Hi there
I am having troubles with using my OAK-D S2 with my desktop PC. I am using the camera in a ROS noetic setup and I wanted to use the camera for further CV tasks. So far, I am able to use the camera with my Jetson Nano running roslaunch depthai_ros_driver rgbd_pcl.launch which publishes all topics as expected on the Jetson. However, when I do the same on my desktop PC, I get the following error: No ip/mxid/usb_id specified, connecting to the next available device. However, when I run lsusb I can see the camera. I also tried to debug the starting procedure with export DEPTHAI_DEBUG=1. The output can be found in the text file.
roslaunch.log:
[0m[ INFO] [1715070656.792053888]: Initializing nodelet with 24 worker threads.[0m
[0m[ INFO] [1715070656.879481352]: No ip/mxid/usb_id specified, connecting to the next available device.[0m
[2024-05-07 10:31:45.905] [depthai] [error] Callback with id: 1 throwed an exception: Time is out of dual 32-bit range
... logging to /home/phaas/.ros/log/2ff996cc-03ac-11ef-b5d3-1feec5197729/roslaunch-cluster-desktop-1230597.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.
]2;/opt/ros/noetic/share/depthai_ros_driver/launch/rgbd_pcl.launch
[1mstarted roslaunch server http://cluster-desktop:40381/[0m
SUMMARY
========
PARAMETERS
* /depth_image_to_rgb_pointcloud/queue_size: 10
* /oak/camera_i_base_frame: oak
* /oak/camera_i_cam_pitch: 0.0
* /oak/camera_i_cam_pos_x: 0.0
* /oak/camera_i_cam_pos_y: 0.0
* /oak/camera_i_cam_pos_z: 0.0
* /oak/camera_i_cam_roll: 0.0
* /oak/camera_i_cam_yaw: 0.0
* /oak/camera_i_imu_from_descr: False
* /oak/camera_i_nn_type: none
* /oak/camera_i_parent_frame: oak-d-base-frame
* /oak/camera_i_publish_tf_from_calibration: False
* /oak/robot_description: <?xml version="1....
* /oak/stereo_i_subpixel: True
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
depth_image_to_rgb_pointcloud (nodelet/nodelet)
oak (nodelet/nodelet)
oak_nodelet_manager (nodelet/nodelet)
oak_state_publisher (robot_state_publisher/robot_state_publisher)
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/opt/ros/noetic/share/depthai_ros_driver/launch/rgbd_pcl.launch http://localhost:11311
[1mprocess[oak_state_publisher-1]: started with pid [1230647][0m
[1mprocess[oak_nodelet_manager-2]: started with pid [1230648][0m
[1mprocess[oak-3]: started with pid [1230649][0m
[1mprocess[depth_image_to_rgb_pointcloud-4]: started with pid [1230650][0m
[depth_image_to_rgb_pointcloud-4] killing on exit
[oak-3] killing on exit
[oak_nodelet_manager-2] killing on exit
[oak_state_publisher-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
[1mdone[0m
and in debug mode:
[0m[ INFO] [1715069822.884882808]: Initializing nodelet with 24 worker threads.[0m
[2024-05-07 10:17:02.968] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2024-05-07 10:17:02.968] [depthai] [debug] Library information - version: 2.24.0, commit: from , build: 2024-03-08 13:30:37 +0000, libusb enabled: true
[2024-05-07 10:17:02.971] [depthai] [debug] Initialize - finished
[0m[ INFO] [1715069822.971585875]: No ip/mxid/usb_id specified, connecting to the next available device.[0m
[2024-05-07 10:17:03.043] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.26.tar.xz' open: 3ms, archive read: 71ms
[2024-05-07 10:17:03.361] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a95f582a61ec9bdbd0f72dec84822455872ffaf7.tar.xz' open: 3ms, archive read: 389ms
[2024-05-07 10:17:03.478] [host] [debug] Device - OpenVINO version: universal
[184430105128391300] [5.2] [1715069823.478] [host] [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,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be
[2024-05-07 10:17:04.262] [depthai] [debug] Searching for booted device: DeviceInfo(name=5.2, mxid=184430105128391300, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[184430105128391300] [5.2] [0.911] [system] [warning] [32mPRINT:LeonCss:[0m [1;32m[OK]: INIT_NOC: noc probes timer create
[1m[1;32m[OK]: INIT_NOC: noc probes timer start
[1m[1;32m[OK]: INIT_NOC: ddr bandwith profiling!
[1mBootloaderConfig.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: a95f582a61ec9bdbd0f72dec84822455872ffaf7
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
PMIC read reg 0x19, val 0xb8
PMIC read reg 0x23, val 0x10
PMIC read reg 0x31, val 0x08
PMIC read reg 0x33, val 0x28
Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device:
Board options: 00000004
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]
spi_N25Q_init: Flash JEDEC ID: 01 20 18
CR1NV: 0x02
CR2NV: 0x08
QUAD mode already enabled
Initialized pin: 56, mode: 7, level: 1, pad: 0x00000010
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
skipped OV7251
skipped AR0234
skipped S5K33D
>> Registered camera A12N02A (imx378) 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: 1352, h: 1012, type: COLOR
config - w: 2024, h: 1520, type: COLOR
Adding socket 0: cam 2. Sen name: IMX378
=== Enumerating on socket: Cam_B / Left
>> Registered camera TG161B (ov9282) as /dev/Camera_1
camera socket: 1, name: left
config - w: 1280, h: 720, type: MONO
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: MONO
config - w: 1280, h: 800, type: COLOR
Adding socket 1: cam 5. Sen name: OV9282
=== Enumerating on socket: Cam_C / Right
>> Registered camera TG161B (ov9282) as /dev/Camera_2
camera socket: 2, name: right
config - w: 1280, h: 720, type: MONO
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: MONO
config - w: 1280, h: 800, type: COLOR
Adding socket 2: cam 5. Sen name: OV9282
Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) 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.
[184430105128391300] [5.2] [0.914] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.51 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 26 MB/s
[184430105128391300] [5.2] [0.914] [system] [info] Temperatures - Average: 38.00C, CSS: 39.11C, MSS 37.71C, UPA: 38.18C, DSS: 37.01C
[184430105128391300] [5.2] [0.914] [system] [info] Cpu Usage - LeonOS 72.73%, LeonRT: 1.77%
[184430105128391300] [5.2] [0.922] [system] [warning] [32mPRINT:LeonCss:[0m Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[36mI: [Timesync] [ 5416030] [XLin] startSync:186 Timesync | Callback not set[0m
[184430105128391300] [5.2] [1.538] [system] [warning] [32mPRINT:LeonCss:[0m initial keepalive, countdown: 8
[184430105128391300] [5.2] [1.915] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 2 MB/s
[184430105128391300] [5.2] [1.915] [system] [info] Temperatures - Average: 38.59C, CSS: 39.81C, MSS 37.48C, UPA: 38.65C, DSS: 38.41C
[184430105128391300] [5.2] [1.915] [system] [info] Cpu Usage - LeonOS 1.00%, LeonRT: 0.07%
[184430105128391300] [5.2] [2.916] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 1 MB/s
[184430105128391300] [5.2] [2.916] [system] [info] Temperatures - Average: 38.59C, CSS: 40.04C, MSS 37.71C, UPA: 38.41C, DSS: 38.18C
[184430105128391300] [5.2] [2.916] [system] [info] Cpu Usage - LeonOS 0.34%, LeonRT: 0.05%
[184430105128391300] [5.2] [3.917] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 1 MB/s
[184430105128391300] [5.2] [3.917] [system] [info] Temperatures - Average: 38.76C, CSS: 39.81C, MSS 38.41C, UPA: 38.41C, DSS: 38.41C
[184430105128391300] [5.2] [3.917] [system] [info] Cpu Usage - LeonOS 0.43%, LeonRT: 0.07%
[184430105128391300] [5.2] [4.918] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [4.918] [system] [info] Temperatures - Average: 39.11C, CSS: 40.28C, MSS 38.65C, UPA: 39.11C, DSS: 38.41C
[184430105128391300] [5.2] [4.918] [system] [info] Cpu Usage - LeonOS 0.23%, LeonRT: 0.05%
[184430105128391300] [5.2] [5.919] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [5.919] [system] [info] Temperatures - Average: 39.00C, CSS: 40.04C, MSS 37.94C, UPA: 39.35C, DSS: 38.65C
[184430105128391300] [5.2] [5.919] [system] [info] Cpu Usage - LeonOS 0.23%, LeonRT: 0.05%
[184430105128391300] [5.2] [6.920] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [6.920] [system] [info] Temperatures - Average: 39.23C, CSS: 40.28C, MSS 38.65C, UPA: 38.88C, DSS: 39.11C
[184430105128391300] [5.2] [6.920] [system] [info] Cpu Usage - LeonOS 0.27%, LeonRT: 0.07%
[184430105128391300] [5.2] [7.921] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [7.921] [system] [info] Temperatures - Average: 39.34C, CSS: 40.97C, MSS 38.18C, UPA: 39.35C, DSS: 38.88C
[184430105128391300] [5.2] [7.921] [system] [info] Cpu Usage - LeonOS 0.23%, LeonRT: 0.05%
[184430105128391300] [5.2] [8.922] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [8.922] [system] [info] Temperatures - Average: 39.17C, CSS: 40.51C, MSS 38.18C, UPA: 39.11C, DSS: 38.88C
[184430105128391300] [5.2] [8.922] [system] [info] Cpu Usage - LeonOS 0.33%, LeonRT: 0.05%
[184430105128391300] [5.2] [9.923] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 1 MB/s
[184430105128391300] [5.2] [9.923] [system] [info] Temperatures - Average: 38.88C, CSS: 39.81C, MSS 38.18C, UPA: 38.88C, DSS: 38.65C
[184430105128391300] [5.2] [9.923] [system] [info] Cpu Usage - LeonOS 0.58%, LeonRT: 0.07%
[184430105128391300] [5.2] [10.924] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [10.924] [system] [info] Temperatures - Average: 38.94C, CSS: 40.28C, MSS 38.65C, UPA: 38.41C, DSS: 38.41C
[184430105128391300] [5.2] [10.924] [system] [info] Cpu Usage - LeonOS 0.34%, LeonRT: 0.05%
[184430105128391300] [5.2] [11.925] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [11.925] [system] [info] Temperatures - Average: 39.29C, CSS: 40.51C, MSS 38.65C, UPA: 39.58C, DSS: 38.41C
[184430105128391300] [5.2] [11.925] [system] [info] Cpu Usage - LeonOS 0.23%, LeonRT: 0.05%
[184430105128391300] [5.2] [12.926] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [12.926] [system] [info] Temperatures - Average: 39.29C, CSS: 40.74C, MSS 37.94C, UPA: 39.35C, DSS: 39.11C
[184430105128391300] [5.2] [12.926] [system] [info] Cpu Usage - LeonOS 0.28%, LeonRT: 0.07%
[184430105128391300] [5.2] [13.693] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
[184430105128391300] [5.2] [13.704] [system] [warning] [32mPRINT:LeonCss:[0m Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.725] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.770] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.792] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.869] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.891] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.927] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.76 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[184430105128391300] [5.2] [13.927] [system] [info] Temperatures - Average: 39.58C, CSS: 40.28C, MSS 39.35C, UPA: 39.35C, DSS: 39.35C
[184430105128391300] [5.2] [13.927] [system] [info] Cpu Usage - LeonOS 3.29%, LeonRT: 0.05%
[184430105128391300] [5.2] [13.946] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[184430105128391300] [5.2] [13.968] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [14.045] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[184430105128391300] [5.2] [14.067] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [1715069839.010] [host] [debug] Schema dump: {"connections":[{"node1Id":11,"node1Output":"out","node1OutputGroup":"","node2Id":12,"node2Input":"in","node2InputGroup":""},{"node1Id":9,"node1Output":"out","node1OutputGroup":"","node2Id":10,"node2Input":"in","node2InputGroup":""},{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":7,"node2Input":"right","node2InputGroup":""},{"node1Id":3,"node1Output":"out","node1OutputGroup":"","node2Id":7,"node2Input":"left","node2InputGroup":""},{"node1Id":7,"node1Output":"depth","node1OutputGroup":"","node2Id":8,"node2Input":"in","node2InputGroup":""},{"node1Id":6,"node1Output":"out","node1OutputGroup":"","node2Id":5,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":4,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":0,"node1Output":"isp","node1OutputGroup":"","node2Id":1,"node2Input":"in","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":41,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":39,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":38,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":40,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":37,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":36,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":35,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":34,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,189,0,255,0,0,0,129,44,1,129,44,1,133,0,5,133,208,2,255,255,0,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,2,3,2,3,3,3,4,4,4,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":33,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,114,103,98,95,105,115,112,0]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":32,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,11,114,103,98,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":31,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":30,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":29,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":28,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,0,136,0,0,240,65,0,3,3,190]}],[4,{"id":4,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":27,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,12,108,101,102,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[5,{"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":26,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":25,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":24,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":23,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,0,136,0,0,240,65,0,3,3,190]}],[6,{"id":6,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":22,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,13,114,105,103,104,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[7,{"id":7,"ioInfo":[[["","depth"],{"blocking":false,"group":"","id":21,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":19,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":20,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":16,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":15,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":13,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":12,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":14,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":11,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt2"],{"blocking":false,"group":"","id":10,"name":"debugDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt1"],{"blocking":false,"group":"","id":17,"name":"debugDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt1"],{"blocking":false,"group":"","id":9,"name":"debugExtDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","disparity"],{"blocking":false,"group":"","id":18,"name":"disparity","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":8,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","left"],{"blocking":false,"group":"","id":7,"name":"left","queueSize":8,"type":3,"waitForMessage":true}],[["","right"],{"blocking":false,"group":"","id":6,"name":"right","queueSize":8,"type":3,"waitForMessage":true}]],"name":"StereoDepth","properties":[185,22,185,5,185,11,0,2,136,0,0,122,68,1,0,1,10,3,0,190,0,185,8,5,0,185,5,0,2,136,0,0,0,63,0,1,185,4,0,3,136,205,204,204,62,0,185,2,0,134,255,255,0,0,185,2,0,133,0,1,185,2,0,50,185,2,1,0,185,4,255,0,1,0,185,5,1,0,0,128,240,185,3,0,2,127,185,5,1,128,250,129,244,1,128,250,129,244,1,0,1,0,190,190,133,0,5,133,208,2,1,185,5,189,0,189,0,190,16,16,0,3,255,255,1,190,190,190,190,190,190,190]}],[8,{"id":8,"ioInfo":[[["","in"],{"blocking":false,"group":"","id":5,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,13,115,116,101,114,101,111,95,115,116,101,114,101,111,0]}],[9,{"id":9,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":4,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"IMU","properties":[185,4,186,2,185,5,0,0,0,129,144,1,20,185,5,0,0,0,129,144,1,21,5,10,0]}],[10,{"id":10,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":3,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,105,109,117,95,105,109,117,0]}],[11,{"id":11,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":2,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"SystemLogger","properties":[185,1,136,0,0,128,63]}],[12,{"id":12,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,16,115,121,115,95,108,111,103,103,101,114,95,113,117,101,117,101,0]}]]}
[184430105128391300] [5.2] [1715069839.010] [host] [debug] Asset map dump: {"map":{}}
[184430105128391300] [5.2] [14.787] [MonoCamera(3)] [info] Using board socket: 1, id: 1
[184430105128391300] [5.2] [14.788] [MonoCamera(5)] [info] Using board socket: 2, id: 2
[184430105128391300] [5.2] [14.792] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[184430105128391300] [5.2] [14.828] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15]
MonoCamera allocated resources: no shaves; cmx slices: [13-15]
StereoDepth allocated resources: shaves: [14-14] cmx slices: [10-12]
[184430105128391300] [5.2] [14.837] [system] [warning] [32mPRINT:LeonCss:[0m XLinkIn | Created plgPool as shared: 1
XLinkIn | Created plgPool as shared: 1
XLinkIn | Created plgPool as shared: 1
[184430105128391300] [5.2] [14.837] [system] [warning] [34mPRINT:LeonMss:[0m sippPalThreadCreate: Thread /SIPP created
[184430105128391300] [5.2] [14.928] [system] [info] Memory Usage - DDR: 120.23 / 333.46 MiB, CMX: 2.10 / 2.50 MiB, LeonOS Heap: 7.82 / 82.56 MiB, LeonRT Heap: 2.96 / 40.68 MiB / NOC ddr: 5 MB/s
[184430105128391300] [5.2] [14.928] [system] [info] Temperatures - Average: 39.87C, CSS: 40.74C, MSS 38.88C, UPA: 40.04C, DSS: 39.81C
[184430105128391300] [5.2] [14.928] [system] [info] Cpu Usage - LeonOS 7.10%, LeonRT: 5.89%
[184430105128391300] [5.2] [15.365] [system] [warning] [32mPRINT:LeonCss:[0m [1970-01-01 00:00:15.359] [info] Time taken to build the pipeline: 575ms
== FSYNC enabled for cam mask 0x0
CAM ID: 2, width: 1280, height: 720, orientation: 0
CAM ID: 1, width: 1280, height: 720, orientation: 0
CAM ID: 0, width: 1920, height: 1080, orientation: 0
getDefaultDtp: camType:2, color:1, orientation:0
DTP: ext_dtp_database
Loaded DTP, handle 0x84800078
getDefaultDtp: camType:5, color:0, orientation:0
DTP: ext_dtp_database
Found DTP, handle 0x84800078
Broadcast9282: Successfully registered camera TG161B (ov9282) as /dev/Camera_bcast0
getDefaultDtp: camType:5, color:0, orientation:0
DTP: ext_dtp_database
Found DTP, handle 0x84800078
== SW-SYNC: 1, cam mask 0x7
!!! Master Slave config is: single_master_slave !!!
Starting camera 0, server 0x84800078
[91m[E] app_guzzi_command_callback():173: command->id:1[0m
[91m[E] app_guzzi_command_callback():193: command "1 0" sent
[0m
[184430105128391300] [5.2] [15.365] [system] [warning] [34mPRINT:LeonMss:[0m LRT - build pipeline call
[184430105128391300] [5.2] [15.376] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] iq_debug_create():161: iq_debug address 0x88808380[0m
[91m[E] hai_cm_driver_load_dtp():852: Features for camera A12N02A (imx378) are received[0m
[91m[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0[0m
[91m[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0[0m
[91m[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0[0m
[184430105128391300] [5.2] [15.387] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] camera_control_start():360: Camera_id = 0 started.
[0m
============================ Configuring IMX378 with mode 0
[184430105128391300] [5.2] [15.398] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
========== IMX378 /dev/i2c.Camera_0_sen, FSIN enable 0, output 0
[184430105128391300] [5.2] [15.410] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] vpipe_conv_config():1465: Exit Ok[0m
[91m[E] callback():133: Camera CB START_DONE event.[0m
Starting camera 1, server 0x84800078
[91m[E] app_guzzi_command_callback():173: command->id:1[0m
[91m[E] app_guzzi_command_callback():193: command "1 1" sent
[0m
[184430105128391300] [5.2] [15.421] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] iq_debug_create():161: iq_debug address 0x8834fc80[0m
[91m[E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received[0m
[91m[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0[0m
[91m[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0[0m
[91m[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0[0m
[91m[E] camera_control_start():360: Camera_id = 1 started.
[0m
[91m[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()![0m
[184430105128391300] [5.2] [15.432] [system] [warning] [32mPRINT:LeonCss:[0m === osDrvOV9282Control: set mode for Camera_1_sen
inc_camera_process set exposure and gain
[184430105128391300] [5.2] [15.443] [system] [warning] [32mPRINT:LeonCss:[0m PCLK 80000000 cfgFPS 30 PPLN 724 LPFR 3682 fract 165 extra 733
[91m[E] vpipe_conv_config():1465: Exit Ok[0m
[91m[E] callback():133: Camera CB START_DONE event.[0m
Starting camera 2, server 0x84800078
[91m[E] app_guzzi_command_callback():173: command->id:1[0m
[91m[E] app_guzzi_command_callback():193: command "1 2" sent
[0m
[184430105128391300] [5.2] [15.454] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] iq_debug_create():161: iq_debug address 0x87ec4ac0[0m
[91m[E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received[0m
[91m[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0[0m
[91m[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0[0m
[91m[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0[0m
[91m[E] camera_control_start():360: Camera_id = 2 started.
[0m
[91m[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()![0m
[184430105128391300] [5.2] [15.465] [system] [warning] [32mPRINT:LeonCss:[0m === osDrvOV9282Control: set mode for Camera_2_sen
inc_camera_process set exposure and gain
[184430105128391300] [5.2] [15.476] [system] [warning] [32mPRINT:LeonCss:[0m PCLK 80000000 cfgFPS 30 PPLN 724 LPFR 3682 fract 165 extra 733
[91m[E] vpipe_conv_config():1465: Exit Ok[0m
[91m[E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient[0m
[91m[E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient[0m
[91m[E] callback():133: Camera CB START_DONE event.[0m
[184430105128391300] [5.2] [15.487] [system] [warning] [32mPRINT:LeonCss:[0m inc_camera_process set exposure and gain
Reading..........Reading VERSION 7 --- ->
AF_TRIGGER on camera 0
[91m[E] app_guzzi_command_callback():173: command->id:5[0m
[91m[E] camera_control_focus_trigger():604: Focus trigger succeeded camera_id = 0.
[0m
[91m[E] app_guzzi_command_callback():218: command "5 0" sent
[0m
Starting Guzzi command handling loop...
[184430105128391300] [5.2] [15.487] [system] [warning] [34mPRINT:LeonMss:[0m MIPI DPHY 4 error, stat 0x30
[184430105128391300] [5.2] [15.509] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [15.520] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
[184430105128391300] [5.2] [15.531] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
finished sippPrePrepareLinesFreeRT
[184430105128391300] [5.2] [15.535] [StereoDepth(7)] [info] Depth baseline: '7.5000005' cm, focal length: '803.1735'
[184430105128391300] [5.2] [15.535] [StereoDepth(7)] [info] Depth horizontal FOV: '63.68965', vertical FOV: '38.516205'
[184430105128391300] [5.2] [15.535] [StereoDepth(7)] [info] Depth intrinsics:
1030.413, 0.000, 651.703,
0.000, 1030.413, 371.332,
0.000, 0.000, 1.000,
[184430105128391300] [5.2] [15.542] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
[184430105128391300] [5.2] [15.553] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
[184430105128391300] [5.2] [15.575] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
finished sippPrePrepareLinesFreeRT
[184430105128391300] [5.2] [15.586] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[2024-05-07 10:17:19.881] [depthai] [error] Callback with id: 1 throwed an exception: Time is out of dual 32-bit range
[184430105128391300] [5.2] [15.619] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [15.663] [system] [warning] [32mPRINT:LeonCss:[0m Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[184430105128391300] [5.2] [15.696] [system] [warning] [32mPRINT:LeonCss:[0m Reading..........Reading VERSION 7 --- ->
[184430105128391300] [5.2] [1715069840.001] [host] [debug] Device about to be closed...
[184430105128391300] [5.2] [1715069840.008] [host] [debug] Shutdown OK
[2024-05-07 10:17:20.139] [depthai] [debug] DataOutputQueue (stereo_stereo) closed
[184430105128391300] [5.2] [1715069840.139] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR)
[2024-05-07 10:17:20.139] [depthai] [debug] DataOutputQueue (rgb_isp) closed
[2024-05-07 10:17:20.139] [depthai] [debug] DataOutputQueue (imu_imu) closed
[184430105128391300] [5.2] [1715069840.139] [host] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)
[2024-05-07 10:17:20.139] [depthai] [debug] DataOutputQueue (sys_logger_queue) closed
[184430105128391300] [5.2] [1715069840.190] [host] [debug] Watchdog thread exception caught: Couldn't write data to stream: '__watchdog' (X_LINK_ERROR)
[2024-05-07 10:17:21.170] [depthai] [debug] XLinkResetRemote of linkId: (0)
[184430105128391300] [5.2] [1715069841.683] [host] [debug] Device closed, 1681
[2024-05-07 10:17:21.683] [depthai] [debug] DataInputQueue (rgb_control) closed
[2024-05-07 10:17:21.683] [depthai] [debug] DataInputQueue (left_control) closed
[2024-05-07 10:17:21.683] [depthai] [debug] DataInputQueue (right_control) closed
... logging to /home/phaas/.ros/log/2ff996cc-03ac-11ef-b5d3-1feec5197729/roslaunch-cluster-desktop-1223689.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.
]2;/opt/ros/noetic/share/depthai_ros_driver/launch/rgbd_pcl.launch
[1mstarted roslaunch server http://cluster-desktop:46809/[0m
SUMMARY
========
PARAMETERS
* /depth_image_to_rgb_pointcloud/queue_size: 10
* /oak/camera_i_base_frame: oak
* /oak/camera_i_cam_pitch: 0.0
* /oak/camera_i_cam_pos_x: 0.0
* /oak/camera_i_cam_pos_y: 0.0
* /oak/camera_i_cam_pos_z: 0.0
* /oak/camera_i_cam_roll: 0.0
* /oak/camera_i_cam_yaw: 0.0
* /oak/camera_i_imu_from_descr: False
* /oak/camera_i_nn_type: none
* /oak/camera_i_parent_frame: oak-d-base-frame
* /oak/camera_i_publish_tf_from_calibration: False
* /oak/robot_description: <?xml version="1....
* /oak/stereo_i_subpixel: True
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
depth_image_to_rgb_pointcloud (nodelet/nodelet)
oak (nodelet/nodelet)
oak_nodelet_manager (nodelet/nodelet)
oak_state_publisher (robot_state_publisher/robot_state_publisher)
set_log_level (rosservice/rosservice)
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/opt/ros/noetic/share/depthai_ros_driver/launch/rgbd_pcl.launch http://localhost:11311
[1mprocess[set_log_level-1]: started with pid [1223741][0m
[1mprocess[oak_state_publisher-2]: started with pid [1223742][0m
[1mprocess[oak_nodelet_manager-3]: started with pid [1223743][0m
[1mprocess[oak-4]: started with pid [1223744][0m
[1mprocess[depth_image_to_rgb_pointcloud-5]: started with pid [1223745][0m
[1m[set_log_level-1] process has finished cleanly
log file: /home/phaas/.ros/log/2ff996cc-03ac-11ef-b5d3-1feec5197729/set_log_level-1*.log[0m
[depth_image_to_rgb_pointcloud-5] killing on exit
[oak-4] killing on exit
[oak_nodelet_manager-3] killing on exit
[oak_state_publisher-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
[1mdone[0m
```
Thanks everyone for you support.
