Cannot open RTSP stream from `tof_depth` camera

griffin

Hello all,

I am having some issues getting the TOF camera to stream it's data over RTSP.

I have a systemd process enabled to start up a voxl-streamer instance in /etc/systemd/system/voxl-streamer-tof-depth.service

#
# Copyright (c) 2021 ModalAI, Inc.
#

[Unit]
Description=voxl-streamer
SourcePath=/usr/bin/voxl-streamer
After=voxl-wait-for-fs.service
Requires=voxl-wait-for-fs.service

[Service]
Restart=no
User=root
Type=simple
PIDFile=/run/voxl-streamer.pid
ExecStartPre=/bin/sleep 5
ExecStart=/usr/bin/voxl-streamer -s -p 8902 -i tof_depth

[Install]
WantedBy=multi-user.target

When I try to open this stream using a gstreamer command gst-launch-1.0 rtspsrc location=rtsp://<my-drone-ip>:8902/live latency=0 ! "application/x-rtp, encoding-name=RAW, format=(string)GRAY8" ! videoconvert ! autovideosink I get a generic gstreamer error.
When I inspect that systemd status using systemctl status voxl-streamer-tof-depth I see internal errors of voxl-streamer:

● voxl-streamer-tof-depth.service - voxl-streamer
   Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled)
   Active: active (running) since Wed 2025-02-26 19:50:20 UTC; 14min ago
  Process: 1469 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS)
 Main PID: 1957 (voxl-streamer)
    Tasks: 0 (limit: 4915)
   CGroup: /system.slice/voxl-streamer-tof-depth.service
           ‣ 1957 /usr/bin/voxl-streamer

Feb 26 19:50:31 m0054 voxl-streamer[1958]: ERROR:   Frame size mismatch: got 43200 bytes from pipe, expected 38528
Feb 26 19:50:31 m0054 voxl-streamer[1958]: ERROR:   Most Likely the publisher of the camera data made a mistake
Feb 26 19:50:31 m0054 voxl-streamer[1958]: ERROR:   Shutting down voxl-streamer
Feb 26 19:50:31 m0054 voxl-streamer[1958]: Trying to quit g main loop due to program shutdown
Feb 26 19:50:31 m0054 voxl-streamer[1958]: cleaning up gstreamer
Feb 26 19:50:31 m0054 voxl-streamer[1958]: gst_rtsp_media_take_pipeline: assertion 'GST_IS_PIPELINE (pipeline)' failed
Feb 26 19:50:31 m0054 voxl-streamer[1958]: can't create pipeline
Feb 26 19:50:31 m0054 voxl-streamer[1958]: rtsp client disconnected, total clients: 0
Feb 26 19:50:31 m0054 voxl-streamer[1958]: no more rtsp clients, closing source pipe intentionally
Feb 26 19:50:31 m0054 voxl-streamer[1958]: Exited Cleanly

Note that when I use a similar gstreamer commands (adapted for h264) I am able to open other video streams without issues.

Additionally, since upgrading to SDK 1.4.1 from 1.3.5 whenever I run voxl-inspect-cam -a after approx 30s of running the camera servers all disconnect and a wall of:

Most likely the server stopped without cleaning up
Client is cleaning up pipes for the server
ERROR in pipe_client_open opening request pipe: No such device or address

appears. Should I be concerned?

griffin

pinging @tom

Eric Katzfey

@griffin Is this on a Starling 2 drone?

griffin

@Eric-Katzfey yes it is on a starling 2 max SKU: MRB-D0012-4-V2-C29-T9-M24-X0

tom

@griffin Are you able to view the tof data in voxl-portal?

griffin

@tom yes

Alex Kushleyev

@griffin , please see the following post with the same symptom and fix : https://forum.modalai.com/topic/4171/frame-size-mismatch-got-43200-bytes-from-pipe-expected-38528

We will test this and merge to dev soon, meanwhile if you can re-build the camera server, you could test it.

Alex