F
forty-nights

  • Oct 12, 2023
  • Joined Sep 23, 2023
  • 0 best answers
  • In RAE cameras not connecting

    the issue seems to have been the cable; I'm now able to SSH into the robot using the cable. Hooray!

    The commands you suggested to stop robothub-ctl also works, and now when I launch the launch file, it doesn't give errors about acquiring the camera devices. Hooray x2!

    However, I'm still unable to view images from the robot on my own machine. that's because the robot's subnet (192.168.197.x) doesn't match my wifi network's (192.168.1.x). ROS2 doesn't support connections between robots on different subnets. I can think of two ways to fix this - 1) get RAE to connect to my wifi (without using robothub), which is something I want to do eventually anyway, 2) change the robot's IP address while connected over wifi so the subnet matches. Do you have advice on how to do either or both of these?

    Thanks!

    • In RAE cameras not connecting

      I've tried plugging into both the side and top ports of RAE with a USB cable, and neither produces any dmesg output. I've never had this cable give me issues before, but that being said, it's either RAE or the cable that is clearly not working properly.

    • In RAE cameras not connecting

      Hi Danilo. No luck I'm afraid:

      $ lsusb | grep Gadget
$ lsusb | grep NCM
$ lsusb | grep Linux
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

      I have my laptop plugged into RAE via a USB-A to USB-C cable. I tried both the side and top USB-C ports on RAE. The screen still says "Connected to RobotHub".

      • In RAE cameras not connecting
        $ ssh -vvv root@192.168.197.55
OpenSSH_8.2p1 Ubuntu-4ubuntu0.9, OpenSSL 1.1.1f  31 Mar 2020
debug1: Reading configuration data /home/adam/.ssh/config
debug1: Reading configuration data /etc/ssh/ssh_config
debug1: /etc/ssh/ssh_config line 19: include /etc/ssh/ssh_config.d/*.conf matched no files
debug1: /etc/ssh/ssh_config line 21: Applying options for *
debug2: resolve_canonicalize: hostname 192.168.197.55 is address
debug2: ssh_connect_direct
debug1: Connecting to 192.168.197.55 [192.168.197.55] port 22.

<hang indefinitely>
      • In RAE cameras not connecting

        Hi, thanks for the response. Unfortunately this doesn't work for two reasons:

        • With a USB A-C cable plugged into RAE and my computer, I can't ping or ssh into 192.168.197.55. RAE says "Connected to RobotHub" on its screen.
        • Using a cable defeats most of the purpose, since my goal here is to drive around while monitoring the onboard cameras and/or using their feeds for my own image processing.
      • In RAE cameras not connecting

        Thanks for the response. I ran robothub-ctl stop, and the command returned instantly. I then lost all connection to rae. My first session that was running the docker container hung, the second session that I used to run robothub-ctl stop hung (empty prompt, input not appearing), and I couldn't establish any new SSH connections (ssh: connect to host 192.168.1.15 port 22: No route to host).

        I rebooted rae and was able to reconnect, but again, shortly after running robothub-ctl stop, all my ssh sessions froze, and I was unable to ping rae's IP I had been SSHing into as well.

      • In RAE cameras not connecting

        Here's the full output, as well as a list of all processes running ps -aux after I killed the docker container.
        I'm unfortunately not allowed to upload .zip or .txt files onto this forum, so you get full text dumps instead!

        root@keembay:/# ros2 launch rae_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-09-23-02-33-37-658370-keembay-360
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [375]
[INFO] [ekf_node-2]: process started with pid [377]
[INFO] [ros2_control_node-3]: process started with pid [379]
[INFO] [spawner-4]: process started with pid [381]
[INFO] [spawner-5]: process started with pid [383]
[INFO] [battery_status.py-6]: process started with pid [385]
[ros2_control_node-3] [INFO] [1695436420.499412960] [resource_manager]: Loading hardware 'RAE' 
[component_container-1] [INFO] [1695436420.557229876] [rae_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1695436420.591153910] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1695436420.596008045] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[ekf_node-2] X acceleration is being measured from IMU; X velocity control input is disabled
[ekf_node-2] use_control is set to true, but control_config has only false values. No control term will be used.
[component_container-1] [INFO] [1695436420.859474684] [rae_state_publisher]: got segment base_footprint
[component_container-1] [INFO] [1695436420.859751437] [rae_state_publisher]: got segment base_link
[component_container-1] [INFO] [1695436420.859801854] [rae_state_publisher]: got segment base_link_back
[component_container-1] [INFO] [1695436420.859849397] [rae_state_publisher]: got segment chassis
[component_container-1] [INFO] [1695436420.859885647] [rae_state_publisher]: got segment left_caster_wheel
[component_container-1] [INFO] [1695436420.859922606] [rae_state_publisher]: got segment left_wheel
[component_container-1] [INFO] [1695436420.861898252] [rae_state_publisher]: got segment rae_imu_frame
[component_container-1] [INFO] [1695436420.861960753] [rae_state_publisher]: got segment rae_left_back_camera_frame
[component_container-1] [INFO] [1695436420.862154505] [rae_state_publisher]: got segment rae_left_back_camera_optical_frame
[component_container-1] [INFO] [1695436420.862199464] [rae_state_publisher]: got segment rae_left_camera_frame
[component_container-1] [INFO] [1695436420.862237297] [rae_state_publisher]: got segment rae_left_camera_optical_frame
[component_container-1] [INFO] [1695436420.862274464] [rae_state_publisher]: got segment rae_rgb_camera_frame
[component_container-1] [INFO] [1695436420.862310798] [rae_state_publisher]: got segment rae_rgb_camera_optical_frame
[component_container-1] [INFO] [1695436420.862348299] [rae_state_publisher]: got segment rae_right_back_camera_frame
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rae_state_publisher' in container 'rae_container'
[component_container-1] [INFO] [1695436420.862385591] [rae_state_publisher]: got segment rae_right_back_camera_optical_frame
[component_container-1] [INFO] [1695436420.862422966] [rae_state_publisher]: got segment rae_right_camera_frame
[component_container-1] [INFO] [1695436420.862459175] [rae_state_publisher]: got segment rae_right_camera_optical_frame
[component_container-1] [INFO] [1695436420.862495967] [rae_state_publisher]: got segment right_caster_wheel
[component_container-1] [INFO] [1695436420.862531509] [rae_state_publisher]: got segment right_wheel
[component_container-1] [INFO] [1695436420.924035632] [rae_container]: Load Library: /depthai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[ros2_control_node-3] [INFO] [1695436421.572164786] [resource_manager]: Initialize hardware 'RAE' 
[ros2_control_node-3] [INFO] [1695436421.577931724] [resource_manager]: Successful initialization of hardware 'RAE'
[ros2_control_node-3] [INFO] [1695436421.582089144] [resource_manager]: 'configure' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1695436421.588661132] [resource_manager]: Successful 'configure' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1695436421.592902386] [resource_manager]: 'activate' hardware 'RAE' 
[ros2_control_node-3] [INFO] [1695436421.592979262] [resource_manager]: Successful 'activate' of hardware 'RAE'
[ros2_control_node-3] [INFO] [1695436421.726477085] [controller_manager]: update rate is 50 Hz
[ros2_control_node-3] [INFO] [1695436421.739557811] [controller_manager]: RT kernel is recommended for better performance
[component_container-1] [INFO] [1695436421.847310730] [rae_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1695436421.850963519] [rae_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1695436421.963816911] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2023-09-23 02:33:41.986] [depthai] [warning] USB protocol not available - If running in a container, make sure that the following is set: "-v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw'"
[ros2_control_node-3] [INFO] [1695436423.547461185] [controller_manager]: Loading controller 'diff_controller'
[spawner-4] [INFO] [1695436424.063415331] [spawner_diff_controller]: Loaded diff_controller
[ros2_control_node-3] [INFO] [1695436424.092440774] [controller_manager]: Configuring controller 'diff_controller'
[spawner-4] [INFO] [1695436424.236343146] [spawner_diff_controller]: Configured and activated diff_controller
[ros2_control_node-3] [INFO] [1695436424.365844152] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-5] [INFO] [1695436424.591209085] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1695436424.604081476] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1695436424.609044864] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1695436424.707544529] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 381]
[INFO] [spawner-5]: process has finished cleanly [pid 383]
[component_container-1] [ERROR] [1695436426.107467620] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436426.107801832] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436430.218185201] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436430.218495788] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436434.294365569] [rae]: No available devices (1 connected, but in use)
[component_container-1] [INFO] [1695436434.294706907] [rae]: No ip/mxid specified, connecting to the next available device.
[INFO] [launch.user]: Resetting PWM.
[INFO] [busybox devmem 0x20320180 32 0x00000000-7]: process started with pid [458]
[INFO] [busybox devmem 0x20320180 32 0x00000000-7]: process has finished cleanly [pid 458]
[component_container-1] [ERROR] [1695436438.382194392] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436438.382430478] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436442.486170474] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436442.486397601] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436446.606257006] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436446.606589842] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436450.750174064] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436450.750405692] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436454.838213204] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436454.838486915] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436458.982450681] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436458.983087771] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436463.122172612] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436463.122394989] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436467.274235910] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436467.274464454] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436471.386190020] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436471.386418981] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436475.478192798] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436475.478439759] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436479.578182533] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436479.578432078] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436483.706328449] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436483.706580244] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436487.798223245] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436487.798471623] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436491.950221623] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436491.950465001] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436496.078170802] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436496.078496097] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436500.158203856] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436500.158476734] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436504.298248835] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436504.298527672] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436508.402260642] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436508.402556104] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436512.490213333] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436512.490486878] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436516.614178542] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436516.614429462] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436520.706161091] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436520.706390219] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436524.806187804] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436524.806413807] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436528.970184566] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436528.970562445] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436533.090193288] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436533.090523876] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436537.238178811] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436537.238412273] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436541.334198405] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436541.334428325] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436545.454181901] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436545.454438655] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436549.590207239] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436549.590469993] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436553.746185141] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436553.746427811] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436557.886215151] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436557.886467821] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436561.970184692] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436561.970429612] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436566.050216021] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436566.050476733] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436570.182199437] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436570.182427107] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436574.298193633] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436574.298622222] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436578.422316076] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436578.422727249] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436582.550195118] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436582.550441330] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436586.666199606] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436586.666417734] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436590.762221531] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436590.762437992] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436594.906224374] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436594.906488420] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436599.022193693] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436599.022426988] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436603.138211991] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436603.138464620] [rae]: No ip/mxid specified, connecting to the next available device.

        ps -aux

        USER         PID %CPU %MEM    VSZ   RSS TTY      STAT START   TIME COMMAND
root           1  0.2  0.2 162016  8568 ?        Ss   02:18   0:05 /sbin/init
root           2  0.0  0.0      0     0 ?        S    02:18   0:00 [kthreadd]
root           3  0.0  0.0      0     0 ?        I<   02:18   0:00 [rcu_gp]
root           4  0.0  0.0      0     0 ?        I<   02:18   0:00 [rcu_par_gp]
root           8  0.0  0.0      0     0 ?        I<   02:18   0:00 [mm_percpu_wq]
root           9  0.0  0.0      0     0 ?        S    02:18   0:00 [rcu_tasks_kthre]
root          10  0.0  0.0      0     0 ?        S    02:18   0:00 [ksoftirqd/0]
root          11  0.0  0.0      0     0 ?        I    02:18   0:01 [rcu_preempt]
root          12  0.0  0.0      0     0 ?        S    02:18   0:00 [migration/0]
root          13  0.0  0.0      0     0 ?        S    02:18   0:00 [cpuhp/0]
root          14  0.0  0.0      0     0 ?        S    02:18   0:00 [cpuhp/1]
root          15  0.0  0.0      0     0 ?        S    02:18   0:00 [migration/1]
root          16  0.0  0.0      0     0 ?        S    02:18   0:00 [ksoftirqd/1]
root          19  0.0  0.0      0     0 ?        S    02:18   0:00 [cpuhp/2]
root          20  0.0  0.0      0     0 ?        S    02:18   0:00 [migration/2]
root          21  0.0  0.0      0     0 ?        S    02:18   0:00 [ksoftirqd/2]
root          24  0.0  0.0      0     0 ?        S    02:18   0:00 [cpuhp/3]
root          25  0.0  0.0      0     0 ?        S    02:18   0:00 [migration/3]
root          26  0.0  0.0      0     0 ?        S    02:18   0:00 [ksoftirqd/3]
root          29  0.0  0.0      0     0 ?        S    02:18   0:00 [kdevtmpfs]
root          30  0.0  0.0      0     0 ?        I<   02:18   0:00 [netns]
root          31  0.0  0.0      0     0 ?        S    02:18   0:00 [kauditd]
root          34  0.0  0.0      0     0 ?        S    02:18   0:00 [oom_reaper]
root          35  0.0  0.0      0     0 ?        I<   02:18   0:00 [writeback]
root          36  0.0  0.0      0     0 ?        S    02:18   0:00 [kcompactd0]
root          37  0.0  0.0      0     0 ?        SN   02:18   0:00 [ksmd]
root          38  0.0  0.0      0     0 ?        SN   02:18   0:00 [khugepaged]
root          50  0.0  0.0      0     0 ?        I<   02:18   0:00 [cryptd]
root          53  0.0  0.0      0     0 ?        I    02:18   0:00 [kworker/3:1-cgroup_destroy]
root          66  0.0  0.0      0     0 ?        I<   02:18   0:00 [kintegrityd]
root          67  0.0  0.0      0     0 ?        I<   02:18   0:00 [kblockd]
root          68  0.0  0.0      0     0 ?        I<   02:18   0:00 [blkcg_punt_bio]
root          69  0.0  0.0      0     0 ?        I<   02:18   0:00 [tpm_dev_wq]
root          70  0.0  0.0      0     0 ?        I<   02:18   0:00 [edac-poller]
root          71  0.0  0.0      0     0 ?        S    02:18   0:00 [watchdogd]
root          73  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/0:1H-kblockd]
root          80  0.0  0.0      0     0 ?        S    02:18   0:00 [kswapd0]
root          82  0.0  0.0      0     0 ?        I<   02:18   0:00 [kthrotld]
root          83  0.0  0.0      0     0 ?        I<   02:18   0:00 [kpcitest]
root          84  0.0  0.0      0     0 ?        S    02:18   0:01 [kmb_ipc_tx_thre]
root          85  0.0  0.0      0     0 ?        S    02:18   0:00 [hddl_device_ini]
root          86  0.0  0.0      0     0 ?        S    02:18   0:00 [spi1]
root          87  0.0  0.0      0     0 ?        S    02:18   0:00 [spi2]
root          88  0.0  0.0      0     0 ?        S    02:18   0:00 [spi3]
root          89  0.0  0.0      0     0 ?        I<   02:18   0:00 [vfio-irqfd-clea]
root          90  0.0  0.0      0     0 ?        I<   02:18   0:00 [dm_bufio_cache]
root          92  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/u9:0-rb_allocator]
root          93  0.0  0.0      0     0 ?        I<   02:18   0:00 [sdhci]
root          94  0.0  0.0      0     0 ?        S    02:18   0:00 [irq/14-mmc1]
root          96  0.0  0.0      0     0 ?        I<   02:18   0:00 [mmc_complete]
root         226  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/2:2H-kblockd]
root         227  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/3:2H-kblockd]
root         262  0.0  0.0      0     0 ?        S    02:18   0:00 [jbd2/mmcblk1p5-]
root         263  0.0  0.0      0     0 ?        I<   02:18   0:00 [ext4-rsv-conver]
root         304  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/1:2H-kblockd]
root         308  0.0  0.0      0     0 ?        S    02:18   0:00 [jbd2/mmcblk1p11]
root         309  0.0  0.0      0     0 ?        I<   02:18   0:00 [ext4-rsv-conver]
root         316  0.0  0.0      0     0 ?        S    02:18   0:00 [jbd2/mmcblk1p10]
root         317  0.0  0.0      0     0 ?        I<   02:18   0:00 [ext4-rsv-conver]
root         344  0.0  0.0      0     0 ?        I<   02:18   0:00 [ipv6_addrconf]
root         362  0.0  0.0   5104  1564 ?        Ss   02:18   0:00 /usr/bin/event-watch
root         375  1.2  0.4  48696 14080 ?        Ss   02:18   0:22 /lib/systemd/systemd-journald
root         385  0.0  0.0   2168   556 ?        Ss   02:18   0:00 /usr/bin/tee-supplicant
root         386  0.0  0.0      0     0 ?        I<   02:18   0:00 [optee_bus_scan]
root         387  0.0  0.0   2188   512 ?        Ss   02:18   0:00 /usr/bin/secure_wdt
root         401  0.0  0.1  14064  4212 ?        Ss   02:18   0:00 /lib/systemd/systemd-udevd --children-max=16
root         419  0.0  0.0      0     0 ?        S    02:18   0:00 [hwrng]
root         422  0.0  0.0      0     0 ?        I<   02:18   0:00 [vcm workqueue]
root         428  0.0  0.0      0     0 ?        I<   02:18   0:00 [cfg80211]
root         432  0.2  0.0      0     0 ?        S    02:18   0:04 [irq/57-iwlwifi:]
root         433  0.1  0.0      0     0 ?        S    02:18   0:01 [irq/58-iwlwifi:]
root         434  0.1  0.0      0     0 ?        S    02:18   0:02 [irq/59-iwlwifi:]
root         435  0.1  0.0      0     0 ?        S    02:18   0:02 [irq/60-iwlwifi:]
root         436  0.0  0.0      0     0 ?        S    02:18   0:00 [irq/61-iwlwifi:]
root         437  0.0  0.0      0     0 ?        S    02:18   0:00 [irq/62-iwlwifi:]
root         442  0.0  0.0      0     0 ?        D    02:18   0:00 [kworker/u8:3+phy0]
root         443  0.0  0.0      0     0 ?        I<   02:18   0:00 [kworker/u9:1]
root         445  3.2  0.0 298376   920 ?        Ssl  02:18   0:59 /usr/sbin/rngd -f -r /dev/hwrng
root         446  0.0  0.0      0     0 ?        S    02:18   0:00 [jbd2/mmcblk1p4-]
root         447  0.0  0.0      0     0 ?        I<   02:18   0:00 [ext4-rsv-conver]
systemd+     475  0.0  0.1  85892  5480 ?        Ssl  02:18   0:00 /lib/systemd/systemd-timesyncd
message+     525  0.0  0.1   4512  2948 ?        Ss   02:18   0:00 /usr/bin/dbus-daemon --system --address=systemd: --nofork --nopidfile --systemd-activation --syslog-only
root         526  1.2  1.2 405252 37076 ?        Ssl  02:18   0:22 /usr/bin/python3 /usr/bin/depthai_gate
root         528  0.0  0.0   2940  2096 ?        Ss   02:18   0:00 /usr/bin/dlt-daemon
root         538  0.5  0.2 288688  5880 ?        Ssl  02:18   0:09 /usr/sbin/rsyslogd -n -iNONE
root         564  0.0  0.1  12036  5532 ?        Ss   02:18   0:00 /lib/systemd/systemd-logind
root         572  0.0  0.9 170780 27316 ?        Ssl  02:18   0:00 /opt/intel/hddlunite/bin/hddl_device_service
root         574  0.0  0.0      0     0 ?        S    02:18   0:00 [irq/52-dwc3]
systemd+     581  0.0  0.1  12036  5760 ?        Ss   02:18   0:00 /lib/systemd/systemd-resolved
root         586  0.2  5.4 5075280 158140 ?      Ssl  02:18   0:05 /usr/libexec/robothub/node /usr/libexec/robothub/robothub-agent.mjs --config=/etc/robothub-agent/agent.toml
root         587  0.1  2.2 657564 66528 ?        Ssl  02:18   0:03 /usr/libexec/robothub/node /usr/libexec/robothub/robothub-tunnel.mjs
nobody       598  0.0  0.0   2324  1472 ?        S    02:18   0:00 /usr/bin/dnsmasq -x /run/dnsmasq.pid -7 /etc/dnsmasq.d --local-service
root         599  0.0  0.0   2060  1452 tty1     Ss+  02:18   0:00 /sbin/agetty -o -p -- \u --noclear tty1 linux
root         601  0.0  0.0   2060  1384 ttyS0    Ss+  02:18   0:00 /sbin/agetty -8 -L ttyS0 115200 xterm
root         604  0.0  0.0   2060  1356 ttyS3    Ss+  02:18   0:00 /sbin/agetty -8 -L ttyS3 115200 xterm
robothub     616  0.0  0.2  13704  7560 ?        Ss   02:18   0:01 /lib/systemd/systemd --user
robothub     617  0.0  0.0  15744  2264 ?        S    02:18   0:00 (sd-pam)
root         621  0.0  0.1   8524  3388 ?        Ss   02:18   0:00 /usr/sbin/hostapd /etc/hostapd.conf -P /run/hostapd.pid -B
root         743  0.0  0.0      0     0 ?        I    02:18   0:00 [kworker/1:3-rcu_gp]
root         748  0.0  0.1  10964  4452 ?        Ss   02:18   0:00 wpa_supplicant -B -i wlp1s0 -c /etc/wpa_supplicant.conf
systemd+     750  0.0  0.2  20828  5960 ?        Ss   02:18   0:00 /lib/systemd/systemd-networkd
robothub     791  0.0  0.0  40460  1496 ?        S    02:18   0:00 /usr/libexec/robothub/podman
robothub     801  0.0  0.0   4252  2488 ?        Ss   02:18   0:00 /usr/bin/dbus-daemon --session --address=systemd: --nofork --nopidfile --systemd-activation --syslog-only
root        1109  0.4  1.5 745056 44584 ?        Sl   02:19   0:08 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        1184  0.4  3.0 1875632 89060 ?       Ssl  02:19   0:08 /usr/bin/dockerd -H fd://
root        1186  0.5  1.5 744800 43868 ?        Sl   02:19   0:09 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        1211  0.4  1.7 1550508 50352 ?       Ssl  02:19   0:07 containerd --config /var/run/docker/containerd/containerd.toml --log-level info
root        1568  0.4  1.4 745056 43184 ?        Sl   02:20   0:08 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        1932  0.0  0.0      0     0 ?        I    02:23   0:00 [kworker/u8:2-events_power_efficient]
root        2312  0.4  1.4 744800 42880 ?        Sl   02:24   0:07 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        2517  0.5  1.5 744800 44300 ?        Sl   02:24   0:07 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        2779  0.4  1.4 745056 42192 ?        Sl   02:24   0:07 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        2802  0.0  0.0      0     0 ?        I<   02:24   0:00 [kworker/1:1H]
root        3009  0.5  1.5 745312 44160 ?        Sl   02:24   0:07 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        3291  0.4  1.5 745056 43728 ?        Sl   02:25   0:07 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
root        3565  0.0  0.1   7892  5168 ?        Ss   02:26   0:00 sshd: root@pts/0
root        3571  0.0  0.2  13660  7520 ?        Ss   02:26   0:00 /lib/systemd/systemd --user
root        3572  0.0  0.0 163368  2436 ?        S    02:26   0:00 (sd-pam)
root        3577  0.0  0.1   4448  3420 pts/0    Ss   02:26   0:00 -sh
robothub    3581  1.3 11.6 5608856 339440 ?      Sl   02:26   0:18 /usr/libexec/robothub/node /usr/libexec/robothub/robothub-agent.mjs --config=/etc/robothub-agent/agent.toml
robothub    3654  0.0  0.1 1081172 3532 ?        Sl   02:26   0:00 /usr/libexec/robothub/nanomq start --log_level warn --conf /home/robothub/nanomq.conf
robothub    3687  1.4  3.1 702300 92316 ?        Sl   02:26   0:19 /usr/libexec/robothub/node /usr/libexec/robothub/robothub-stream-handler.mjs
robothub    3688  0.3  0.2 175788  6020 ?        Sl   02:26   0:04 /usr/libexec/robothub/rae_process
root        3778  0.0  0.0      0     0 ?        I<   02:26   0:00 [kworker/3:0H]
root        3796  0.0  0.0      0     0 ?        I    02:26   0:00 [kworker/2:0-rcu_gp]
root        3806  0.0  0.0      0     0 ?        I<   02:26   0:00 [kworker/0:0H-kblockd]
root        3884  0.5  1.4 744800 43276 ?        Sl   02:26   0:06 /usr/libexec/robothub/cloudflared tunnel --no-autoupdate run --token eyJhIjoiNjEzNjY5MWVhZjc5YzliZTgyYzNkMDRiYjJlZThjNDUiLCJ0IjoiMWJjYTc
robothub    3969  0.0  0.1   4600  3040 ?        Ss   02:26   0:00 /usr/bin/fuse-overlayfs -o lowerdir=/home/robothub/containers/overlay/l/AB43ECEULIJRWSQQIPXDCGH5RX:/home/robothub/containers/overlay/l/T
robothub    3973  0.0  0.0   5392  1732 ?        Ss   02:26   0:00 /usr/libexec/robothub/conmon --api-version 1 -c 3c82653acbc9e79e9d2058e7435eba6d358a5f2e23ab855fb87caf9c05b05295 -u 3c82653acbc9e79e9d20
robothub    3975  0.0  0.0    200    68 ?        Ss   02:26   0:00 /package/admin/s6/command/s6-svscan -X3 -- /run/service
robothub    4012  0.0  0.0    204    68 ?        S    02:26   0:00 s6-supervise s6-svscan-log
robothub    4013  0.0  0.0    204    68 ?        S    02:26   0:00 s6-supervise s6-linux-init-shutdownd
robothub    4014  0.0  0.0    264     4 ?        Ss   02:26   0:00 /package/admin/s6/command/s6-log -bpd3 -- 1 /run/uncaught-logs
robothub    4015  0.0  0.0    192     4 ?        Ss   02:26   0:00 /package/admin/s6-linux-init/command/s6-linux-init-shutdownd -c /run/s6/basedir -g 3000 -C
robothub    4022  0.0  0.0    204    68 ?        S    02:26   0:00 s6-supervise s6rc-fdholder
robothub    4023  0.0  0.0    204    68 ?        S    02:26   0:00 s6-supervise launcher
robothub    4024  0.0  0.0    204    68 ?        S    02:26   0:00 s6-supervise s6rc-oneshot-runner
robothub    4033  0.1  2.3 660776 67380 ?        Ssl  02:26   0:01 /usr/bin/node /usr/bin/robothub-inner.mjs /app
robothub    4034  0.0  0.0    180     4 ?        Ss   02:26   0:00 /package/admin/s6/command/s6-ipcserverd -1 -- /package/admin/s6/command/s6-ipcserver-access -v0 -E -l0 -i data/rules -- /package/admin/s
robothub    4185  7.2  4.7 1116888 137696 ?      Sl   02:26   1:38 python3 /launch.py
root        4222 14.8  4.1 1951564 119880 ?      Sl   02:26   3:19 /tmp/gate_fw_miauvp57/23c3e065af29ed6f0623b85e8d1acade3afe6f85f6f16c7c9cdc4fa0a63940f4/depthai-device-kb
root        4226  0.0  0.0      0     0 ?        S    02:26   0:00 [vcmrx]
root        4274  0.0  0.0      0     0 ?        S    02:26   0:01 [kmb_vnode_threa]
root        4276  0.0  0.0      0     0 ?        S    02:26   0:00 [kmb_vnode_threa]
root        4277  0.2  0.0      0     0 ?        S    02:26   0:03 [kmb_isp_thread]
root        4596  0.0  0.0      0     0 ?        I    02:30   0:00 [kworker/0:2-events]
root        5297  0.0  0.0      0     0 ?        I<   02:33   0:00 [kworker/2:1H-kblockd]
root        5505  0.0  0.0      0     0 ?        I    02:39   0:00 [kworker/u8:1-events_power_efficient]
root        5547  0.0  0.0      0     0 ?        I    02:40   0:00 [kworker/0:0-rcu_gp]
root        5611  0.0  0.0      0     0 ?        I    02:43   0:00 [kworker/1:1-events]
root        5614  0.0  0.0      0     0 ?        I    02:43   0:00 [kworker/3:0-events]
root        5617  0.0  0.0      0     0 ?        I    02:43   0:00 [kworker/2:2-events]
root        5675  0.0  0.0      0     0 ?        I    02:45   0:00 [kworker/u8:0-events_unbound]
root        5752  0.0  0.0      0     0 ?        I    02:47   0:00 [kworker/0:1-events]
root        5809  0.0  0.0   4360  1976 pts/0    R+   02:49   0:00 ps -aux
      • In RAE cameras not connecting

        Hello, I just got my RAE and have set it up in RobotHub, but I can't get the ros2 drivers for the camera to work. Attempting to run the docker container as described here, I'm seeing the following repeated error message:

        [component_container-1] [INFO] [1695436804.810455759] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436808.926193233] [rae]: No available devices (2 connected, but in use)
[component_container-1] [INFO] [1695436808.926418943] [rae]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1695436813.026302413] [rae]: No available devices (2 connected, but in use)

        as far as I know, I'm not running anything else on RAE. I uninstalled the default app that comes on it, just in case. Full output from the docker container is attached. Other topics are working (I can send cmd_vel messages and the robot drives, for example).

        The docker image I'm running is

        luxonis/rae-ros-robot   humble              eeac4944c0a1        8 days ago          5.82GB

        The command I'm using to run it is

        docker run --interactive --tty --rm -v /dev/:/dev/ -v /sys/:/sys/ --privileged  --net=host luxonis/rae-ros-robot:humble bash

        I'm looking forward to getting this working and viewing camera feeds in RViz on my laptop.