ToF sensor



  • @Chad-Sweet
    we installed tracking camera and reconfigured voxl using voxl-configure-camera

    and tracking camera is working
    Screenshot from 2021-01-13 11-23-59.png

    than we tried to run tof package again but still the problem persist. we even tried to change the TOF_CAM_ID but still no change.

    yocto:/# roslaunch voxl_hal3_tof_cam_ros tof.launch 
    ... logging to /home/root/.ros/log/3f833ac4-55c4-11eb-a699-ec5c68cd1745/roslaunch-apq8096-4079.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://192.168.100.96:55989/
    
    SUMMARY
    ========
    
    PARAMETERS
     * /rosdistro: indigo
     * /rosversion: 1.11.21
     * /tof/voxl_hal3_tof_cam_ros_node/auto_exposure: 0
     * /tof/voxl_hal3_tof_cam_ros_node/camera_id: 0
     * /tof/voxl_hal3_tof_cam_ros_node/exposure_time: 800
     * /tof/voxl_hal3_tof_cam_ros_node/flip_image: True
     * /tof/voxl_hal3_tof_cam_ros_node/frame_rate: 30
     * /tof/voxl_hal3_tof_cam_ros_node/ir_image_mode: False
     * /tof/voxl_hal3_tof_cam_ros_node/laser_scan_line: 86
     * /tof/voxl_hal3_tof_cam_ros_node/publish_depth_image: True
     * /tof/voxl_hal3_tof_cam_ros_node/publish_ir_image: True
     * /tof/voxl_hal3_tof_cam_ros_node/publish_laser_scan: True
     * /tof/voxl_hal3_tof_cam_ros_node/publish_point_cloud: True
     * /tof/voxl_hal3_tof_cam_ros_node/scan_width_degrees: 96
    
    NODES
      /tof/
        voxl_hal3_tof_cam_ros_node (voxl_hal3_tof_cam_ros/voxl_hal3_tof_cam_ros_node)
      /
        base_link_laser_scan (tf2_ros/static_transform_publisher)
        base_link_tof_cam (tf2_ros/static_transform_publisher)
    
    auto-starting new master
    process[master]: started with pid [4098]
    ROS_MASTER_URI=http://localhost:11311/
    
    setting /run_id to 3f833ac4-55c4-11eb-a699-ec5c68cd1745
    process[rosout-1]: started with pid [4111]
    started core service [/rosout]
    process[base_link_tof_cam-2]: started with pid [4124]
    process[base_link_laser_scan-3]: started with pid [4129]
    process[tof/voxl_hal3_tof_cam_ros_node-4]: started with pid [4141]
    
    	DEPTH_IMAGE
    	IR: 1 ..... Cloud: 1 ..... Laser: 1
    Camera id: 0
    Image width: 224
    Image height: 1557
    Number of frames to dump: 0
    Camera mode: preview
    SUCCESS: Camera module opened
    Camera Id: 0 Facing: 1
    Camera Id: 1 Facing: 1
    ERROR: Libcamera sending post-processed TOF data. App does NOT get RAW16 TOF camera data
    
    
    [tof/voxl_hal3_tof_cam_ros_node-4] process has finished cleanly
    log file: /home/root/.ros/log/3f833ac4-55c4-11eb-a699-ec5c68cd1745/tof-voxl_hal3_tof_cam_ros_node-4*.log
    ^C[base_link_laser_scan-3] killing on exit
    [base_link_tof_cam-2] killing on exit
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done
    yocto:/#
    


  • OK, good the tracking sensor is working. Sorry about this, the tof setup is still in beta. We clearly need to document the setup way better.

    Can you please print which version of system image you are using (voxl-version)? The error implies an older system image which does not support that hal3_tof_cam_ros.

    ERROR: Libcamera sending post-processed TOF data. App does NOT get RAW16 TOF camera data

    The error above implies an older version of libcamera which would use tof_cam_ros instead

    Just FYI, the TOF_CAM_ID needs to match what is in the launch file. This message shows what is in the launch file:
    /tof/voxl_hal3_tof_cam_ros_node/camera_id: 0



  • @Chad-Sweet

    --------------------------------------------------------------------------------
    system-image:    ModalAI 3.1.0 BUILDER: ekatzfey BUILD_TIME: 2020-12-23_19:41
    kernel:          #1 SMP PREEMPT Wed Dec 23 19:50:23 UTC 2020 3.18.71-perf
    factory-bundle:  1.0.1 (Yocto installation)
    --------------------------------------------------------------------------------
    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: 3126
    
    --------------------------------------------------------------------------------
    

    according to git repository launch file is taking tof cam id from environment variable and we select option 5 from voxl-configure-camera which sets accordingly



  • that all looks good. Will investigate further



  • Okay. Looking forward to your solution asap!



  • Can you please type and report the output?
    opkg list-installed | grep royal



  • Assuming the ipk is installed, can you please then run this command and then try the ROS node again?

    setprop persist.camera.modalai.tof 1



  • @Chad-Sweet
    this is the version of royal sdk installed
    royale-331-spectre-4-7 - 0.0.1



  • @Chad-Sweet
    Thanks for the solution it worked!
    but after a minute or so it started throwing error

    DEPTH_IMAGE
    	IR: 1 ..... Cloud: 1 ..... Laser: 1
    Camera id: 0
    Image width: 224
    Image height: 1557
    Number of frames to dump: 0
    Camera mode: preview
    SUCCESS: Camera module opened
    Camera Id: 0 Facing: 1
    Camera Id: 1 Facing: 1
    SUCCESS: TOF interface created!
    =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
    =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
    Libcamera sending RAW16 TOF data. App calling the PMD libs to postprocess the RAW16 data
    [ INFO] [1610561725.908936828]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
    [ INFO] [1610561725.913180926]: 
    cx/cy     114.822 89.022
    fx/fy     111.394 111.394
    tan coeff -0.00222965 -0.00368372
    rad coeff -0.261745 0.098178 -0.0166875
    
    
    
    
    
    Camera HAL3 ToF camera test is now running
    Frame: 0 SensorTimestamp = 	 213139865341
    Frame: 30 SensorTimestamp = 	 214139747341
    Frame: 60 SensorTimestamp = 	 215139847341
    Frame: 90 SensorTimestamp = 	 216139794341
    Frame: 120 SensorTimestamp = 	 217139814341
    Frame: 150 SensorTimestamp = 	 218139859341
    Frame: 180 SensorTimestamp = 	 219139889341
    Frame: 210 SensorTimestamp = 	 220139917341
    Frame: 240 SensorTimestamp = 	 221139905341
    Frame: 270 SensorTimestamp = 	 222139941341
    Frame: 300 SensorTimestamp = 	 223139931341
    Frame: 330 SensorTimestamp = 	 224139999341
    .
    .
    .
    .
    .
    Frame: 2430 SensorTimestamp = 	 294139985341
    HELLOCAMERA-ERROR: Error sending request 2449
    HELLOCAMERA-ERROR: Framenumber: 2446 ErrorCode: 4
    HELLOCAMERA-ERROR: Framenumber: 2447 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 2448 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 2449 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 0 ErrorCode: 1
    HELLOCAMERA-ERROR: Error sending request 2450
    HELLOCAMERA-ERROR: Error sending request 2451
    HELLOCAMERA-ERROR: Error sending request 2452
    HELLOCAMERA-ERROR: Error sending request 2453
    HELLOCAMERA-ERROR: Error sending request 2454
    ^C[tof/voxl_hal3_tof_cam_ros_node-4] killing on exit
    [base_link_laser_scan-3] killing on exit
    [base_link_tof_cam-2] killing on exit
    HELLOCAMERA-ERROR: Error sending request 2455
    [tof/voxl_hal3_tof_cam_ros_node-4] escalating to SIGTERM
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done
    


  • OK, good progress. That should be working. Can you give it a full power cycle and see if it says up?



  • I am not sure if I understood that. Can you please elaborate.



  • Unplug power from the VOXL and plug it back in. Then try the test over. You look like you're in a working state.



  • can you please explain this setprop persist.camera.modalai.tof 1



  • It is the way for software to tell which TOF driver should be used. Setting to 1 supports the HAL3 method you are using, setting to 0 supports the older libCamera method using tof_cam_ros

    The HAL3 method is intended to give the developer more control over the pipeline



  • @Chad-Sweet
    Thanks a lot its been a great help.


  • Dev Team

    Hi @gauravshukla914 ,

    Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly.

    It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link

    The updated readme is here.

    Thanks!


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