ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node stopped by ros2 bag record /hires_small_encoded

[tahawaru]

Hi

I'm recording with the ros2 bag record the topics I get from running
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node

On a different terminal I run
rb5:~/ROS2_recordings$ ros2 bag record /hires_small_encoded

then on the first terminal, I get
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
Found new interface: hires_large_color
Found new interface: hires_large_encoded
Found new interface: hires_large_grey
Found new interface: hires_small_color
Found new interface: hires_small_encoded
Found new interface: hires_small_grey
Found new interface: hires_snapshot
Found new interface: qvio_overlay
Found new interface: stereo_front
Found new interface: stereo_rear
Found new interface: tracking
Found new interface: imu_px4
Found new interface: voa_pc_out
Found new interface: vvhub_body_wrt_fixed
Found new interface: vvhub_body_wrt_local
Found new interface: qvio
Interface hires_small_encoded now publishing
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
rb5:~$

Any help on this?

[nuallaino]

@tahawaru I have also seen this, but with subscribing to the topic in rviz2 rather than recording a ros2 bag.

[Moderator]

@nuallaino that looks like a bug in the interface listing. The encoded interfaces are h264 which voxl-mpa-to-ros2 doesn't look like it supports

[Zachary Lowell 0]

@tahawaru @nuallaino what happens when you build from source dev branch push the deb and then rerun the ros2 code base?

I assuming you are sourcing the right directory via voxl2:~$ source /opt/ros/foxy/mpa_to_ros2/install/setup.bash in both terminal windows prior to running the code base etc?

I am currently unable to reproduce your error and am testing on multiple voxl2's. What is the output of voxl-inspect-cam -a? Does it show the encoded frames working as expected? I have tried with both h264 and h265 on the voxl2 so far and have had no luck reproducing your error. I see you are on an rb5 flight though is that correct?

[tahawaru]

@Zachary-Lowell-0

I have the following on my .bashrc :

export ROS_HOME=/opt/ros/foxy
source /opt/ros/foxy/local_setup.bash
source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
source /opt/ros/foxy/setup.bash

And the voxl-inspect-cam -a is as follows:

[Zachary Lowell 0]

@tahawaru I cannot say that I have tested this on an original rb5 board - just a voxl1 and voxl2 - works as expected on both. Have you build from source on the dev branch and installed that?

[tahawaru]

@Zachary-Lowell-0

I used the docker to build the ROS2 package following the instructions here roughly 2 months ago:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

*****voxl-mpa-to-ros2$ docker load -i qrb5165-emulator-v1.5.tar.gz

voxl-mpa-to-ros2$ docker tag qrb5165-emulator:1.5 qrb5165-emulator:latest

voxl-mpa-to-ros2$ voxl-docker -i qrb5165-emulator

qrb5165-emulator:~(master)(0.0.4)$ ./install_build_deps.sh qrb5165 dev

qrb5165-emulator:~(master)(0.0.4)$ ./build.sh qrb5165

qrb5165-emulator:~(master)(0.0.4)$ ./make_package.sh*****

I installed the build on the rb5:

*****rb5:/$ cd home/root/

rb5:~$ dpkg -i voxl-mpa-to-ros2_0.0.4_arm64.deb

rb5:~$ voxl-configure-mpa-to-ros2

rb5:~$ source /opt/ros/foxy/mpa_to_ros2/install/setup.bash

rb5:~$ ros2 topic list

rb5:~$ source /opt/ros/foxy/setup.bash

rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node*****

---------------------------------After restart of the RB5

rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node

Found new interface: hires_large_color

Found new interface: hires_large_encoded

Found new interface: hires_large_grey

Found new interface: hires_small_color

Found new interface: hires_small_encoded

Found new interface: hires_small_grey

Found new interface: hires_snapshot

Found new interface: qvio_overlay

Found new interface: stereo

Found new interface: tracking

Found new interface: imu_px4

Found new interface: voa_pc_out

Found new interface: vvhub_body_wrt_fixed

Found new interface: vvhub_body_wrt_local

Found new interface: qvio

[brahim]

@tahawaru please pull down the latest dev branch: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/dev?ref_type=heads

You can rebuild with the dev branch and see if you can both ros2 topic echo and rosbag record the encoded images. Please be aware that you will need to manually decode the images somehow on the receiving end (your application) as there isn't a built-in way in ros2/rviz to decode.

[Zachary Lowell 0]

@tahawaru also since you are running an RB5 and not a voxl2, the most recent SDK you are running is 1.1.3 which might have dependencies in modal-pipe or modal-json that are not transferable to the newest dev branch of voxl-mpa-to-ros2 causing some form of error somewhere in the pipeline.