ISSUE: depthai_ros_driver camera.launch.py does not succeed to launch node
To keep the Create3 robot from having seizures when I launch RTABmap, iRobotEducation has proposed using two fastdds unicast profiles and a topic republisher to bridge two ROS 2 environments - one for the Create3 robot, and the other for all user applications.
I have implemented this proposed configuration, but now cannot get the depthai_ros_driver camera.launch.py to run properly, (which was working great in a single fastdds discovery server environment).
I have turned DEPTHAI_DEBUG on (export DEPTHAI_DEBUG=1), and also tried with and w/o rsp_use_composition:=false to try to get more information:
ROS 2 Humble
DepthAI ROS Driver version 2.9.0
$ dpkg -l | grep depthai
ii ros-humble-depthai 2.23.0-1jammy.20240217.025930 arm64 DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform
ii ros-humble-depthai-bridge 2.9.0-1jammy.20240220.144959 arm64 The depthai_bridge package
ii ros-humble-depthai-descriptions 2.9.0-1jammy.20240220.151314 arm64 The depthai_descriptions package
ii ros-humble-depthai-examples 2.9.0-1jammy.20240304.153402 arm64 The depthai_examples package
ii ros-humble-depthai-filters 2.9.0-1jammy.20240220.090729 arm64 Depthai filters package
ii ros-humble-depthai-ros 2.9.0-1jammy.20240304.160133 arm64 The depthai-ros package
ii ros-humble-depthai-ros-driver 2.9.0-1jammy.20240304.154647 arm64 Depthai ROS Monolithic node.
ii ros-humble-depthai-ros-msgs 2.9.0-1jammy.20240219.090343 arm64 Package to keep interface independent of the driver
My launch commands:
# ros2 launch depthai_ros_driver camera.launch.py camera_model:=OAK-D-LITE params_file:=/home/pi/wali_pi5/c3ws/params/camera.yaml
ros2 launch depthai_ros_driver camera.launch.py camera_model:=OAK-D-LITE params_file:=/home/pi/wali_pi5/c3ws/params/camera.yaml rsp_use_composition:=false
My param file:
/oak:
ros__parameters:
camera:
i_enable_imu: false
i_enable_ir: false
i_nn_type: spatial
i_pipeline_type: RGBD
cam_pos_x: 0.127
cam_pos_z: 0.165
use_rviz: false
nn:
i_nn_config_path: depthai_ros_driver/mobilenet
The output:
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/launch_camera.sh
13:32:16 up 15:29, 0 users, load average: 0.04, 0.11, 0.09
LAUNCHING OAK-D-LITE camera.launch.py WITH params/camera.yaml (mobilenet + RGBD)
ros2 launch depthai_ros_driver camera.launch.py camera_model:=OAK-D-LITE params_file:=/home/pi/wali_pi5/c3ws/params/camera.yaml
[INFO] [launch]: All log files can be found below /home/pi/wali_pi5/c3ws/roslogs/2024-03-10-13-32-16-936733-WaLiPi5-706
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [716]
[INFO] [component_container-2]: process started with pid [718]
[component_container-2] [DEBUG] [1710091937.254233895] [rclcpp]: signal handler installed
[component_container-2] [DEBUG] [1710091937.254247710] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall
[component_container-2] [DEBUG] [1710091937.254354543] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[component_container-2] [DEBUG] [1710091937.254403265] [rcl]: Initializing node 'ComponentManager' in namespace ''
[component_container-2] [DEBUG] [1710091937.254424487] [rcl]: Using domain ID of '0'
[component_container-2] [DEBUG] [1710091937.260821135] [rcl]: Initializing publisher for topic name '/rosout'
[component_container-2] [DEBUG] [1710091937.260870839] [rcl]: Expanded and remapped topic name '/rosout'
[component_container-2] [DEBUG] [1710091937.262780931] [rcl]: Publisher initialized
[component_container-2] [DEBUG] [1710091937.262819098] [rcl]: Node initialized
[component_container-2] [DEBUG] [1710091937.263114283] [rcl]: Initializing subscription for topic name '/parameter_events'
[component_container-2] [DEBUG] [1710091937.263140135] [rcl]: Expanded and remapped topic name '/parameter_events'
[component_container-2] [DEBUG] [1710091937.266235523] [rcl]: Subscription initialized
[component_container-2] [DEBUG] [1710091937.266828264] [rcl]: Initializing service for service name '~/_container/load_node'
[component_container-2] [DEBUG] [1710091937.267080486] [rcl]: Expanded and remapped service name '/oak_container/_container/load_node'
[component_container-2] [DEBUG] [1710091937.268479208] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-2] [DEBUG] [1710091937.268543653] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/load_nodeRequest
[component_container-2] [DEBUG] [1710091937.268549745] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/load_nodeReply
[component_container-2] [DEBUG] [1710091937.268553153] [rmw_fastrtps_cpp]: ***********
[component_container-2] [DEBUG] [1710091937.268721005] [rcl]: Service initialized
[component_container-2] [DEBUG] [1710091937.268884134] [rcl]: Initializing service for service name '~/_container/unload_node'
[component_container-2] [DEBUG] [1710091937.268948764] [rcl]: Expanded and remapped service name '/oak_container/_container/unload_node'
[component_container-2] [DEBUG] [1710091937.270005190] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-2] [DEBUG] [1710091937.270031190] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/unload_nodeRequest
[component_container-2] [DEBUG] [1710091937.270035301] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/unload_nodeReply
[component_container-2] [DEBUG] [1710091937.270038653] [rmw_fastrtps_cpp]: ***********
[component_container-2] [DEBUG] [1710091937.270338023] [rcl]: Service initialized
[component_container-2] [DEBUG] [1710091937.270383208] [rcl]: Initializing service for service name '~/_container/list_nodes'
[component_container-2] [DEBUG] [1710091937.270399523] [rcl]: Expanded and remapped service name '/oak_container/_container/list_nodes'
[component_container-2] [DEBUG] [1710091937.271488986] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-2] [DEBUG] [1710091937.271880597] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/list_nodesRequest
[component_container-2] [DEBUG] [1710091937.271924097] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/list_nodesReply
[component_container-2] [DEBUG] [1710091937.272010041] [rmw_fastrtps_cpp]: ***********
[component_container-2] [DEBUG] [1710091937.272229430] [rcl]: Service initialized
[robot_state_publisher-1] [INFO] [1710091937.300488353] [oak_state_publisher]: got segment oak
[robot_state_publisher-1] [INFO] [1710091937.300652890] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-1] [INFO] [1710091937.300670761] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-1] [INFO] [1710091937.300680705] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1710091937.300688576] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-1] [INFO] [1710091937.300696409] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-1] [INFO] [1710091937.300705150] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-1] [INFO] [1710091937.300714687] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-1] [INFO] [1710091937.300723964] [oak_state_publisher]: got segment oak_right_camera_optical_frame
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/oak_container/_container/load_node' service, due to shutdown.
[component_container-2] [INFO] [1710092100.453311231] [rclcpp]: signal_handler(signum=2)
[component_container-2] [DEBUG] [1710092100.453366694] [rclcpp]: signal_handler(): notifying deferred signal handler
[component_container-2] [DEBUG] [1710092100.453402898] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall
[component_container-2] [DEBUG] [1710092100.453423509] [rclcpp]: deferred_signal_handler(): shutting down
[component_container-2] [DEBUG] [1710092100.453501120] [rclcpp]: deferred_signal_handler(): shutting down rclcpp::Context @ 0x555610aba400, because it had shutdown_on_signal == true
[component_container-2] [DEBUG] [1710092100.453517083] [rcl]: Shutting down ROS client library, for context at address: 0x555610a4df10
[component_container-2] [DEBUG] [1710092100.453557157] [rcl]: Finalizing publisher
[component_container-2] [DEBUG] [1710092100.453587083] [rcl]: Finalizing service
[INFO] [component_container-2]: process has finished cleanly [pid 718]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 716]
[robot_state_publisher-1] [INFO] [1710092100.453389713] [rclcpp]: signal_handler(signum=2)
[component_container-2] [DEBUG] [1710092100.454108842] [rcl]: Publisher finalized
[component_container-2] [DEBUG] [1710092100.454193472] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall
[component_container-2] [DEBUG] [1710092100.454803731] [rcl]: Service finalized
[component_container-2] [DEBUG] [1710092100.454828157] [rcl]: Finalizing service
[component_container-2] [DEBUG] [1710092100.455509120] [rcl]: Service finalized
[component_container-2] [DEBUG] [1710092100.455532305] [rcl]: Finalizing service
[component_container-2] [DEBUG] [1710092100.456210472] [rcl]: Service finalized
[component_container-2] [DEBUG] [1710092100.456259546] [rcl]: Finalizing event
[component_container-2] [DEBUG] [1710092100.456272768] [rcl]: Event finalized
[component_container-2] [DEBUG] [1710092100.456280787] [rcl]: Finalizing subscription
[component_container-2] [DEBUG] [1710092100.456767490] [rcl]: Subscription finalized
[component_container-2] [DEBUG] [1710092100.456849120] [rcl]: Finalizing node
[component_container-2] [DEBUG] [1710092100.460197823] [rcl]: Node finalized
13:35:01 up 15:32, 0 users, load average: 0.25, 0.18, 0.11
It seems a clue that it was waiting for the container to load the node:
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/oak_container/_container/load_node' service, due to shutdown.
How do I figure out why the node is not loading?
For reference, I include the run without the rsp_use_composition:=false
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/launch_camera.sh
14:14:20 up 16:11, 0 users, load average: 0.16, 0.10, 0.09
LAUNCHING OAK-D-LITE camera.launch.py WITH params/camera.yaml (mobilenet + RGBD)
ros2 launch depthai_ros_driver camera.launch.py camera_model:=OAK-D-LITE params_file:=/home/pi/wali_pi5/c3ws/params/camera.yaml
[INFO] [launch]: All log files can be found below /home/pi/wali_pi5/c3ws/roslogs/2024-03-10-14-14-20-967377-WaLiPi5-855
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [866]
[component_container-1] [DEBUG] [1710094461.280306582] [rclcpp]: signal handler installed
[component_container-1] [DEBUG] [1710094461.280452452] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[component_container-1] [DEBUG] [1710094461.280523471] [rcl]: Initializing node 'ComponentManager' in namespace ''
[component_container-1] [DEBUG] [1710094461.280552063] [rcl]: Using domain ID of '0'
[component_container-1] [DEBUG] [1710094461.289920766] [rcl]: Initializing publisher for topic name '/rosout'
[component_container-1] [DEBUG] [1710094461.289972933] [rcl]: Expanded and remapped topic name '/rosout'
[component_container-1] [DEBUG] [1710094461.293627692] [rcl]: Publisher initialized
[component_container-1] [DEBUG] [1710094461.293695562] [rcl]: Node initialized
[component_container-1] [DEBUG] [1710094461.280320730] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall
[component_container-1] [DEBUG] [1710094461.294431284] [rcl]: Initializing subscription for topic name '/parameter_events'
[component_container-1] [DEBUG] [1710094461.294687673] [rcl]: Expanded and remapped topic name '/parameter_events'
[component_container-1] [DEBUG] [1710094461.299755543] [rcl]: Subscription initialized
[component_container-1] [DEBUG] [1710094461.300393246] [rcl]: Initializing service for service name '~/_container/load_node'
[component_container-1] [DEBUG] [1710094461.300430543] [rcl]: Expanded and remapped service name '/oak_container/_container/load_node'
[component_container-1] [DEBUG] [1710094461.302977765] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-1] [DEBUG] [1710094461.303037154] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/load_nodeRequest
[component_container-1] [DEBUG] [1710094461.303044728] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/load_nodeReply
[component_container-1] [DEBUG] [1710094461.303050524] [rmw_fastrtps_cpp]: ***********
[component_container-1] [DEBUG] [1710094461.303422968] [rcl]: Service initialized
[component_container-1] [DEBUG] [1710094461.303523524] [rcl]: Initializing service for service name '~/_container/unload_node'
[component_container-1] [DEBUG] [1710094461.303539894] [rcl]: Expanded and remapped service name '/oak_container/_container/unload_node'
[component_container-1] [DEBUG] [1710094461.304829987] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-1] [DEBUG] [1710094461.304859931] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/unload_nodeRequest
[component_container-1] [DEBUG] [1710094461.304865135] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/unload_nodeReply
[component_container-1] [DEBUG] [1710094461.304868746] [rmw_fastrtps_cpp]: ***********
[component_container-1] [DEBUG] [1710094461.305126505] [rcl]: Service initialized
[component_container-1] [DEBUG] [1710094461.305310876] [rcl]: Initializing service for service name '~/_container/list_nodes'
[component_container-1] [DEBUG] [1710094461.305335283] [rcl]: Expanded and remapped service name '/oak_container/_container/list_nodes'
[component_container-1] [DEBUG] [1710094461.306253283] [rmw_fastrtps_cpp]: ************ Service Details *********
[component_container-1] [DEBUG] [1710094461.306278450] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/list_nodesRequest
[component_container-1] [DEBUG] [1710094461.306282894] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/list_nodesReply
[component_container-1] [DEBUG] [1710094461.306286264] [rmw_fastrtps_cpp]: ***********
[component_container-1] [DEBUG] [1710094461.306505172] [rcl]: Service initialized
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-1] [INFO] [1710094574.661359216] [rclcpp]: signal_handler(signum=2)
[component_container-1] [DEBUG] [1710094574.661411679] [rclcpp]: signal_handler(): notifying deferred signal handler
[component_container-1] [DEBUG] [1710094574.661470105] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall
[component_container-1] [DEBUG] [1710094574.661486364] [rclcpp]: deferred_signal_handler(): shutting down
[component_container-1] [DEBUG] [1710094574.661600309] [rclcpp]: deferred_signal_handler(): shutting down rclcpp::Context @ 0x5555933ce400, because it had shutdown_on_signal == true
[component_container-1] [DEBUG] [1710094574.661622142] [rcl]: Shutting down ROS client library, for context at address: 0x555593361f10
[component_container-1] [DEBUG] [1710094574.661666568] [rcl]: Finalizing publisher
[component_container-1] [DEBUG] [1710094574.662060401] [rcl]: Finalizing service
[component_container-1] [DEBUG] [1710094574.662281790] [rcl]: Publisher finalized
[component_container-1] [DEBUG] [1710094574.662368012] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall
[INFO] [component_container-1]: process has finished cleanly [pid 866]
[component_container-1] [DEBUG] [1710094574.662945179] [rcl]: Service finalized
[component_container-1] [DEBUG] [1710094574.662971123] [rcl]: Finalizing service
[component_container-1] [DEBUG] [1710094574.663377660] [rcl]: Service finalized
[component_container-1] [DEBUG] [1710094574.663398753] [rcl]: Finalizing service
[component_container-1] [DEBUG] [1710094574.663784956] [rcl]: Service finalized
[component_container-1] [DEBUG] [1710094574.663837716] [rcl]: Finalizing event
[component_container-1] [DEBUG] [1710094574.663849734] [rcl]: Event finalized
[component_container-1] [DEBUG] [1710094574.663858512] [rcl]: Finalizing subscription
[component_container-1] [DEBUG] [1710094574.664177456] [rcl]: Subscription finalized
[component_container-1] [DEBUG] [1710094574.664259142] [rcl]: Finalizing node
[component_container-1] [DEBUG] [1710094574.665834253] [rcl]: Node finalized
[ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested
[ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested
14:16:15 up 16:13, 0 users, load average: 0.11, 0.10, 0.09
BTW, running Oak-D-Lite depthai examples such as YOLO spatial:
(vdepthai) pi@WaLiPi5:~/wali_pi5/systests/Oak-D-Lite/vdepthai/spatial_tiny_yolo $ ./console_spatial_tiny_yolo.py
[2024-03-10 14:26:02.563] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2024-03-10 14:26:02.563] [debug] Python bindings - version: 2.21.2.0 from build: 2023-04-06 00:33:07 +0000
[2024-03-10 14:26:02.563] [debug] Library information - version: 2.21.2, commit: from , build: 2023-04-05 23:12:49 +0000
[2024-03-10 14:26:02.565] [debug] Initialize - finished
[2024-03-10 14:26:02.673] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 2ms, archive read: 107ms
[2024-03-10 14:26:02.964] [debug] Device - OpenVINO version: 2022.1
[2024-03-10 14:26:02.964] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"maxSpeed":4,"pid":63035,"vid":999},"usb3PhyInternalClock":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 11 b9 05 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 b9 02 00 01 ba 00 be be bb 00 bb 00 be be be
0020: be be be 01 00 bb 00 be
[2024-03-10 14:26:03.094] [debug] Resources - Archive 'depthai-device-fwp-3575b77f20e796b4e79953bf3d2ba22f0416ee8b.tar.xz' open: 2ms, archive read: 528ms
[2024-03-10 14:26:04.035] [debug] Searching for booted device: DeviceInfo(name=3.1, mxid=184430101175A41200, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[184430101175A41200] [3.1] [0.799] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0xFCCBD2D0
GPIO boot mode 0x16, interface USBD
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 10
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: 3575b77f20e796b4e79953bf3d2ba22f0416ee8b
eeprom configuration version: 55AA0006
Reading VERSION 6 --- ->
eeprom configuration load from user area, status: 0
Found a device/board entry matching the eeprom data - Board: OAK-D-LITE Device:
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]
spi_N25Q_init: Flash JEDEC ID: ff ff ff
Invalid Flash JEDEC ID... No NOR available
Could not register the spi device
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Is booted from flash by bootloader: 0
Networking not available...
=== Enumerating on socket: Cam_A / RGB / Center
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
Probe failed I2C1 0x10 reg 300a: expected 9281, read 0000
>> Registered camera IMX214R0 (imx214) as /dev/Camera_0
camera socket: 0, name: color
config - w: 1920, h: 1080, type: COLOR
config - w: 3840, h: 2160, type: COLOR
config - w: 4056, h: 3040, type: COLOR
config - w: 4208, h: 3120, type: COLOR
Adding socket 0: cam 4. Sen name: IMX214
=== Enumerating on socket: Cam_B / Left
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
>> Registered camera MV200 (ov7750) as /dev/Camera_1
camera socket: 1, name: left
Adding socket 1: cam 6. Sen name: OV7251
=== Enumerating on socket: Cam_C / Right
Probe failed I2C2 0x62 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
Probe failed I2C2 0x60 reg 300a: expected 9281, read 7750
>> Registered camera MV200 (ov7750) as /dev/Camera_2
camera socket: 2, name: right
Adding socket 2: cam 6. Sen name: OV7251
Found a device/board entry matching the eeprom data - Board: OAK-D-LITE Device:
Initializing XLink...
UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
initial keepalive, countdown: 9
UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
Done!
Usb connection speed: Super - USB 3.0
Temperature: Driver registered.
Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[184430101175A41200] [3.1] [0.803] [system] [info] Memory Usage - DDR: 0.12 / 340.34 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.52 / 77.23 MiB, LeonRT Heap: 2.89 / 41.14 MiB
[184430101175A41200] [3.1] [0.803] [system] [info] Temperatures - Average: 38.30C, CSS: 38.65C, MSS 38.41C, UPA: 37.71C, DSS: 38.41C
[184430101175A41200] [3.1] [0.803] [system] [info] Cpu Usage - LeonOS 63.48%, LeonRT: 1.84%
[184430101175A41200] [3.1] [0.809] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 3488436] [XLin] startSync:130 Timesync | Callback not set
[2024-03-10 14:26:04.861] [debug] Schema dump: {"connections":[{"node1Id":1,"node1Output":"out","node1OutputGroup":"","node2Id":5,"node2Input":"in","node2InputGroup":""},{"node1Id":4,"node1Output":"depth","node1OutputGroup":"","node2Id":1,"node2Input":"inputDepth","node2InputGroup":""},{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""},{"node1Id":3,"node1Output":"out","node1OutputGroup":"","node2Id":4,"node2Input":"right","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":4,"node2Input":"left","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":39,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":37,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":36,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":38,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":35,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":34,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":33,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":32,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,25,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,255,189,0,255,0,0,0,129,160,1,129,160,1,255,255,255,255,0,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4]}],[1,{"id":1,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":31,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","passthroughDepth"],{"blocking":false,"group":"","id":30,"name":"passthroughDepth","queueSize":8,"type":0,"waitForMessage":false}],[["","passthrough"],{"blocking":false,"group":"","id":29,"name":"passthrough","queueSize":8,"type":0,"waitForMessage":false}],[["","boundingBoxMapping"],{"blocking":false,"group":"","id":28,"name":"boundingBoxMapping","queueSize":8,"type":0,"waitForMessage":false}],[["","in"],{"blocking":false,"group":"","id":27,"name":"in","queueSize":5,"type":3,"waitForMessage":true}],[["","inputDepth"],{"blocking":false,"group":"","id":26,"name":"inputDepth","queueSize":4,"type":3,"waitForMessage":true}]],"name":"SpatialDetectionNetwork","properties":[185,10,130,128,171,185,0,189,12,97,115,115,101,116,58,95,95,98,108,111,98,8,0,0,185,7,0,136,0,0,0,63,80,4,186,12,136,0,0,32,65,136,0,0,96,65,136,0,0,184,65,136,0,0,216,65,136,0,0,20,66,136,0,0,104,66,136,0,0,162,66,136,0,0,164,66,136,0,0,7,67,136,0,0,41,67,136,0,0,172,67,136,0,128,159,67,187,2,189,6,115,105,100,101,49,51,188,12,3,0,0,0,4,0,0,0,5,0,0,0,189,6,115,105,100,101,50,54,188,12,1,0,0,0,2,0,0,0,3,0,0,0,136,0,0,0,63,136,0,0,0,63,185,2,100,129,136,19,4,255]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":25,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":24,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":23,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":22,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,9,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,2,136,0,0,240,65,0,3,3]}],[3,{"id":3,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":21,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":20,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":19,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":18,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,9,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,2,136,0,0,240,65,0,3,3]}],[4,{"id":4,"ioInfo":[[["","depth"],{"blocking":false,"group":"","id":17,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":15,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":16,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":12,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":11,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":9,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":8,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":10,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":7,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt2"],{"blocking":false,"group":"","id":6,"name":"debugDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt1"],{"blocking":false,"group":"","id":13,"name":"debugDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt1"],{"blocking":false,"group":"","id":5,"name":"debugExtDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","disparity"],{"blocking":false,"group":"","id":14,"name":"disparity","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":4,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","left"],{"blocking":false,"group":"","id":3,"name":"left","queueSize":8,"type":3,"waitForMessage":true}],[["","right"],{"blocking":false,"group":"","id":2,"name":"right","queueSize":8,"type":3,"waitForMessage":true}]],"name":"StereoDepth","properties":[185,22,185,5,185,11,0,2,136,0,0,122,68,1,0,0,10,3,0,190,0,185,8,5,0,185,5,0,2,136,0,0,0,63,0,1,185,4,0,3,136,205,204,204,62,0,185,2,0,134,255,255,0,0,185,2,0,133,0,1,185,2,0,50,185,2,1,0,185,4,255,0,1,0,185,5,1,0,0,128,245,185,3,0,2,127,185,5,1,128,250,129,244,1,128,250,129,244,1,0,1,0,190,190,190,190,1,185,5,189,0,189,0,190,16,16,0,3,255,255,1,190,190,190,1,0,1,190]}],[5,{"id":5,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,10,100,101,116,101,99,116,105,111,110,115,0]}]]}
[2024-03-10 14:26:04.861] [debug] Asset map dump: {"map":{"/node/1/__blob":{"alignment":64,"offset":0,"size":12168064}}}
[184430101175A41200] [3.1] [0.864] [system] [warning] PRINT:LeonCss: Calling IPC set assets
[184430101175A41200] [3.1] [0.979] [MonoCamera(2)] [info] Using board socket: 1, id: 1
[184430101175A41200] [3.1] [0.979] [MonoCamera(3)] [info] Using board socket: 2, id: 2
[184430101175A41200] [3.1] [0.985] [system] [warning] PRINT:LeonCss: Asset: /node/1/__blob, pointer: 0x8abca200, size: 12168064, alignment: 64
[184430101175A41200] [3.1] [0.982] [system] [info] SpatialLocationCalculator shave buffer size '54272'B
[184430101175A41200] [3.1] [1.018] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created
[184430101175A41200] [3.1] [0.983] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[184430101175A41200] [3.1] [1.018] [system] [info] ImageManip internal buffer size '285440'B, shave buffer size '34816'B
[184430101175A41200] [3.1] [1.040] [system] [warning] PRINT:LeonMss: NeuralNetwork | Available resources: shaveStart: 0, numShaves: 12, mask: 00000FFF
Initing ImgPreproc system!
Pre-proc Enc mem used: 69120 bytes. Available: 285440
[184430101175A41200] [3.1] [1.018] [system] [info] NeuralNetwork allocated resources: shaves: [0-11] cmx slices: [0-11]
ColorCamera allocated resources: no shaves; cmx slices: [13-15]
MonoCamera allocated resources: no shaves; cmx slices: [13-15]
StereoDepth allocated resources: shaves: [12-12] cmx slices: [12-12]
ImageManip allocated resources: shaves: [15-15] no cmx slices.
SpatialLocationCalculator allocated resources: shaves: [14-14] no cmx slices.
[184430101175A41200] [3.1] [1.033] [SpatialDetectionNetwork(1)] [info] Needed resources: shaves: 6, ddr: 8110912
[184430101175A41200] [3.1] [1.045] [SpatialDetectionNetwork(1)] [info] Inference thread count: 2, number of shaves allocated per thread: 6, number of Neural Compute Engines (NCE) allocated per thread: 1
[184430101175A41200] [3.1] [1.052] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:01.041] [info] Time taken to build the pipeline: 64ms
== FSYNC enabled for cam mask 0x0
Broadcast7251: Successfully registered camera MV200 (ov7750) as /dev/Camera_bcast0
== SW-SYNC: 1, cam mask 0x7
!!! Master Slave config is: single_master_slave !!!
Starting camera 0
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 0" sent
[184430101175A41200] [3.1] [1.052] [system] [warning] PRINT:LeonMss: LRT - build pipeline call
[184430101175A41200] [3.1] [1.074] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x88221bc0
[E] hai_cm_driver_load_dtp():852: Features for camera IMX214R0 (imx214) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[184430101175A41200] [3.1] [1.085] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 0 started.
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000
[184430101175A41200] [3.1] [1.107] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[184430101175A41200] [3.1] [1.118] [system] [warning] PRINT:LeonCss: [E] callback():123: Camera CB START_DONE event.
[E] app_guzzi_command_callback():173: command->id:5
[E] camera_control_focus_trigger():591: Focus trigger succeeded camera_id = 0.
[E] app_guzzi_command_callback():218: command "5 0" sent
Starting camera 1
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 1" sent
[184430101175A41200] [3.1] [1.140] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87d8d480
[E] hai_cm_driver_load_dtp():852: Features for camera MV200 (ov7750) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[184430101175A41200] [3.1] [1.151] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 1 started.
[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x400 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x400 at 0x0 fps min 0.000000 max 30.000000
[184430101175A41200] [3.1] [1.162] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain
osDrvImx214Control:514: Start stream
[184430101175A41200] [3.1] [1.205] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[184430101175A41200] [3.1] [1.206] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.217] [system] [warning] PRINT:LeonCss: [E] callback():123: Camera CB START_DONE event.
Starting camera 2
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 2" sent
[184430101175A41200] [3.1] [1.228] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87908e00
[E] hai_cm_driver_load_dtp():852: Features for camera MV200 (ov7750) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[E] camera_control_start():347: Camera_id = 2 started.
[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x400 at 0x0 fps min 0.000000 max 3
[184430101175A41200] [3.1] [1.239] [system] [warning] PRINT:LeonCss: 0.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 640x400 at 0x0 fps min 0.000000 max 30.000000
inc_camera_process set exposure and gain
[184430101175A41200] [3.1] [1.283] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient
[E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient
[E] callback():123: Camera CB START_DONE event.
Starting Guzzi command handling loop...
[184430101175A41200] [3.1] [1.293] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain
[184430101175A41200] [3.1] [1.337] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.347] [StereoDepth(4)] [info] Depth baseline: '7.5000005' cm, focal length: '452.50754'
[184430101175A41200] [3.1] [1.348] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.347] [StereoDepth(4)] [info] Depth horizontal FOV: '65.4526', vertical FOV: '39.748154'
[184430101175A41200] [3.1] [1.359] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.370] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.382] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
[184430101175A41200] [3.1] [1.547] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 8
2024-03-10 14:26:05 NN fps: 0.0
book conf:816% at (X,Y): -240,257 pixels, Z:827 mm
book conf:626% at (X,Y): 0,0 pixels, Z:0 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:471% at (X,Y): -229,253 pixels, Z:827 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:838% at (X,Y): 0,0 pixels, Z:0 mm
book conf:580% at (X,Y): 0,0 pixels, Z:0 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:803% at (X,Y): -223,255 pixels, Z:827 mm
[184430101175A41200] [3.1] [1.804] [system] [info] Memory Usage - DDR: 80.05 / 340.34 MiB, CMX: 2.46 / 2.50 MiB, LeonOS Heap: 46.23 / 77.23 MiB, LeonRT Heap: 5.56 / 41.14 MiB
[184430101175A41200] [3.1] [1.804] [system] [info] Temperatures - Average: 42.98C, CSS: 43.73C, MSS 43.96C, UPA: 42.12C, DSS: 42.12C
[184430101175A41200] [3.1] [1.804] [system] [info] Cpu Usage - LeonOS 54.59%, LeonRT: 47.80%
2024-03-10 14:26:05 NN fps: 0.0
book conf:570% at (X,Y): -220,249 pixels, Z:808 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:449% at (X,Y): -239,261 pixels, Z:848 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:998% at (X,Y): 0,0 pixels, Z:0 mm
book conf:624% at (X,Y): 0,0 pixels, Z:0 mm
2024-03-10 14:26:05 NN fps: 0.0
book conf:1227% at (X,Y): -227,255 pixels, Z:827 mm
book conf:756% at (X,Y): 0,0 pixels, Z:0 mm
2024-03-10 14:26:06 NN fps: 0.0
book conf:486% at (X,Y): 0,0 pixels, Z:0 mm
book conf:435% at (X,Y): 0,0 pixels, Z:0 mm
2024-03-10 14:26:06 NN fps: 0.0
book conf:367% at (X,Y): -236,258 pixels, Z:827 mm
2024-03-10 14:26:06 NN fps: 0.0
book conf:645% at (X,Y): -225,257 pixels, Z:827 mm
2024-03-10 14:26:06 NN fps: 0.0
book conf:547% at (X,Y): -223,249 pixels, Z:808 mm
2024-03-10 14:26:06 NN fps: 17.4
book conf:542% at (X,Y): -222,250 pixels, Z:808 mm
2024-03-10 14:26:06 NN fps: 17.4
book conf:389% at (X,Y): -231,254 pixels, Z:827 mm
2024-03-10 14:26:06 NN fps: 17.4
book conf:1077% at (X,Y): -219,249 pixels, Z:808 mm
