Help launching OAK-FFC-OV9282 into OAK-FCC-3P module

AldoPenaGa

I have been trying to launch the ROS driver (roslaunch depthai_ros_driver camera.launch) when connecting my OAK-FFC-OV9282 into the CAM_R or CAM_L ports of my OAK-FCC-3P and it doesn't launch, I have run the debugger and got the following information:

[DEBUG] [1718006862.189795634]: Param rgb_i_disable_node with value 0
[DEBUG] [1718006862.194105709]: Destroying ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7fff71672070
[14442C10F168C9D600] [1.1] [1718006862.194] [host] [debug] Device about to be closed...
[14442C10F168C9D600] [1.1] [1718006862.196] [host] [debug] Shutdown OK
[14442C10F168C9D600] [1.1] [1718006862.198] [host] [debug] Log thread exception caught: Couldn't read data from stream: 'log' (X_LINK_ERROR)
[14442C10F168C9D600] [1.1] [1718006862.198] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: 'timesync' (X_LINK_ERROR)
[2024-06-10 17:07:42.198] [depthai] [debug] XLinkResetRemote of linkId: (0)
[14442C10F168C9D600] [1.1] [1718006863.575] [host] [debug] Device closed, 1381
[FATAL] [1718006863.578222352]: Failed to load nodelet '/oak` of type `depthai_ros_driver/Camera` to manager `oak_nodelet_manager'
================================================================================REQUIRED process [oak-5] has died!
process has died [pid 9284, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load depthai_ros_driver/Camera oak_nodelet_manager __name:=oak __log:=/home/muse/.ros/log/7fce297a-2700-11ef-b990-a5c507b6cac2/oak-5.log].
log file: /home/muse/.ros/log/7fce297a-2700-11ef-b990-a5c507b6cac2/oak-5*.log

Initiating shutdown!

[oak-5] killing on exit
[oak_nodelet_manager-4] killing on exit
[oak_state_publisher-3] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

When I launch it connected to the central port CAM_C it runs "okay" because I can see the image in purplish scale. Nevertheless, I want to connect an RGB camera to that port, so, I would very much appreciate your help to make it work using the ROS driver while having it connected to R or L ports.

jakaskerl

Hi @AldoPenaGa
The script expects left right and RGB cameras. You need to alter the params file that is being used.
luxonis/depthai-rosblob/0144d7988ae9b981ae867b133934188628c8e950/depthai_ros_driver/launch/camera.launch.py#L131

Some examples are available here, and here are the docs regarding the specific parameters.

Thanks,
Jaka

AldoPenaGa

jakaskerl

I have changed the parameters from camera.yaml already to:

/oak:

camera_i_enable_imu: false

camera_i_enable_ir: false

camera_i_floodlight_brightness: 0.0

camera_i_ip: ''

camera_i_laser_dot_brightness: 800.0

camera_i_mx_id: ''

camera_i_nn_type: none

camera_i_pipeline_type: rgb

camera_i_usb_port_id: ''

camera_i_usb_speed: SUPER_PLUS

nn_i_nn_config_path: depthai_ros_driver/mobilenet

rgb_i_resolution: '800P' #Supported: '1080P','4K', '13MP', '12MP',

But still doesn't work.

jakaskerl

Hi AldoPenaGa
Your pipeline type is RGB, but you have no cameras connected to the RGB port. Try setting the type to CamArray. https://docs.luxonis.com/software/ros/depthai-ros/driver/#Pipeline%20parameters

Thanks,
Jaka

AldoPenaGa

@jakaskerl I switched it to CamArray and could launch it but it didn't output the image as a ROS topic, which I am intending to use, for example with other modules like OV9782, it publishes in /oak/rgb/image_raw. So which is the proper way to watch the image retrieved from the sensor? Also, I would like to connect this monochromatic camera OV9282 with a OV9782 in the center port of the module, which would be the steps to follow supposing I want to launch both sensors with camera.launch, which other parameters should I modify in the YAML file?