Failed to start Stereo Camera Nodelet

abdullah.sorathi

I get this error every other time. for the first launch it executed perfectly but subsequent lanches throw error. Basically if it run perfectly and if i interrupt it by pressing ctrl + c and than run again it starts saying could not load nodelet. And many a time it says could not open camera ID = 2. Unable to open camera.

yocto:/# roslaunch voxl_cam_ros stereo.launch 
... logging to /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/roslaunch-apq8096-4987.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://10.42.0.157:48704/

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: True
 * /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 [5006]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to a0237ab4-4d5a-11eb-9155-ec5c68cd1745
process[rosout-1]: started with pid [5020]
started core service [/rosout]
process[stereo/stereo_nodelet_manager-2]: started with pid [5036]
process[stereo/stereo_cam_nodelet-3]: started with pid [5038]
[ INFO] [1609633720.545179265]: Initializing nodelet with 4 worker threads.
[ INFO] [1609633720.762515687]: SnapCamDriver Starting
[ INFO] [1609633720.762910065]: Monotonic offset: 1609633473.790296944
[FATAL] [1609633726.430193936]: Failed to load nodelet '/stereo/stereo_cam_nodelet` of type `voxl_cam_ros/stereo_driver` to manager `stereo_nodelet_manager'
[stereo/stereo_nodelet_manager-2] process has died [pid 5036, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=stereo_nodelet_manager __log:=/home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_nodelet_manager-2.log].
log file: /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_nodelet_manager-2*.log
[stereo/stereo_cam_nodelet-3] process has died [pid 5038, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load voxl_cam_ros/stereo_driver stereo_nodelet_manager __name:=stereo_cam_nodelet __log:=/home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_cam_nodelet-3.log].
log file: /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_cam_nodelet-3*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
yocto:/#

I even tried setting it as slave and not master as recommended over here [https://docs.modalai.com/voxl-cam-ros/](link url)

but after showing Monotonic offset it throws error

modaltb

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

Chad Sweet

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

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/]

abdullah.sorathi

@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.