- Edited
I am encountering issues when running the `stereo_inertial_node` using ROS2 with my OAK-D-S2 AF camera. Initially, I encountered a fatal error, and upon reducing the resolution, I no longer receive data on the topics Below are the detailed outputs and steps taken:
Command:
`ros2 launch depthai_examples stereo_inertial_node.launch.py
`
Output:
\`[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-14-21-07-929574-JOE-193765
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [193778]
[INFO] [stereo_inertial_node-2]: process started with pid [193780]
[INFO] [component_container-3]: process started with pid [193782]
[INFO] [rviz2-4]: process started with pid [193784]
[rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-1] [INFO] [1719404468.120257951] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-1] ...
[component_container-3] [INFO] [1719404468.354162060] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[rviz2-4] [INFO] [1719404468.373438346] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] ...
[component_container-3] [INFO] [1719404468.390723690] [container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-3] [INFO] [1719404468.390763571] [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] ...
[component_container-3] [WARN] [1719404468.444482545] [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] ...
[stereo_inertial_node-2] Listing available devices...
[stereo_inertial_node-2] Device Mx ID: 18443010B1E6631200
[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [2.264] [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 USB status: SUPER
[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [3.227] [system] [critical] Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 00, address: 00000000' '0'
\`After reducing the mono resolution to 400p from 720p, I ran the same command:
\`[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-14-26-38-974239-JOE-197675
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [197688]
[INFO] [stereo_inertial_node-2]: process started with pid [197690]
[INFO] [component_container-3]: process started with pid [197692]
[INFO] [rviz2-4]: process started with pid [197694]
[rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-1] ...
[stereo_inertial_node-2] [WARN] [1719404799.209315196] [DEPTHAI]: RGB Camera resolution is higher than the configured stereo resolution. Upscaling the stereo depth/disparity to match RGB camera resolution.
[component_container-3] ...
[rviz2-4] [INFO] [1719404799.431160091] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] ...
[component_container-3] [WARN] [1719404799.502955753] [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] ...
[stereo_inertial_node-2] Listing available devices...
[stereo_inertial_node-2] Device Mx ID: 18443010B1E6631200
[stereo_inertial_node-2] [18443010B1E6631200] [3.2] [2.257] [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 USB status: SUPER
\`the launch file :
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription, launch_description_sources
from launch.actions import IncludeLaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, LaunchConfigurationEquals, LaunchConfigurationNotEquals
import launch_ros.actions
import launch_ros.descriptions
def generate_launch_description():
depthai_examples_path = get_package_share_directory('depthai_examples')
urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch')
aligned_rviz = os.path.join(depthai_examples_path,
'rviz', 'stereoInertialDepthAlignROS2.rviz')
rectify_rviz = os.path.join(depthai_examples_path,
'rviz', 'stereoInertial.rviz')
default_resources_path = os.path.join(depthai_examples_path,
'resources')
mxId = LaunchConfiguration('mxId', default = 'x')
usb2Mode = LaunchConfiguration('usb2Mode', default = False)
poeMode = LaunchConfiguration('poeMode', default = False)
camera_model = LaunchConfiguration('camera_model', default = 'OAK-D')
tf_prefix = LaunchConfiguration('tf_prefix', default = 'oak')
mode = LaunchConfiguration('mode', default = 'depth')
base_frame = LaunchConfiguration('base_frame', default = 'oak-d_frame')
parent_frame = LaunchConfiguration('parent_frame', default = 'oak-d-base-frame')
imuMode = LaunchConfiguration('imuMode', default = '1')
cam_pos_x = LaunchConfiguration('cam_pos_x', default = '0.0')
cam_pos_y = LaunchConfiguration('cam_pos_y', default = '0.0')
cam_pos_z = LaunchConfiguration('cam_pos_z', default = '0.0')
cam_roll = LaunchConfiguration('cam_roll', default = '0.0')
cam_pitch = LaunchConfiguration('cam_pitch', default = '0.0')
cam_yaw = LaunchConfiguration('cam_yaw', default = '0.0')
lrcheck = LaunchConfiguration('lrcheck', default = True)
extended = LaunchConfiguration('extended', default = False)
subpixel = LaunchConfiguration('subpixel', default = True)
rectify = LaunchConfiguration('rectify', default = True)
depth_aligned = LaunchConfiguration('depth_aligned', default = True)
manualExposure = LaunchConfiguration('manualExposure', default = False)
expTime = LaunchConfiguration('expTime', default = 20000)
sensIso = LaunchConfiguration('sensIso', default = 800)
enableSpatialDetection = LaunchConfiguration('enableSpatialDetection', default = True)
syncNN = LaunchConfiguration('syncNN', default = True)
detectionClassesCount = LaunchConfiguration('detectionClassesCount', default = 80)
nnName = LaunchConfiguration('nnName', default = 'x')
resourceBaseFolder = LaunchConfiguration('resourceBaseFolder', default = default_resources_path)
stereo_fps = LaunchConfiguration('stereo_fps', default = 30)
confidence = LaunchConfiguration('confidence', default = 200)
LRchecktresh = LaunchConfiguration('LRchecktresh', default = 5)
monoResolution = LaunchConfiguration('monoResolution', default = '720p')
rgbResolution = LaunchConfiguration('rgbResolution', default = '1080p')
rgbScaleNumerator = LaunchConfiguration('rgbScaleNumerator', default = 2)
rgbScaleDinominator = LaunchConfiguration('rgbScaleDinominator', default = 3)
previewWidth = LaunchConfiguration('previewWidth', default = 416)
previewHeight = LaunchConfiguration('previewHeight', default = 416)
angularVelCovariance = LaunchConfiguration('angularVelCovariance', default = 0.0)
linearAccelCovariance = LaunchConfiguration('linearAccelCovariance', default = 0.0)
enableDotProjector = LaunchConfiguration('enableDotProjector', default = False)
enableFloodLight = LaunchConfiguration('enableFloodLight', default = False)
dotProjectormA = LaunchConfiguration('dotProjectormA', default = 200.0)
floodLightmA = LaunchConfiguration('floodLightmA', default = 200.0)
enableRosBaseTimeUpdate = LaunchConfiguration('enableRosBaseTimeUpdate', default = False)
enableRviz = LaunchConfiguration('enableRviz', default = True)
declare_mxId_cmd = DeclareLaunchArgument(
'mxId',
default_value=mxId,
description='select the device by passing the MxID of the device. It will connect to first available device if left empty.')
declare_usb2Mode_cmd = DeclareLaunchArgument(
'usb2Mode',
default_value=usb2Mode,
description='To revert and use usb2 Mode. Set this parameter to false')
declare_poeMode_cmd = DeclareLaunchArgument(
'poeMode',
default_value=poeMode,
description='When MxID is set and the device is a POE model then set the poeMode to \"true\" to connect properly.')
declare_camera_model_cmd = DeclareLaunchArgument(
'camera_model',
default_value=camera_model,
description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.')
declare_tf_prefix_cmd = DeclareLaunchArgument(
'tf_prefix',
default_value=tf_prefix,
description='your custom name for the prefix of camera TF frames')
declare_mode_cmd = DeclareLaunchArgument(
'mode',
default_value=mode,
description='set to \"depth\" or \"disparity\". Setting to depth will publish depth or else will publish disparity.')
declare_base_frame_cmd = DeclareLaunchArgument(
'base_frame',
default_value=base_frame,
description='Name of the base link in the TF Tree.')
declare_parent_frame_cmd = DeclareLaunchArgument(
'parent_frame',
default_value=parent_frame,
description='Name of the parent link from an another robot TF that can be connected to the base of the OAK device.')
declare_imu_mode_cmd = DeclareLaunchArgument(
'imuMode',
default_value=imuMode,
description=' set to 0 -> COPY, 1 -> LINEAR_INTERPOLATE_GYRO, 2 -> LINEAR_INTERPOLATE_ACCEL')
declare_pos_x_cmd = DeclareLaunchArgument(
'cam_pos_x',
default_value=cam_pos_x,
description='Position X of the camera with respect to the base frame.')
declare_pos_y_cmd = DeclareLaunchArgument(
'cam_pos_y',
default_value=cam_pos_y,
description='Position Y of the camera with respect to the base frame.')
declare_pos_z_cmd = DeclareLaunchArgument(
'cam_pos_z',
default_value=cam_pos_z,
description='Position Z of the camera with respect to the base frame.')
declare_roll_cmd = DeclareLaunchArgument(
'cam_roll',
default_value=cam_roll,
description='Roll orientation of the camera with respect to the base frame.')
declare_pitch_cmd = DeclareLaunchArgument(
'cam_pitch',
default_value=cam_pitch,
description='Pitch orientation of the camera with respect to the base frame.')
declare_yaw_cmd = DeclareLaunchArgument(
'cam_yaw',
default_value=cam_yaw,
description='Yaw orientation of the camera with respect to the base frame.')
declare_lrcheck_cmd = DeclareLaunchArgument(
'lrcheck',
default_value=lrcheck,
description='LR-Check is used to remove incorrectly calculated disparity pixels due to occlusions at object borders. Set to true to enable it')
declare_extended_cmd = DeclareLaunchArgument(
'extended',
default_value=extended,
description='Extended disparity mode allows detecting closer distance objects for the given baseline. Set this parameter to true to enable it')
declare_subpixel_cmd = DeclareLaunchArgument(
'subpixel',
default_value=subpixel,
description='Subpixel mode improves the precision and is especially useful for long range measurements. It also helps for better estimating surface normals. Set this parameter to true to enable it')
declare_rectify_cmd = DeclareLaunchArgument(
'rectify',
default_value=rectify,
description='enable this to publish rectified images used for depth estimation')
declare_depth_aligned_cmd = DeclareLaunchArgument(
'depth_aligned',
default_value=depth_aligned,
description='When depth_aligned is enabled depth map from stereo will be aligned to the RGB camera in the center.')
declare_manualExposure_cmd = DeclareLaunchArgument(
'manualExposure',
default_value=manualExposure,
description='When manualExposure is enabled, you can set the exposure time(expTime) and ISO(sensIso) of the stereo camera.')
declare_expTime_cmd = DeclareLaunchArgument(
'expTime',
default_value=expTime,
description='Set the exposure time of the stereo camera. Default value is 20000')
declare_sensIso_cmd = DeclareLaunchArgument(
'sensIso',
default_value=sensIso,
description='Set the ISO of the stereo camera. Default value is 800')
declare_enableSpatialDetection_cmd = DeclareLaunchArgument(
'enableSpatialDetection',
default_value=enableSpatialDetection,
description='When enableSpatialDetection is enabled NN Object detection with Spatial Positioning will be run.')
declare_syncNN_cmd = DeclareLaunchArgument(
'syncNN',
default_value=syncNN,
description='When syncNN is enabled Preview Image will be synced with the Detections.')
declare_detectionClassesCount_cmd = DeclareLaunchArgument(
'detectionClassesCount',
default_value=detectionClassesCount,
description='When detectionClassesCount is number of classes the NN contains. Default is set to 80.')
declare_nnName_cmd = DeclareLaunchArgument(
'nnName',
default_value=nnName,
description='Name of the NN blob being used to load. By default the one in resources folder will be used.')
declare_resourceBaseFolder_cmd = DeclareLaunchArgument(
'resourceBaseFolder',
default_value=resourceBaseFolder,
description='Path to the folder where NN Blob is stored.')
declare_stereo_fps_cmd = DeclareLaunchArgument(
'stereo_fps',
default_value=stereo_fps,
description='Sets the FPS of the cameras used in the stereo setup.')
declare_confidence_cmd = DeclareLaunchArgument(
'confidence',
default_value=confidence,
description='Set the confidence of the depth from 0-255. Max value means allow depth of all confidence. Default is set to 200')
declare_LRchecktresh_cmd = DeclareLaunchArgument(
'LRchecktresh',
default_value=LRchecktresh,
description='Set the LR threshold from 1-10 to get more accurate depth. Default value is 5.')
declare_monoResolution_cmd = DeclareLaunchArgument(
'monoResolution',
default_value=monoResolution,
description='Set the resolution of the mono/Stereo setup. Choose between 720p, 400p, 480p, 800p.')
declare_rgbResolution_cmd = DeclareLaunchArgument(
'rgbResolution',
default_value=rgbResolution,
description='Set the resolution of the RGB setup. Choose between 1080p, 4k, 12MP.')
declare_rgbScaleNumerator_cmd = DeclareLaunchArgument(
'rgbScaleNumerator',
default_value=rgbScaleNumerator,
description='Number of the scale Factor Numberator on top of RGB resolution selection.')
declare_rgbScaleDinominator_cmd = DeclareLaunchArgument(
'rgbScaleDinominator',
default_value=rgbScaleDinominator,
description='Number of the scale Factor Dinominator on top of RGB resolution selection.')
declare_previewWidth_cmd = DeclareLaunchArgument(
'previewWidth',
default_value=previewWidth,
description='Set the width of the preview window used for the NN detection.')
declare_previewHeight_cmd = DeclareLaunchArgument(
'previewHeight',
default_value=previewHeight,
description='Set the height of the preview window used for the NN detection.')
declare_angularVelCovariance_cmd = DeclareLaunchArgument(
'angularVelCovariance',
default_value=angularVelCovariance,
description='Set the angular velocity covariance of the IMU.')
declare_linearAccelCovariance_cmd = DeclareLaunchArgument(
'linearAccelCovariance',
default_value=linearAccelCovariance,
description='Set the Linear acceleration covariance of the IMU.')
declare_enableDotProjector_cmd = DeclareLaunchArgument(
'enableDotProjector',
default_value=enableDotProjector,
description='set this to true to enable the dot projector structure light (Available only on Pro models).')
declare_enableFloodLight_cmd = DeclareLaunchArgument(
'enableFloodLight',
default_value=enableFloodLight,
description='Set this to true to enable the flood light for night vision (Available only on Pro models).')
declare_dotProjectormA_cmd = DeclareLaunchArgument(
'dotProjectormA',
default_value=dotProjectormA,
description='Set the mA at which you intend to drive the dotProjector. Default is set to 200mA.')
declare_floodLightmA_cmd = DeclareLaunchArgument(
'floodLightmA',
default_value=floodLightmA,
description='Set the mA at which you intend to drive the FloodLight. Default is set to 200mA.')
declare_enableRosBaseTimeUpdate_cmd = DeclareLaunchArgument(
'enableRosBaseTimeUpdate',
default_value=enableRosBaseTimeUpdate,
description='Whether to update ROS time on each message.')
declare_enableRviz_cmd = DeclareLaunchArgument(
'enableRviz',
default_value=enableRviz,
description='When True create a RVIZ window.')
urdf_launch = IncludeLaunchDescription(
launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(urdf_launch_dir, 'urdf_launch.py')),
launch_arguments={'tf_prefix' : tf_prefix,
'camera_model': camera_model,
'base_frame' : base_frame,
'parent_frame': parent_frame,
'cam_pos_x' : cam_pos_x,
'cam_pos_y' : cam_pos_y,
'cam_pos_z' : cam_pos_z,
'cam_roll' : cam_roll,
'cam_pitch' : cam_pitch,
'cam_yaw' : cam_yaw}.items())
stereo_node = launch_ros.actions.Node(
package='depthai_examples', executable='stereo_inertial_node',
output='screen',
parameters=[{'mxId': mxId},
{'usb2Mode': usb2Mode},
{'poeMode': poeMode},
{'resourceBaseFolder': resourceBaseFolder},
{'tf_prefix': tf_prefix},
{'mode': mode},
{'imuMode': imuMode},
{'lrcheck': lrcheck},
{'extended': extended},
{'subpixel': subpixel},
{'rectify': rectify},
{'depth_aligned': depth_aligned},
{'manualExposure': manualExposure},
{'expTime': expTime},
{'sensIso': sensIso},
{'stereo_fps': stereo_fps},
{'confidence': confidence},
{'LRchecktresh': LRchecktresh},
{'monoResolution': monoResolution},
{'rgbResolution': rgbResolution},
{'rgbScaleNumerator': rgbScaleNumerator},
{'rgbScaleDinominator': rgbScaleDinominator},
{'previewWidth': previewWidth},
{'previewHeight': previewHeight},
{'angularVelCovariance': angularVelCovariance},
{'linearAccelCovariance': linearAccelCovariance},
{'enableSpatialDetection': enableSpatialDetection},
{'detectionClassesCount': detectionClassesCount},
{'syncNN': syncNN},
{'nnName': nnName},
{'enableDotProjector': enableDotProjector},
{'enableFloodLight': enableFloodLight},
{'dotProjectormA': dotProjectormA},
{'floodLightmA': floodLightmA},
{'enableRosBaseTimeUpdate': enableRosBaseTimeUpdate}
])
depth_metric_converter = launch_ros.descriptions.ComposableNode(
package='depth_image_proc',
plugin='depth_image_proc::ConvertMetricNode',
name='convert_metric_node',
remappings=[('image_raw', 'stereo/depth'),
('camera_info', 'stereo/camera_info'),
('image', 'stereo/converted_depth')]
)
pointcloud_topic = '/stereo/points'
point_cloud_creator = None
rviz_node = None
if LaunchConfigurationEquals('depth_aligned', 'True'):
point_cloud_creator = launch_ros.descriptions.ComposableNode(
package='depth_image_proc',
plugin='depth_image_proc::PointCloudXyzrgbNode',
name='point_cloud_xyzrgb_node',
remappings=[('depth_registered/image_rect', 'stereo/converted_depth'),
('rgb/image_rect_color', 'color/image'),
('rgb/camera_info', 'color/camera_info'),
('points', pointcloud_topic )]
)
rviz_node = launch_ros.actions.Node(
package='rviz2', executable='rviz2', output='screen',
arguments=['--display-config', aligned_rviz],
condition=IfCondition(enableRviz))
else:
point_cloud_creator = launch_ros.descriptions.ComposableNode(
package='depth_image_proc',
plugin='depth_image_proc::PointCloudXyziNode',
name='point_cloud_xyzi',
remappings=[('depth/image_rect', 'stereo/converted_depth'),
('intensity/image_rect', 'right/image_rect'),
('intensity/camera_info', 'right/camera_info'),
('points', pointcloud_topic)]
)
rviz_node = launch_ros.actions.Node(
package='rviz2', executable='rviz2', output='screen',
arguments=['--display-config', rectify_rviz],
condition=IfCondition(enableRviz))
if point_cloud_creator is not None:
point_cloud_container = launch_ros.actions.ComposableNodeContainer(
name='container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
# Driver itself
depth_metric_converter,
point_cloud_creator
],
output='screen',)
marker_node = launch_ros.actions.Node(
package='depthai_examples', executable='rviz2', output='screen',
arguments=['--display-config', rectify_rviz],
condition=IfCondition(enableRviz))
ld = LaunchDescription()
ld.add_action(declare_mxId_cmd)
ld.add_action(declare_usb2Mode_cmd)
ld.add_action(declare_poeMode_cmd)
ld.add_action(declare_camera_model_cmd)
ld.add_action(declare_tf_prefix_cmd)
ld.add_action(declare_mode_cmd)
ld.add_action(declare_base_frame_cmd)
ld.add_action(declare_parent_frame_cmd)
ld.add_action(declare_imu_mode_cmd)
ld.add_action(declare_pos_x_cmd)
ld.add_action(declare_pos_y_cmd)
ld.add_action(declare_pos_z_cmd)
ld.add_action(declare_roll_cmd)
ld.add_action(declare_pitch_cmd)
ld.add_action(declare_yaw_cmd)
ld.add_action(declare_lrcheck_cmd)
ld.add_action(declare_extended_cmd)
ld.add_action(declare_subpixel_cmd)
ld.add_action(declare_rectify_cmd)
ld.add_action(declare_depth_aligned_cmd)
ld.add_action(declare_manualExposure_cmd)
ld.add_action(declare_expTime_cmd)
ld.add_action(declare_sensIso_cmd)
ld.add_action(declare_enableSpatialDetection_cmd)
ld.add_action(declare_syncNN_cmd)
ld.add_action(declare_detectionClassesCount_cmd)
ld.add_action(declare_nnName_cmd)
ld.add_action(declare_resourceBaseFolder_cmd)
ld.add_action(declare_stereo_fps_cmd)
ld.add_action(declare_confidence_cmd)
ld.add_action(declare_LRchecktresh_cmd)
ld.add_action(declare_monoResolution_cmd)
ld.add_action(declare_rgbResolution_cmd)
ld.add_action(declare_rgbScaleNumerator_cmd)
ld.add_action(declare_rgbScaleDinominator_cmd)
ld.add_action(declare_previewWidth_cmd)
ld.add_action(declare_previewHeight_cmd)
ld.add_action(declare_angularVelCovariance_cmd)
ld.add_action(declare_linearAccelCovariance_cmd)
ld.add_action(declare_enableDotProjector_cmd)
ld.add_action(declare_enableFloodLight_cmd)
ld.add_action(declare_dotProjectormA_cmd)
ld.add_action(declare_floodLightmA_cmd)
ld.add_action(declare_enableRviz_cmd)
ld.add_action(urdf_launch)
ld.add_action(stereo_node)
if LaunchConfigurationEquals('depth_aligned', 'True') and LaunchConfigurationEquals('rectify', 'True'):
ld.add_action(point_cloud_container)
# ld.add_action(point_cloud_node)
if LaunchConfigurationEquals('enableRviz', 'True') and rviz_node is not None:
ld.add_action(rviz_node)
return ld**when i tried rgbd_pcl.launch.py i am got just the imu data and rgb/image_raw but i didn' get point cloud or depth image i got **
ros2 launch depthai_ros_driver rgbd_pcl.launch.py
[INFO] [launch]: All log files can be found below /home/joe/.ros/log/2024-06-26-15-52-33-340608-JOE-246770
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [246785]
[INFO] [component_container-2]: process started with pid [246787]
[rviz2-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[component_container-2] [INFO] [1719409953.737211636] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-2] [INFO] [1719409953.738794618] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-2] [INFO] [1719409953.738807704] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-2] [INFO] [1719409953.742326677] [oak_state_publisher]: got segment oak
[component_container-2] [INFO] [1719409953.742347618] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-2] [INFO] [1719409953.742351233] [oak_state_publisher]: got segment oak_imu_frame
[component_container-2] [INFO] [1719409953.742353929] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-2] [INFO] [1719409953.742356649] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-2] [INFO] [1719409953.742359420] [oak_state_publisher]: got segment oak_model_origin
[component_container-2] [INFO] [1719409953.742362289] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-2] [INFO] [1719409953.742364971] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-2] [INFO] [1719409953.742367442] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-2] [INFO] [1719409953.742369960] [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-2] [INFO] [1719409953.743324815] [oak_container]: Load Library: /home/joe/MESA_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[rviz2-1] [INFO] [1719409953.782980429] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1719409953.783098450] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container-2] [INFO] [1719409953.786466112] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1719409953.786497522] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1719409953.792203754] [oak]: No ip/mxid specified, connecting to the next available device.
[rviz2-1] [INFO] [1719409953.794360534] [rviz2]: Stereo is NOT SUPPORTED
[component_container-2] [INFO] [1719409956.545270385] [oak]: Camera with MXID: 18443010B1E6631200 and Name: 3.2 connected!
[component_container-2] [INFO] [1719409956.546608230] [oak]: USB SPEED: SUPER
[component_container-2] [INFO] [1719409956.599825731] [oak]: Device type: OAK-D-S2
[component_container-2] [INFO] [1719409956.603308541] [oak]: Pipeline type: RGBD
[component_container-2] [INFO] [1719409957.372621871] [oak]: Finished setting up pipeline.
[component_container-2] [INFO] [1719409958.279319474] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-2] [INFO] [1719409958.280005528] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so
[component_container-2] [INFO] [1719409958.285044618] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>
[component_container-2] [INFO] [1719409958.285089492] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>
[component_container-2] [INFO] [1719409958.285101509] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>
[component_container-2] [INFO] [1719409958.285110054] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>
[component_container-2] [INFO] [1719409958.285122170] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>
[component_container-2] [INFO] [1719409958.285130573] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>
[component_container-2] [INFO] [1719409958.285139064] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>
[component_container-2] [INFO] [1719409958.285147093] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>
[component_container-2] [INFO] [1719409958.285155678] [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'and here is the yaml file params:
/oak:
ros__parameters:
camera:
i_enable_imu: true
i_enable_ir: false
i_nn_type: none
i_pipeline_type: RGBD
i_usb_speed: SUPER_PLUS
left:
i_fps: 10.0
i_resolution: 400P
right:
i_fps: 10.0
i_resolution: 400P
stereo:
i_subpixel: true
i_height: 400
i_width: 640
i_align_depth: trueand in depthai-veiwer i just was able to visualize the color image and imu data but there is no depth image
what should be the problem for not getting point cloud and depth image?
