Oak-D PRO W fails after a clicking sound

farbod_f

Hello,

I am hoping some can help me here. :-)

I am trying the ROS2 package with my Oak-D PRO W camera. Here is the one I am running.

ros2 launch depthai_examples stereo_inertial_node.launch.py

The camera fails to start the first time with the above command, but does start the second time! But messes up my other USB devices, which work before I issue the above command but fail after it!

Here is the full story:

Ubuntu 20.04 on Jetson Xavier
Boot the computer.
Test USB devices. All fine.
Issue command: dmesg | grep USB
I get:
[ 0.000000] Kernel command line: console=ttyTCU0,115200 root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4 video=tegrafb earlycon=tegra_comb_uart,mmio32,0x0c168000 gpt rootfs.slot_suffix= usbcore.old_scheme_first=1 tegraid=19.1.2.0.0 maxcpus=8 boot.slot_suffix= boot.ratchetvalues=0.4.2 vpr_resize sdhci_tegra.en_boot_part_access=1

[ 0.974040] usbcore: registered new interface driver usbfs

[ 0.974141] usbcore: registered new interface driver hub

[ 0.974217] usbcore: registered new device driver usb

[ 1.039777] vdd-usb-3v3: at 3300 mV

[ 4.232711] usbcore: registered new interface driver r8152

[ 4.232747] usbcore: registered new interface driver asix

[ 4.232778] usbcore: registered new interface driver ax88179_178a

[ 4.232804] usbcore: registered new interface driver cdc_ether

[ 4.232828] usbcore: registered new interface driver net1080

[ 4.232858] usbcore: registered new interface driver cdc_subset

[ 4.232889] usbcore: registered new interface driver zaurus

[ 4.232936] usbcore: registered new interface driver cdc_ncm

[ 4.239922] tegra-xusb 3610000.xhci: USB2 port 0 has OTG_CAP

[ 4.239927] tegra-xusb 3610000.xhci: USB3 port 2 has OTG_CAP

[ 4.246500] usbcore: registered new interface driver uas

[ 4.246547] usbcore: registered new interface driver usb-storage

[ 4.246610] usbcore: registered new interface driver usbserial

[ 4.263704] usbcore: registered new interface driver xpad

[ 4.477441] usbcore: registered new interface driver usbhid

[ 4.477443] usbhid: USB HID core driver

[ 4.502032] usbcore: registered new interface driver snd-usb-audio

[ 7.876188] tegra-xusb 3610000.xhci: USB2 port 0 has OTG_CAP

[ 7.876296] tegra-xusb 3610000.xhci: USB3 port 2 has OTG_CAP

[ 7.889830] tegra-xusb 3610000.xhci: extcon 0: ffffffc7dae28400 id

[ 7.892679] tegra-xusb 3610000.xhci: Firmware timestamp: 2020-09-11 16:55:03 UTC, Version: 60.09 release

[ 7.892705] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 7.892718] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 1

[ 7.893370] tegra-xusb 3610000.xhci: hcc params 0x0184ff25 hci version 0x110 quirks 0x00050810

[ 7.893409] tegra-xusb 3610000.xhci: irq 474, io mem 0x03610000

[ 7.893548] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002

[ 7.893551] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 7.893554] usb usb1: Product: xHCI Host Controller

[ 7.893556] usb usb1: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 7.893558] usb usb1: SerialNumber: 3610000.xhci

[ 7.894096] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 7.894102] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 2

[ 7.894106] tegra-xusb 3610000.xhci: Host supports USB 3.1 Enhanced SuperSpeed

[ 7.894216] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003

[ 7.894219] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 7.894222] usb usb2: Product: xHCI Host Controller

[ 7.894224] usb usb2: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 7.894226] usb usb2: SerialNumber: 3610000.xhci

[ 7.895004] tegra-xusb 3610000.xhci: Upgrade port 0 to USB3.0

[ 7.895008] tegra-xusb 3610000.xhci: Upgrade port 1 to USB3.0

[ 8.002727] usb usb2: usb_suspend_both: status 0

[ 8.234454] usb 1-1: new full-speed USB device number 2 using tegra-xusb

[ 8.257038] usb 1-1: New USB device found, idVendor=10c4, idProduct=ea60

[ 8.257042] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 8.257045] usb 1-1: Product: CP2102N USB to UART Bridge Controller

[ 8.257047] usb 1-1: Manufacturer: Silicon Labs

[ 8.257050] usb 1-1: SerialNumber: de610e67e689ec11885dba71d76262f7

[ 8.374929] usb 2-4: new SuperSpeed USB device number 2 using tegra-xusb

[ 8.408878] usb 2-4: New USB device found, idVendor=0bda, idProduct=0411

[ 8.408882] usb 2-4: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 8.408884] usb 2-4: Product: 4-Port USB 3.0 Hub

[ 8.408886] usb 2-4: Manufacturer: Generic

[ 8.522461] usb 1-4: new high-speed USB device number 3 using tegra-xusb

[ 8.557037] usb 1-4: New USB device found, idVendor=0bda, idProduct=5411

[ 8.557040] usb 1-4: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 8.557043] usb 1-4: Product: 4-Port USB 2.0 Hub

[ 8.557045] usb 1-4: Manufacturer: Generic

[ 8.574459] usb 2-4: usb_suspend_both: status 0

[ 8.574601] usb usb2: usb_suspend_both: status 0

[ 8.846499] usb 1-4.1: new full-speed USB device number 4 using tegra-xusb

[ 8.846898] usb 1-4.1: Device not responding to setup address.

[ 9.054747] usb 1-4.1: Device not responding to setup address.

[ 9.262497] usb 1-4.1: device not accepting address 4, error -71

[ 9.558495] usb 1-4.1: new full-speed USB device number 5 using tegra-xusb

[ 9.575897] usb 1-4.1: New USB device found, idVendor=4c4a, idProduct=4155

[ 9.580448] usb 1-4.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 9.587522] usb 1-4.1: Product: UACDemoV1.0

[ 9.591726] usb 1-4.1: Manufacturer: Jieli Technology

[ 9.620265] usb 1-4.1: SerialNumber: 4150344133363815

[ 9.629144] input: Jieli Technology UACDemoV1.0 as /devices/3610000.xhci/usb1/1-4/1-4.1/1-4.1:1.2/0003:4C4A:4155.0001/input/input6

[ 9.690786] hid-generic 0003:4C4A:4155.0001: input,hidraw0: USB HID v1.00 Device [Jieli Technology UACDemoV1.0] on usb-3610000.xhci-4.1/input2

[ 9.774514] usb 1-4.2: new high-speed USB device number 6 using tegra-xusb

[ 9.794981] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 9.795119] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 9.795237] usb 1-4.2: Product: Movidius MyriadX

[ 9.795316] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 9.795396] usb 1-4.2: SerialNumber: 03e72485

[ 9.874504] usb 1-4.3: new full-speed USB device number 7 using tegra-xusb

[ 9.897157] usb 1-4.3: New USB device found, idVendor=10c4, idProduct=ea70

[ 9.897297] usb 1-4.3: New USB device strings: Mfr=1, Product=2, SerialNumber=5

[ 9.897419] usb 1-4.3: Product: CP2105 Dual USB to UART Bridge Controller

[ 9.897531] usb 1-4.3: Manufacturer: Silicon Labs

[ 9.897613] usb 1-4.3: SerialNumber: 0130F44C

[ 9.986554] usb 1-4.4: new full-speed USB device number 8 using tegra-xusb

[ 10.014422] usb 1-4.4: New USB device found, idVendor=0403, idProduct=6015

[ 10.014429] usb 1-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 10.014477] usb 1-4.4: Product: VScom USB-CAN Plus

[ 10.014498] usb 1-4.4: Manufacturer: FTDI

[ 10.014501] usb 1-4.4: SerialNumber: DN064ITJ

[ 10.752227] usbcore: registered new interface driver cp210x

[ 10.752269] usbserial: USB Serial support registered for cp210x

[ 10.753387] usb 1-1: cp210x converter now attached to ttyUSB0

[ 10.758879] usb 1-4.3: cp210x converter now attached to ttyUSB1

[ 10.760640] usb 1-4.3: cp210x converter now attached to ttyUSB2

[ 11.006612] usbcore: registered new interface driver ftdi_sio

[ 11.006648] usbserial: USB Serial support registered for FTDI USB Serial Device

[ 11.007271] usb 1-4.4: Detected FT-X

[ 11.007991] usb 1-4.4: FTDI USB Serial Device converter now attached to ttyUSB3

[ 11.486515] usb 1-3: new full-speed USB device number 9 using tegra-xusb

[ 11.512434] usb 1-3: New USB device found, idVendor=8087, idProduct=0a2b

[ 11.512440] usb 1-3: New USB device strings: Mfr=0, Product=0, SerialNumber=0

[ 11.556026] usbcore: registered new interface driver btusb

[ 13.742264] usb0: HOST MAC a2:0c:81:ac:5a:1a

[ 13.742324] usb0: MAC a2:0c:81:ac:5a:1b

[ 13.762551] l4tbr0: port 2(usb0) entered blocking state

[ 13.762556] l4tbr0: port 2(usb0) entered disabled state

[ 13.762723] device usb0 entered promiscuous mode

[ 13.768317] IPv6: ADDRCONF(NETDEV_UP): usb0: link is not ready
Issue command: ros2 launch depthai_examples stereo_inertial_node.launch.py
Nodes start. I hear a clicking noise. No topic published.
Issue command: dmesg | grep usb
I get additional message:
[ 264.526294] usb 1-4.2: USB disconnect, device number 6

[ 264.972607] usb 2-4.2: new SuperSpeed USB device number 3 using tegra-xusb

[ 264.993271] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 264.993282] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 264.993289] usb 2-4.2: Product: Luxonis Device

[ 264.993296] usb 2-4.2: Manufacturer: Intel Corporation

[ 264.993306] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 266.146236] usb 2-4.2: Disable of device-initiated U1 failed.

[ 266.149994] usb 2-4.2: Disable of device-initiated U2 failed.

[ 266.318147] usb 1-4.1: USB disconnect, device number 5

[ 266.838247] usb 2-4.2: USB disconnect, device number 3

[ 266.892204] usb 2-4: usb_suspend_both: status 0

[ 266.892500] usb usb2: usb_suspend_both: status 0

[ 267.352164] usb 1-4.2: new high-speed USB device number 10 using tegra-xusb

[ 267.618846] usb 1-4.2: Device not responding to setup address.

[ 267.824364] usb 1-4.2: Device not responding to setup address.

[ 268.032133] usb 1-4.2: device not accepting address 10, error -71

[ 268.320100] usb 1-4.2: new high-speed USB device number 11 using tegra-xusb

[ 268.340711] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 268.340722] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 268.340729] usb 1-4.2: Product: Movidius MyriadX

[ 268.340735] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 268.340741] usb 1-4.2: SerialNumber: 03e72485

[ 268.342481] usb 1-4.3: USB disconnect, device number 7

[ 268.568085] usb 1-4.3: new full-speed USB device number 12 using tegra-xusb

[ 268.590698] usb 1-4.3: New USB device found, idVendor=10c4, idProduct=ea70

[ 268.590710] usb 1-4.3: New USB device strings: Mfr=1, Product=2, SerialNumber=5

[ 268.590717] usb 1-4.3: Product: CP2105 Dual USB to UART Bridge Controller

[ 268.590723] usb 1-4.3: Manufacturer: Silicon Labs

[ 268.590729] usb 1-4.3: SerialNumber: 0130F44C

[ 268.593433] usb 1-4.3: cp210x converter now attached to ttyUSB1

[ 268.594631] usb 1-4.3: cp210x converter now attached to ttyUSB2

[ 268.820106] usb 1-4.1: new low-speed USB device number 13 using tegra-xusb

[ 268.820706] usb 1-4.1: Device not responding to setup address.

[ 269.028637] usb 1-4.1: Device not responding to setup address.

[ 269.236000] usb 1-4.1: device not accepting address 13, error -71

[ 269.316004] usb 1-4.1: new low-speed USB device number 14 using tegra-xusb

[ 269.316576] usb 1-4.1: Device not responding to setup address.

[ 269.524550] usb 1-4.1: Device not responding to setup address.

[ 269.732007] usb 1-4.1: device not accepting address 14, error -71

[ 269.732279] usb 1-4-port1: attempt power cycle

[ 270.543923] usb 1-4.1: new full-speed USB device number 15 using tegra-xusb

[ 270.645241] usb 1-4.1: New USB device found, idVendor=4c4a, idProduct=4155

[ 270.645254] usb 1-4.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 270.645264] usb 1-4.1: Product: UACDemoV1.0

[ 270.645271] usb 1-4.1: Manufacturer: Jieli Technology

[ 270.645277] usb 1-4.1: SerialNumber: 4150344133363815

[ 270.655025] input: Jieli Technology UACDemoV1.0 as /devices/3610000.xhci/usb1/1-4/1-4.1/1-4.1:1.2/0003:4C4A:4155.0002/input/input7

[ 270.712455] hid-generic 0003:4C4A:4155.0002: input,hidraw0: USB HID v1.00 Device [Jieli Technology UACD
Run ros2 launch depthai_examples stereo_inertial_node.launch.py again.
No click noise. The nodes run, and the topics publish.
Now, dmesg | grep usb gives the additional message:
[ 1605.198562] usb 1-4.2: USB disconnect, device number 11

[ 1606.359500] usb 2-4.2: new SuperSpeed USB device number 4 using tegra-xusb

[ 1606.380339] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 1606.380351] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1606.380357] usb 2-4.2: Product: Luxonis Device

[ 1606.380363] usb 2-4.2: Manufacturer: Intel Corporation

[ 1606.380370] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 1653.727922] usb 2-4.2: USB disconnect, device number 4

[ 1653.925306] usb 2-4: usb_suspend_both: status 0

[ 1653.925562] usb usb2: usb_suspend_both: status 0

[ 1654.065263] usb 1-4.2: new high-speed USB device number 17 using tegra-xusb

[ 1654.085933] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 1654.085943] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1654.085950] usb 1-4.2: Product: Movidius MyriadX

[ 1654.085985] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 1654.085992] usb 1-4.2: SerialNumber: 03e72485

[ 1674.574209] usb 1-4.2: USB disconnect, device number 17

[ 1675.992695] usb 2-4.2: new SuperSpeed USB device number 5 using tegra-xusb

[ 1676.013425] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 1676.013436] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1676.013442] usb 2-4.2: Product: Luxonis Device

[ 1676.013449] usb 2-4.2: Manufacturer: Intel Corporation

[ 1676.013456] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 1780.178330] usb 2-4.2: Disable of device-initiated U1 failed.

[ 1780.180176] usb 2-4.2: Disable of device-initiated U2 failed.

[ 1780.302196] usb 1-4.1: USB disconnect, device number 15

[ 1780.504848] usb 1-4.3: USB disconnect, device number 12

[ 1780.874462] usb 2-4.2: USB disconnect, device number 5

[ 1780.928361] usb 2-4: usb_suspend_both: status 0

[ 1780.928564] usb usb2: usb_suspend_both: status 0

[ 1780.952361] usb 1-4.3: new full-speed USB device number 19 using tegra-xusb

[ 1780.975089] usb 1-4.3: New USB device found, idVendor=10c4, idProduct=ea70

[ 1780.975100] usb 1-4.3: New USB device strings: Mfr=1, Product=2, SerialNumber=5

[ 1780.975107] usb 1-4.3: Product: CP2105 Dual USB to UART Bridge Controller

[ 1780.975113] usb 1-4.3: Manufacturer: Silicon Labs

[ 1780.975118] usb 1-4.3: SerialNumber: 0130F44C

[ 1780.977775] usb 1-4.3: cp210x converter now attached to ttyUSB1

[ 1780.979230] usb 1-4.3: cp210x converter now attached to ttyUSB2

[ 1781.200345] usb 1-4.1: new full-speed USB device number 20 using tegra-xusb

[ 1781.200636] usb 1-4.1: Device not responding to setup address.

[ 1781.408670] usb 1-4.1: Device not responding to setup address.

[ 1781.616318] usb 1-4.1: device not accepting address 20, error -71

[ 1781.904306] usb 1-4.1: new full-speed USB device number 21 using tegra-xusb

[ 1781.925704] usb 1-4.1: New USB device found, idVendor=4c4a, idProduct=4155

[ 1781.925714] usb 1-4.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1781.925721] usb 1-4.1: Product: UACDemoV1.0

[ 1781.925728] usb 1-4.1: Manufacturer: Jieli Technology

[ 1781.925735] usb 1-4.1: SerialNumber: 4150344133363815

[ 1781.934742] input: Jieli Technology UACDemoV1.0 as /devices/3610000.xhci/usb1/1-4/1-4.1/1-4.1:1.2/0003:4C4A:4155.0003/input/input8

[ 1781.992843] hid-generic 0003:4C4A:4155.0003: input,hidraw0: USB HID v1.00 Device [Jieli Technology UACDemoV1.0] on usb-3610000.xhci-4.1/input2

[ 1782.216299] usb 1-4.2: new high-speed USB device number 22 using tegra-xusb

[ 1782.236993] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 1782.237011] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1782.237018] usb 1-4.2: Product: Movidius MyriadX

[ 1782.237053] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 1782.237059] usb 1-4.2: SerialNumber: 03e72485

[ 1822.286108] usb 1-4.2: USB disconnect, device number 22

[ 1822.719083] usb 2-4.2: new SuperSpeed USB device number 6 using tegra-xusb

[ 1822.743810] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 1822.743820] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1822.743826] usb 2-4.2: Product: Luxonis Device

[ 1822.743832] usb 2-4.2: Manufacturer: Intel Corporation

[ 1822.743838] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 1877.794020] usb 2-4.2: Disable of device-initiated U1 failed.

[ 1877.796149] usb 2-4.2: Disable of device-initiated U2 failed.

[ 1878.486367] usb 2-4.2: USB disconnect, device number 6

[ 1878.540652] usb 2-4: usb_suspend_both: status 0

[ 1878.540922] usb usb2: usb_suspend_both: status 0

[ 1878.564666] usb 1-4.2: new high-speed USB device number 23 using tegra-xusb

[ 1878.585304] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 1878.585343] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1878.585350] usb 1-4.2: Product: Movidius MyriadX

[ 1878.585355] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 1878.585360] usb 1-4.2: SerialNumber: 03e72485

[ 1906.254213] usb 1-4.2: USB disconnect, device number 23

[ 1906.671869] usb 2-4.2: new SuperSpeed USB device number 7 using tegra-xusb

[ 1906.692630] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 1906.692640] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1906.692646] usb 2-4.2: Product: Luxonis Device

[ 1906.692652] usb 2-4.2: Manufacturer: Intel Corporation

[ 1906.692658] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 1925.633995] usb 2-4.2: Disable of device-initiated U1 failed.

[ 1925.635828] usb 2-4.2: Disable of device-initiated U2 failed.

[ 1926.324564] usb 2-4.2: USB disconnect, device number 7

[ 1926.378859] usb 2-4: usb_suspend_both: status 0

[ 1926.379148] usb usb2: usb_suspend_both: status 0

[ 1926.402876] usb 1-4.2: new high-speed USB device number 24 using tegra-xusb

[ 1926.423500] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 1926.423510] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 1926.423517] usb 1-4.2: Product: Movidius MyriadX

[ 1926.423523] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 1926.423528] usb 1-4.2: SerialNumber: 03e72485

My questions:

Why I am getting the boldfaced error messages shown in step 11 above?
Is that why my other USB devices fail?
How can I solve this problem?

Thank you so much in advance!

jakaskerl

Hi farbod_f
Can you try running a simple python example that utilizes the camera? I think the USB OAK might be in an unusable state upon booting the OS. LMK if that seems to be the case.

Thanks,
Jaka

farbod_f

jakaskerl

Hi there!

Thank you for your reply.

I ran a simple Python example that sets up a pipeline for Yolov4 object detection, and got the same result. I also ran another Python example that creates just a color camera pipeline to record a video file. Again, I got the same result.

The result of a "dmesg | grep usb" command for the two above cases are exactly the same, except the timestamps, of course. Here it is again (the first run is at timestamp 423.658683 and the second run is at time stamp 649.450393):

dmesg | grep usb

[ 0.000000] Kernel command line: console=ttyTCU0,115200 root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 rootfstype=ext4 video=tegrafb earlycon=tegra_comb_uart,mmio32,0x0c168000 gpt rootfs.slot_suffix= usbcore.old_scheme_first=1 tegraid=19.1.2.0.0 maxcpus=8 boot.slot_suffix= boot.ratchetvalues=0.4.2 vpr_resize sdhci_tegra.en_boot_part_access=1

[ 0.979218] usbcore: registered new interface driver usbfs

[ 0.979290] usbcore: registered new interface driver hub

[ 0.979380] usbcore: registered new device driver usb

[ 1.046231] vdd-usb-3v3: at 3300 mV

[ 4.359314] usbcore: registered new interface driver r8152

[ 4.359358] usbcore: registered new interface driver asix

[ 4.359391] usbcore: registered new interface driver ax88179_178a

[ 4.359426] usbcore: registered new interface driver cdc_ether

[ 4.359469] usbcore: registered new interface driver net1080

[ 4.359495] usbcore: registered new interface driver cdc_subset

[ 4.359541] usbcore: registered new interface driver zaurus

[ 4.359597] usbcore: registered new interface driver cdc_ncm

[ 4.366055] tegra-xusb 3610000.xhci: USB2 port 0 has OTG_CAP

[ 4.366059] tegra-xusb 3610000.xhci: USB3 port 2 has OTG_CAP

[ 4.372317] usbcore: registered new interface driver uas

[ 4.372404] usbcore: registered new interface driver usb-storage

[ 4.372465] usbcore: registered new interface driver usbserial

[ 4.388678] usbcore: registered new interface driver xpad

[ 4.590740] usbcore: registered new interface driver usbhid

[ 4.590742] usbhid: USB HID core driver

[ 4.633832] usbcore: registered new interface driver snd-usb-audio

[ 8.043515] tegra-xusb 3610000.xhci: USB2 port 0 has OTG_CAP

[ 8.043519] tegra-xusb 3610000.xhci: USB3 port 2 has OTG_CAP

[ 8.046181] tegra-xusb 3610000.xhci: extcon 0: ffffffc7d7a03c00 id

[ 8.048799] tegra-xusb 3610000.xhci: Firmware timestamp: 2020-09-11 16:55:03 UTC, Version: 60.09 release

[ 8.048841] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 8.048851] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 1

[ 8.049491] tegra-xusb 3610000.xhci: hcc params 0x0184ff25 hci version 0x110 quirks 0x00050810

[ 8.049533] tegra-xusb 3610000.xhci: irq 474, io mem 0x03610000

[ 8.049652] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002

[ 8.049655] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 8.049658] usb usb1: Product: xHCI Host Controller

[ 8.049660] usb usb1: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 8.049662] usb usb1: SerialNumber: 3610000.xhci

[ 8.050339] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 8.050345] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 2

[ 8.050353] tegra-xusb 3610000.xhci: Host supports USB 3.1 Enhanced SuperSpeed

[ 8.050559] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003

[ 8.050562] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 8.050565] usb usb2: Product: xHCI Host Controller

[ 8.050567] usb usb2: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 8.050569] usb usb2: SerialNumber: 3610000.xhci

[ 8.051347] tegra-xusb 3610000.xhci: Upgrade port 0 to USB3.0

[ 8.051351] tegra-xusb 3610000.xhci: Upgrade port 1 to USB3.0

[ 8.155459] usb usb2: usb_suspend_both: status 0

[ 8.377548] usb 1-1: new full-speed USB device number 2 using tegra-xusb

[ 8.400057] usb 1-1: New USB device found, idVendor=10c4, idProduct=ea60

[ 8.400062] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 8.400078] usb 1-1: Product: CP2102N USB to UART Bridge Controller

[ 8.400080] usb 1-1: Manufacturer: Silicon Labs

[ 8.400082] usb 1-1: SerialNumber: de610e67e689ec11885dba71d76262f7

[ 8.517836] usb 2-4: new SuperSpeed USB device number 2 using tegra-xusb

[ 8.548003] usb 2-4: New USB device found, idVendor=0bda, idProduct=0411

[ 8.548007] usb 2-4: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 8.548010] usb 2-4: Product: 4-Port USB 3.0 Hub

[ 8.548012] usb 2-4: Manufacturer: Generic

[ 8.669547] usb 1-4: new high-speed USB device number 3 using tegra-xusb

[ 8.708157] usb 1-4: New USB device found, idVendor=0bda, idProduct=5411

[ 8.708161] usb 1-4: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 8.708163] usb 1-4: Product: 4-Port USB 2.0 Hub

[ 8.708165] usb 1-4: Manufacturer: Generic

[ 8.721539] usb 2-4: usb_suspend_both: status 0

[ 8.721706] usb usb2: usb_suspend_both: status 0

[ 8.993547] usb 1-4.1: new full-speed USB device number 4 using tegra-xusb

[ 8.993992] usb 1-4.1: Device not responding to setup address.

[ 9.201818] usb 1-4.1: Device not responding to setup address.

[ 9.409575] usb 1-4.1: device not accepting address 4, error -71

[ 9.697568] usb 1-4.1: new full-speed USB device number 5 using tegra-xusb

[ 9.738840] usb 1-4.1: New USB device found, idVendor=4c4a, idProduct=4155

[ 9.738845] usb 1-4.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 9.738847] usb 1-4.1: Product: UACDemoV1.0

[ 9.738849] usb 1-4.1: Manufacturer: Jieli Technology

[ 9.738851] usb 1-4.1: SerialNumber: 4150344133363815

[ 9.747132] input: Jieli Technology UACDemoV1.0 as /devices/3610000.xhci/usb1/1-4/1-4.1/1-4.1:1.2/0003:4C4A:4155.0001/input/input6

[ 9.801805] hid-generic 0003:4C4A:4155.0001: input,hidraw0: USB HID v1.00 Device [Jieli Technology UACDemoV1.0] on usb-3610000.xhci-4.1/input2

[ 9.897550] usb 1-4.2: new high-speed USB device number 6 using tegra-xusb

[ 9.922124] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 9.922268] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 9.923656] usb 1-4.2: Product: Movidius MyriadX

[ 9.934800] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 9.934802] usb 1-4.2: SerialNumber: 03e72485

[ 10.013564] usb 1-4.3: new full-speed USB device number 7 using tegra-xusb

[ 10.036119] usb 1-4.3: New USB device found, idVendor=10c4, idProduct=ea70

[ 10.036269] usb 1-4.3: New USB device strings: Mfr=1, Product=2, SerialNumber=5

[ 10.036427] usb 1-4.3: Product: CP2105 Dual USB to UART Bridge Controller

[ 10.036541] usb 1-4.3: Manufacturer: Silicon Labs

[ 10.036630] usb 1-4.3: SerialNumber: 0130F44C

[ 10.117587] usb 1-4.4: new full-speed USB device number 8 using tegra-xusb

[ 10.145571] usb 1-4.4: New USB device found, idVendor=0403, idProduct=6015

[ 10.145725] usb 1-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 10.145858] usb 1-4.4: Product: VScom USB-CAN Plus

[ 10.145950] usb 1-4.4: Manufacturer: FTDI

[ 10.146019] usb 1-4.4: SerialNumber: DN064ITJ

[ 11.275131] usbcore: registered new interface driver cp210x

[ 11.275170] usbserial: USB Serial support registered for cp210x

[ 11.276518] usb 1-1: cp210x converter now attached to ttyUSB0

[ 11.278267] usb 1-4.3: cp210x converter now attached to ttyUSB1

[ 11.279348] usb 1-4.3: cp210x converter now attached to ttyUSB2

[ 11.311907] usbcore: registered new interface driver ftdi_sio

[ 11.311958] usbserial: USB Serial support registered for FTDI USB Serial Device

[ 11.312252] usb 1-4.4: Detected FT-X

[ 11.314739] usb 1-4.4: FTDI USB Serial Device converter now attached to ttyUSB3

[ 11.689583] usb 1-3: new full-speed USB device number 9 using tegra-xusb

[ 11.715475] usb 1-3: New USB device found, idVendor=8087, idProduct=0a2b

[ 11.715485] usb 1-3: New USB device strings: Mfr=0, Product=0, SerialNumber=0

[ 11.780638] usbcore: registered new interface driver btusb

[ 14.213678] usb0: HOST MAC a2:0c:81:ac:5a:1a

[ 14.214339] usb0: MAC a2:0c:81:ac:5a:1b

[ 14.232872] l4tbr0: port 2(usb0) entered blocking state

[ 14.232883] l4tbr0: port 2(usb0) entered disabled state

[ 14.233558] device usb0 entered promiscuous mode

[ 14.246191] IPv6: ADDRCONF(NETDEV_UP): usb0: link is not ready

[ 423.658683] usb 1-4.2: USB disconnect, device number 6

[ 424.211548] usb 2-4.2: new SuperSpeed USB device number 3 using tegra-xusb

[ 424.232452] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 424.232465] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 424.232471] usb 2-4.2: Product: Luxonis Device

[ 424.232476] usb 2-4.2: Manufacturer: Intel Corporation

[ 424.232482] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 433.614403] usb 2-4.2: Disable of device-initiated U1 failed.

[ 433.617671] usb 2-4.2: Disable of device-initiated U2 failed.

[ 434.308705] usb 2-4.2: USB disconnect, device number 3

[ 434.362722] usb 2-4: usb_suspend_both: status 0

[ 434.362936] usb usb2: usb_suspend_both: status 0

[ 434.386741] usb 1-4.2: new high-speed USB device number 10 using tegra-xusb

[ 434.407357] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 434.407397] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 434.407404] usb 1-4.2: Product: Movidius MyriadX

[ 434.407409] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 434.407415] usb 1-4.2: SerialNumber: 03e72485

[ 649.450393] usb 1-4.2: USB disconnect, device number 10

[ 650.869179] usb 2-4.2: new SuperSpeed USB device number 4 using tegra-xusb

[ 650.889972] usb 2-4.2: New USB device found, idVendor=03e7, idProduct=f63b

[ 650.889984] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 650.889991] usb 2-4.2: Product: Luxonis Device

[ 650.889997] usb 2-4.2: Manufacturer: Intel Corporation

[ 650.890003] usb 2-4.2: SerialNumber: 1844301011F2C61200

[ 651.166436] usb 2-4.2: Disable of device-initiated U1 failed.

[ 651.168499] usb 2-4.2: Disable of device-initiated U2 failed.

[ 651.858621] usb 2-4.2: USB disconnect, device number 4

[ 651.912858] usb 2-4: usb_suspend_both: status 0

[ 651.913115] usb usb2: usb_suspend_both: status 0

[ 651.936869] usb 1-4.2: new high-speed USB device number 12 using tegra-xusb

[ 651.957483] usb 1-4.2: New USB device found, idVendor=03e7, idProduct=2485

[ 651.957495] usb 1-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 651.957501] usb 1-4.2: Product: Movidius MyriadX

[ 651.957507] usb 1-4.2: Manufacturer: Movidius Ltd.

[ 651.957514] usb 1-4.2: SerialNumber: 03e72485

jakaskerl

farbod_f
cc @Luxonis-Adam looks like the pipeline rejects the devices. Any clue?

Thanks,
Jaka

Luxonis-Adam

Hi, thanks for the report.
Which ROS2 version are you using? Was the driver built from source or downloaded from APT? Is the camera connected only to the USB port of Jetson, or are you using Y-adapter separately for power? Is this also happening when running depthai_ros_driver?

farbod_f

Luxonis-Adam

Hi there!

I downloaded the ROS2 package from here:
https: //github.com/luxonis/depthai-ros/tree/humble/depthai_ros_driver
and built it on ROS2 Foxy.

At first, when I posted here first (the dmesg results), I was connecting the camera only to the USB of the Jetson. After seeing your latest post, I connected the camera to the Jetson using the Y-adaptor separately for power.

Interestingly enough, using the Y-adaptor, the camera started working on the first run of:
ros2 launch depthai_examples stereo_inertial_node.launch.py

As I turned on other devices that are directly connected to USB of the Jetson (via a hub), other devices stopped working.

Does that sound like USB power problems?

On another note, I was not able to build the
depthai_ros_driver
package on ROS2 Foxy. I am using depthai 2.30.0.0.

I get error messages that are likely related to incompatible header files, like:

: error: ‘class dai::Node::Input’ is protected within this context

25 | virtual void link(dai::Node::Input in, int linkType = 0) = 0;

| ^~~~~

In file included from /home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp:6,

from /home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/src/dai_nodes/base_node.cpp:1:

/usr/local/include/depthai/pipeline/Node.hpp:147:11: note: declared protected here

147 | class Input {

| ^~~~~

In file included from /home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/src/dai_nodes/base_node.cpp:1:

/home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp:26:24: error: ‘class dai::Node::Input’ is protected within this context

26 | virtual dai::Node::Input getInput(int linkType = 0);

| ^~~~~

In file included from /home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp:6,

from /home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/src/dai_nodes/base_node.cpp:1:

/usr/local/include/depthai/pipeline/Node.hpp:147:11: note: declared protected here

147 | class Input {

| ^~~~~

/home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp: In member function ‘void depthai_ros_driver::param_handlers::SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera>, dai::CameraBoardSocket, depthai_ros_driver::dai_nodes::sensor_helpers::ImageSensor, bool)’:

/home/savantz/ros2_control_demos_column_test_1D/ros2_control_demos-foxy_whole_test/luxonis/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp:40:63: error: ‘THE_1200_P’ is not a member of ‘dai::MonoCameraProperties::SensorResolution’; did you mean ‘THE_720_P’?

40 | {"1200", dai::MonoCameraProperties::SensorResolution::THE_1200_P},

And so on and so forth!

Thanks,
farbod_f

Luxonis-Adam

Does that sound like USB power problems?

Could be related, since that example has IR LED turned on it might require more power, you could try connecting the devices via USB hub that has external power source.

On another note, I was not able to build the
depthai_ros_driver
package on ROS2 Foxy. I am using depthai 2.30.0.0.

I get error messages that are likely related to incompatible header files, like:

Unfortunately ROS2 Foxy has reached EOL and is no longer supported both officially and in our driver, last release was done two years ago and last commit is from last year so it might be hard to get it to work.I would recommend using ROS2 Humble upwards either installed via APT or inside Docker container