I am running
- ROS 2 Humble in Docker
- over Raspberry Pi OS 64-bit Bookworm Server
- on a Raspberry Pi 5
My Oak-D-W97 camera is working well with depthai_ros_driver and apriltag_ros (by remapping the RGB camera images to the AprilTag detector).
I am seeing tons of warnings (that do not seem to be affecting operation):
[VideoEncoder(10)] [warning] Arrived frame type (14) is not either NV12 or YUV400p (8-bit Gray)
pi@GoPi5Go:DOCKER:~/GoPi5Go/ros2ws $ more params/camera.yaml
/oak:
ros__parameters:
camera:
i_enable_imu: true
i_enable_ir: false
i_nn_type: spatial
i_pipeline_type: RGBD
cam_pos_x: 0.08
cam_pos_z: 0.162
use_rviz: false
nn:
i_nn_config_path: depthai_ros_driver/mobilenet
rgb:
i_low_bandwidth: true
left:
i_low_bandwidth: true
right:
i_low_bandwidth: true
stereo:
i_low_bandwidth: true
I saw recommendation on the forum to install "DepthAi pipeline_graph tool".
When I attempt to run the pipeline_graph tool, it cores with the following error:
pi@GoPi5Go:DOCKER:~/GoPi5Go/ros2ws $ pipeline_graph run "ros2 launch depthai_ros_driver camera.launch.py camera_model:=OAK-D-W params_file:=/home/pi/GoPi5Go/ros2ws/params/camera.yaml"
qt.qpa.xcb: could not connect to display
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
...
#9 Object "/usr/lib/python3/dist-packages/PySide2/QtWidgets.cpython-310-aarch64-linux-gnu.so", at 0x7fff71eb2923, in
#8 Object "/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0x7fff723286b3, in QApplicationPrivate::init()
#7 Object "/lib/aarch64-linux-gnu/libQt5Gui.so.5", at 0x7fff73aacbe7, in QGuiApplicationPrivate::init()
#6 Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0x7fff7b683f47, in QCoreApplicationPrivate::init()
#5 Object "/lib/aarch64-linux-gnu/libQt5Gui.so.5", at 0x7fff73aa98db, in QGuiApplicationPrivate::createEventDispatcher()
#4 Object "/lib/aarch64-linux-gnu/libQt5Gui.so.5", at 0x7fff73aa942b, in QGuiApplicationPrivate::createPlatformIntegration()
#3 Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0x7fff7b470f63, in QMessageLogger::fatal(char const*, ...) const
#2 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff878d712f, in abort
#1 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff878ea67b, in raise
#0 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff8792f200, in
Aborted (Signal sent by tkill() 14603 1000)
Aborted (core dumped)
Any guidance for me?