CameraManager::Initialize() failed on tracking_slave.launch



  • Hi guys,

    I'm testing on apriltag using flight deck.
    I configured my voxl-vision-px4.conf as like this.

    /**

    • VOXL Vision PX4 Configuration File

    */
    {
    "qgc_ip": "192.168.219.182",
    "en_localhost_mavlink_udp": true,
    "en_secondary_qgc": false,
    "secondary_qgc_ip": "192.168.1.214",
    "qgc_udp_port_number": 14550,
    "localhost_udp_port_number": 14551,
    "en_vio": true,
    "en_voa": false,
    "en_send_vio_to_qgc": false,
    "en_send_voa_to_qgc": false,
    "en_adsb": false,
    "adsb_uart_bus": 7,
    "adsb_uart_baudrate": 57600,
    "px4_uart_bus": 5,
    "px4_uart_baudrate": 921600,
    "offboard_mode": "figure_eight",

    "R_imu_to_body":    [[0, 1, 0], [1, 0, 0], [0, 0, -1]],
    "T_imu_wrt_body":   [0.068, -0.015, -0.008],
    "height_body_above_ground_m": 0.05,
    "T_stereo_wrt_body":    [0.10, -0.04, 0.0],
    "land_on_tag_id":   1,
    "follow_tag_id":    1,
    "en_apriltag_fixed_frame":  true,
    "fixed_apriltags":  [
       {
        "tag_id":   1,
        "R_tag_to_fixed":   [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
        "T_tag_wrt_fixed":  [0, 0, 0]
        },
       {
        "tag_id":   0,
        "R_tag_to_fixed":   [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
        "T_tag_wrt_fixed":  [0, 5, 0]
        }
    
     ],
    "en_transform_mavlink_pos_setpoints_from_fixed_frame":  true,
    "en_fixed_frame_pipe": false,
    
    "fixed_frame_filter_len": 5
    

    }

    and I launch ROS for tracking camera with salve mode.

    But, camera cannot be opened.

    Could you please help me it?

    / # bash
    yocto:/#
    yocto:/#
    yocto:/#
    yocto:/# roslaunch voxl_cam_ros tracking_slave.launch
    ... logging to /home/root/.ros/log/73ae7aaa-a026-11eb-a27f-ec5c68cd25a1/roslaunch-apq8096-3492.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://192.168.219.101:44434/

    SUMMARY

    PARAMETERS

    • /rosdistro: indigo
    • /rosversion: 1.11.21
    • /tracking/voxl_cam_nodelet/cam_id: 1
    • /tracking/voxl_cam_nodelet/cam_name: tracking
    • /tracking/voxl_cam_nodelet/frame_id: tracking_frame
    • /tracking/voxl_cam_nodelet/frame_rate: 15
    • /tracking/voxl_cam_nodelet/height: 480
    • /tracking/voxl_cam_nodelet/is_cam_master: False
    • /tracking/voxl_cam_nodelet/skip_n_frames: 0
    • /tracking/voxl_cam_nodelet/snav_raw10_compatability: True
    • /tracking/voxl_cam_nodelet/width: 640

    NODES
    /tracking/
    tracking_nodelet_manager (nodelet/nodelet)
    voxl_cam_nodelet (nodelet/nodelet)

    auto-starting new master
    process[master]: started with pid [3511]
    ROS_MASTER_URI=http://localhost:11311/

    setting /run_id to 73ae7aaa-a026-11eb-a27f-ec5c68cd25a1
    process[rosout-1]: started with pid [3524]
    started core service [/rosout]
    process[tracking/tracking_nodelet_manager-2]: started with pid [3527]
    process[tracking/voxl_cam_nodelet-3]: started with pid [3534]
    [ INFO] [1618737258.731583874]: Initializing nodelet with 4 worker threads.
    [ INFO] [1618737258.991213919]: SnapCamDriver Starting
    [ INFO] [1618737258.991545689]: Monotonic offset: 1618737188.166319025
    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 1
    [ERROR] [1618737276.166226697]: CameraManager::Initialize() failed
    [ERROR] [1618737276.166769612]: Unable to open camera.



  • I assume you are using the master version of voxl-vision-px4.

    Since the is_cam_master is false, is voxl-vision-px4 still running? vvpx4 would be the camera master in that case

    Can you check what TRACKING_CAM_ID is?

    'echo $TRACKING_CAM_ID'

    If you have high-res, stereo and tracking plugged in TRACKING_CAM_ID should be 1 which matches what you have in the launch file


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