ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    Failed to start Stereo Camera Nodelet

    Ask your questions right here!
    ros camera
    4
    12
    837
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • modaltbM
      modaltb ModalAI Team
      last edited by

      Hi @abdullah-sorathi,

      Can you please provide us with your hardware setup? What camera(s) do you have connected?

      Can you also run voxl-version and provide us with the output?

      Thanks!
      Travis

      A 1 Reply Last reply Reply Quote 0
      • Chad SweetC
        Chad Sweet ModalAI Team
        last edited by

        Also, only one camera can be master in the libcamera architecture. If voxl-vision-px4 has VOA enabled, and is using the stereo cameras, is_cam_master needs to be set to false. In the log above is_cam_master is set to true

        A 1 Reply Last reply Reply Quote 0
        • A
          abdullah.sorathi @modaltb
          last edited by abdullah.sorathi

          @modaltb
          I am using voxl-flight deck
          cameras are same that comes with flight deck-> stereo camera, hires and optical flow camera

          This is the voxl version currently in use in my setup

          yocto:/# voxl-version
          --------------------------------------------------------------------------------
          system-image:    ModalAI 2.5.2 BUILDER: ekatzfey BUILD_TIME: 2020-08-24_00:08
          kernel:          #1 SMP PREEMPT Wed Sep 9 22:28:09 UTC 2020 3.18.71-perf
          factory-bundle:  1.0.1
          --------------------------------------------------------------------------------
          architecture:    aarch64
          processor:       apq8096
          os:              GNU/Linux
          --------------------------------------------------------------------------------
          voxl-suite:
          Package: voxl-suite
          Version: 0.2.0
          Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
          Status: install user installed
          Section: base
          Architecture: armv7a
          Maintainer: james@modalai.com
          MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
          Size: 870
          Filename: voxl-suite_0.2.0.ipk
          Description: meta-package to install all of the voxl-suite
          Installed-Time: 4024
          
          --------------------------------------------------------------------------------
          yocto:/#
          

          I am currently working with SNAV and followed this [https://docs.modalai.com/snapdragon-navigator/]

          1 Reply Last reply Reply Quote 0
          • A
            abdullah.sorathi @Chad Sweet
            last edited by

            @Chad-Sweet
            Yes I tried both setting it to true and false. But once you start launch camera and the terminated and try to launch again it does not launch.

            1 Reply Last reply Reply Quote 0
            • K
              kiprock
              last edited by

              @abdullah-sorathi said in Failed to start Stereo Camera Nodelet:

              voxl_cam_ros stereo.launch

              I have the same problem:

              yocto:~# roslaunch voxl_cam_ros stereo.launch is_cam_master:=false
              ... logging to /home/root/.ros/log/357f3634-ac60-11eb-a8f6-ec5c68cd21c7/roslaunch-apq8096-4646.log
              Checking log directory for disk usage. This may take awhile.
              Press Ctrl-C to interrupt
              Done checking log file disk usage. Usage is <1GB.
              
              started roslaunch server http://10.0.0.2:34910/
              
              SUMMARY
              ========
              
              PARAMETERS
               * /rosdistro: indigo
               * /rosversion: 1.11.21
               * /stereo/stereo_cam_nodelet/cam_id: 2
               * /stereo/stereo_cam_nodelet/cam_name: stereo
               * /stereo/stereo_cam_nodelet/format: 1
               * /stereo/stereo_cam_nodelet/frame_id: left_stereo
               * /stereo/stereo_cam_nodelet/frame_id_right: right_stereo
               * /stereo/stereo_cam_nodelet/frame_rate: 15
               * /stereo/stereo_cam_nodelet/height: 480
               * /stereo/stereo_cam_nodelet/is_cam_master: False
               * /stereo/stereo_cam_nodelet/is_stereo: True
               * /stereo/stereo_cam_nodelet/skip_n_frames: 0
               * /stereo/stereo_cam_nodelet/width: 640
              
              NODES
                /stereo/
                  stereo_cam_nodelet (nodelet/nodelet)
                  stereo_nodelet_manager (nodelet/nodelet)
              
              auto-starting new master
              process[master]: started with pid [4665]
              ROS_MASTER_URI=http://localhost:11311/
              
              setting /run_id to 357f3634-ac60-11eb-a8f6-ec5c68cd21c7
              process[rosout-1]: started with pid [4678]
              started core service [/rosout]
              process[stereo/stereo_nodelet_manager-2]: started with pid [4691]
              process[stereo/stereo_cam_nodelet-3]: started with pid [4696]
              [ INFO] [1620081479.191290494]: Initializing nodelet with 4 worker threads.
              [ INFO] [1620081479.450798205]: SnapCamDriver Starting
              [ INFO] [1620081479.451256697]: Monotonic offset: 1620078140.011942802
              libcam.enable.publish  1
              libcam.enable.publish.dump 0
              libcam.publish.buffer.policy max
              libcam.publish.buffer.max 3
              libcam.debug.level info
              libcam.dump.dir /data/misc/camera/dumps
              ERROR: could not open camera subscriber for cam id 2
              [ERROR] [1620081496.766822127]: CameraManager::Initialize() failed
              [ERROR] [1620081496.767214629]: Unable to open camera.
              
              

              Any suggestion on debugging?

              1 Reply Last reply Reply Quote 0
              • Chad SweetC
                Chad Sweet ModalAI Team
                last edited by

                The two likely reasons for this error:

                • incorrect camera ID
                • is_cam_master not set properly.

                If you are not running anything that uses the stereo camera, is_cam_master should be true

                You can check the configured camera IDs by:

                cat /etc/modalai/camera_env.sh
                
                1 Reply Last reply Reply Quote 0
                • K
                  kiprock
                  last edited by kiprock

                  If I set to true, it does launch but I cannot see any frame data coming out. I can for the other cameras though.

                  Here is the output of cat /etc/modalai/camera_env.sh

                  
                  export CAM_CONFIG_ID=3
                  export HIRES_CAM_ID=0
                  export TRACKING_CAM_ID=1
                  export STEREO_CAM_ID=2
                  export TOF_CAM_ID=-1
                  

                  I replaced the stereo camera kit (ordered from you guys). Cannot get the RTSP stream to show anything on VLC either, 0 and 1 works but not 2:

                  yocto:/etc/snav# voxl-rtsp -c 2
                  Camera number: 2
                  Simple RTSP starting
                  Connected
                  Started camera 2
                  Created session
                  Video track created
                  Updated camera parameters
                  AE Mode: 1, Exposure: 19425, Gain: 100, AWB Mode: 1
                  rtsp://10.0.0.2:8900/live
                  Started session
                  Ctrl-c or 'kill 4287' to end
                  
                  1 Reply Last reply Reply Quote 0
                  • Chad SweetC
                    Chad Sweet ModalAI Team
                    last edited by

                    Are you sure they are all plugged in correctly? Does pin 1 on the stereo flex align for both connecting to the PCB and each sensor to the flex?

                    K 1 Reply Last reply Reply Quote 0
                    • K
                      kiprock @Chad Sweet
                      last edited by

                      @Chad-Sweet Pretty sure everything is connected properly. Earlier today I started RTSP on the stereo cams and it was working, however I noticed that the left side was super blurry though, so I connected an old cam in it's place, which looked better, then I connected the orig back to double check that it wasn't just a blurry lens. At that point, I could not get anything.

                      If I disconnect the cameras, I cannot run the RTSP server in mode 2, if I connect the cameras, RTSP server runs but nothing shows up in VLC. I could use some help tracking down what is happening.

                      1 Reply Last reply Reply Quote 0
                      • Chad SweetC
                        Chad Sweet ModalAI Team
                        last edited by

                        Hopefully you are removing power from the board before changing the camera modules?

                        The board is not designed to handle hot-swapping of MIPI components. The connectors also are only designed for a few dozen insertions, so they are pretty delicate.

                        In short, it seems like you had it working and then changed some components? Did anything else change?

                        1 Reply Last reply Reply Quote 0
                        • K
                          kiprock
                          last edited by

                          nothing else has changed.

                          1 Reply Last reply Reply Quote 0
                          • First post
                            Last post
                          Powered by NodeBB | Contributors