-ros and the rgbd_pcl.launch.py ROS launch file with default settings. However, the camera is frequently resetting itself.

This is happening at semi-regular intervals that average about 90 seconds, but it varies.

I have observed it happening regardless of my settings for i_low_bandwidth and i_fps. I've also observed it on another camera (OAK-D POE) and it happens with pointcloud.launch.py as well. Both cameras are brand new.

I'm using a D-Link DGS-1005P as my POE switch. Only my computer and the camera are connected to the switch.

An example console output is below:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [2800]
[component_container-1] [INFO] [1707344926.136929027] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1707344926.143928777] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1707344926.143964642] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1707344926.153732799] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1707344926.153758713] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1707344926.153762567] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1707344926.153765187] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1707344926.153768057] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1707344926.153770506] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1707344926.153773100] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1707344926.153775735] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1707344926.153778276] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1707344926.153780769] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[component_container-1] [INFO] [1707344926.156240686] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1707344926.253351615] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1707344926.253423088] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1707344926.766471040] [oak]: Connecting to the camera using ip: 192.170.10.222
[component_container-1] [INFO] [1707344933.141142926] [oak]: Camera with MXID: 19443010D1AC752700 and Name: 192.170.10.222 connected!
[component_container-1] [INFO] [1707344933.141212890] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1707344933.164089530] [oak]: Device type: OAK-D-S2-POE-FF
[component_container-1] [INFO] [1707344933.169474629] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1707344933.410927582] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1707344934.254302400] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1707344934.255552923] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[component_container-1] [INFO] [1707344934.260934737] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-1] [INFO] [1707344934.260953863] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-1] [INFO] [1707344934.260957419] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-1] [INFO] [1707344934.260960846] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-1] [INFO] [1707344934.260963891] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-1] [INFO] [1707344934.260966737] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-1] [INFO] [1707344934.260969589] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-1] [INFO] [1707344934.260972466] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-1] [INFO] [1707344934.260976437] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container 'oak_container'
[component_container-1] [ERROR] [1707345011.754143081] [oak]: Camera diagnostics error: No Data
[component_container-1] [ERROR] [1707345011.754237226] [oak]: Restarting camera
[component_container-1] [INFO] [1707345011.754259379] [oak]: Stopping camera.
[component_container-1] [INFO] [1707345014.218443754] [oak]: Starting camera.
[component_container-1] [ERROR] [1707345014.721612482] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345015.721566850] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345016.721584892] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345017.721545768] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345018.721633527] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345019.721571148] [oak]: No devices detected!
[component_container-1] [ERROR] [1707345020.721612864] [oak]: No devices detected!
[component_container-1] [INFO] [1707345021.737393138] [oak]: Connecting to the camera using ip: 192.170.10.222
[component_container-1] [INFO] [1707345028.140169607] [oak]: Camera with MXID: 19443010D1AC752700 and Name: 192.170.10.222 connected!
[component_container-1] [INFO] [1707345028.140239219] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-1] [INFO] [1707345028.163079198] [oak]: Device type: OAK-D-S2-POE-FF
[component_container-1] [INFO] [1707345028.168585640] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1707345028.406878987] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1707345028.913534795] [oak]: Camera ready!

jakaskerl

Hi @asperry
cc @Luxonis-Adam Any thoughts on this?

Thanks

Luxonis-Adam

Hi, this might indicate that there is some trouble with the connection. The automatic driver restarts can be turned with camera.i_restart_on_diagnostics_error parameter, you can check then if that error is only related to diagnostics or something else.

asperry

Hi, it appears the problem went away when I tried using a different Docker container. Since switching to this different container, I haven't had a single problem with it. Thanks.