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LiDAR/Oak Camera Timeout or error #6

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naman-gupta99 opened this issue Feb 28, 2025 · 9 comments
Open

LiDAR/Oak Camera Timeout or error #6

naman-gupta99 opened this issue Feb 28, 2025 · 9 comments

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@naman-gupta99
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I am trying to run ros2 launch ugv_slam rtabmap_rgbd.launch.py use_rviz:=true.

The visualization spawns up and the camera feed gets updated a couple of times and after that the visualization gets stuck and I get the following logs in the terminal.

logfile.txt

I've run the following commands:

top
kill -9 <python pid>
cd /home/ws/ugv_ws
./ros2_humble.sh

# In SSH
cd /home/ws/ugv_ws
ros2 launch ugv_slam rtabmap_rgbd.launch.py use_rviz:=true
@DUDULRX
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DUDULRX commented Feb 28, 2025

Image
Please make sure that the device lidar，oak camera is connected properly

@naman-gupta99
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I did check that multiple times and they are connected properly.

Also, it does run for about second where I can see the camera feed and lidar points on the rviz UI.

@DUDULRX
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DUDULRX commented Feb 28, 2025

Please make sure that the power supply is sufficient

@naman-gupta99
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Are there any steps to check that?

Also, is there a way to view just the feed from the Oak Camera without running SLAM?

@DUDULRX
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DUDULRX commented Feb 28, 2025

first,run ros2 run ugv_bringup ugv_bringup,ros2 topic echo /voltage

second, ros2 launch ugv_vision oak_d_lite.launch.py, ros2 run rqt_image_view rqt_image_view oak/rgb/image_rect

@naman-gupta99
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Following is the voltage data.

root@raspberrypi:/home/ws/ugv_ws# ros2 topic echo /voltage
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754
---
data: 12.140000343322754

@naman-gupta99
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Even when I am trying to run the camera I am getting this error. The fan suddenly start running really fast, whenever I run the camera commands and I see 1 image frame and then it gets stuck and I start getting errors like mentioned below

root@raspberrypi:/home/ws/ugv_ws# ros2 launch ugv_vision oak_d_lite.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-02-28-15-34-06-387504-raspberrypi-1263
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1278]
[component_container-1] [INFO] [1740756846.866716831] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1740756846.869862639] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1740756846.869906787] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1740756846.877618260] [oak_state_publisher]: got segment 3d_camera_link
[component_container-1] [INFO] [1740756846.877677278] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1740756846.877687334] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1740756846.877694853] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1740756846.877703464] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1740756846.877712427] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1740756846.877721556] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1740756846.877729631] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1740756846.877738223] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1740756846.877746705] [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-1] [INFO] [1740756846.880418122] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1740756846.959823022] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1740756846.959935837] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1740756846.966774695] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1740756849.440662627] [oak]: Camera with MXID: 14442C103141E0D600 and Name: 3.1 connected!
[component_container-1] [INFO] [1740756849.441406260] [oak]: USB SPEED: HIGH
[component_container-1] [INFO] [1740756849.487034055] [oak]: Device type: OAK-D-LITE
[component_container-1] [INFO] [1740756849.488658765] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1740756849.682339655] [oak]: Finished setting up pipeline.
[component_container-1] [INFO] [1740756850.163781501] [oak]: Camera ready!
[component_container-1] [INFO] [1740756850.164344800] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1740756850.166551956] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1740756850.166601845] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container 'oak_container'
[component_container-1] [ERROR] [1740756862.928602996] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1740756862.928858812] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'
[component_container-1] [ERROR] [1740756863.928596111] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1740756863.928849779] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'
[component_container-1] [ERROR] [1740756864.928586079] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1740756864.928810117] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'
[component_container-1] [ERROR] [1740756865.928570862] [oak]: No data on logger queue!
[component_container-1] [ERROR] [1740756865.928806474] [oak]: Camera diagnostics error: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'sys_logger_queue' (X_LINK_ERROR)'

@DUDULRX
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DUDULRX commented Mar 1, 2025

oak

@naman-gupta99
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How can we fix this then?
I have the following info in the diagnostics topic. I don't think there's anything useful here.

header:
  stamp:
    sec: 1740806521
    nanosec: 556034201
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '4.999979'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806521
    nanosec: 643101486
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap_viz: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '2.999869'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806522
    nanosec: 52955374
  frame_id: ''
status:
- level: "\x02"
  name: 'oak: sys_logger'
  message: 'Communication exception - possible device error/misconfiguration. Original message ''Couldn''t read data from stream: ''sys_logger_...'
  hardware_id: oak_14442C103141E0D600_OAK-D-LITE
  values: []
---
header:
  stamp:
    sec: 1740806522
    nanosec: 556022533
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '4.999971'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806522
    nanosec: 643193338
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap_viz: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '3.999932'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806523
    nanosec: 52457378
  frame_id: ''
status:
- level: "\x02"
  name: 'oak: sys_logger'
  message: 'Communication exception - possible device error/misconfiguration. Original message ''Couldn''t read data from stream: ''sys_logger_...'
  hardware_id: oak_14442C103141E0D600_OAK-D-LITE
  values: []
---
header:
  stamp:
    sec: 1740806523
    nanosec: 556030103
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '5.000002'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806523
    nanosec: 643059316
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap_viz: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '4.998765'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---
header:
  stamp:
    sec: 1740806524
    nanosec: 52341937
  frame_id: ''
status:
- level: "\x02"
  name: 'oak: sys_logger'
  message: 'Communication exception - possible device error/misconfiguration. Original message ''Couldn''t read data from stream: ''sys_logger_...'
  hardware_id: oak_14442C103141E0D600_OAK-D-LITE
  values: []
---
header:
  stamp:
    sec: 1740806524
    nanosec: 555944614
  frame_id: ''
status:
- level: "\x02"
  name: 'rtabmap: Sync status'
  message: No events recorded.; No data since last update.
  hardware_id: none
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '4.999944'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '0.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '0.000000'
  - key: 'Earliest timestamp delay:'
    value: '0.000000'
  - key: 'Latest timestamp delay:'
    value: '0.000000'
  - key: 'Earliest acceptable timestamp delay:'
    value: '-1.000000'
  - key: 'Latest acceptable timestamp delay:'
    value: '5.000000'
  - key: 'Late diagnostic update count:'
    value: '0'
  - key: 'Early diagnostic update count:'
    value: '0'
  - key: 'Zero seen diagnostic update count:'
    value: '0'
---

I couldn't find anything in the debug logs as well.

How does this work on the rovers that you guys test at the Waveshare factory?

Also, they've mentioned to set a parameter to camera_i_restart_on_diagnostics_error: true. How do I set that?

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@naman-gupta99 @DUDULRX