depthai-ros: [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: _Map_base::at

Unable to stream from camera, Black screen.

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-03-18-12-33-05-331218-ubuntu-539149
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [539163]
[INFO] [cameracalibrator-2]: process started with pid [539165]
[component_container-1] [INFO] [1679157186.574037766] [oak_container]: Load Library: /home/ubuntu/luxonis_oak_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1679157186.754660280] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1679157186.754853081] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [2023-03-18 12:33:06.787] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[component_container-1] [2023-03-18 12:33:06.789] [debug] Library information - version: 2.20.2, commit: 5ead66c017593563c8f730847c3e7ed2df8e950c from 2023-03-08 15:39:34 +0200, build: 2023-03-18 06:24:30 +0000
[component_container-1] [2023-03-18 12:33:06.795] [debug] Initialize - finished
[component_container-1] [INFO] [1679157186.795753948] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [2023-03-18 12:33:07.000] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 10ms, archive read: 197ms
[component_container-1] [2023-03-18 12:33:07.014] [debug] Device - OpenVINO version: universal
[component_container-1] [2023-03-18 12:33:07.018] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"maxSpeed":4,"pid":63035,"vid":999},"usb3PhyInternalClock":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
[component_container-1] libnop:
[component_container-1] 0000: b9 10 b9 05 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 b9 02 00 01 ba 00 be be bb 00 bb 00 be be be
[component_container-1] 0020: be be be 01 00 bb 00
[component_container-1] [2023-03-18 12:33:07.577] [debug] Resources - Archive 'depthai-device-fwp-8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd.tar.xz' open: 7ms, archive read: 778ms
[component_container-1] [2023-03-18 12:33:08.323] [debug] Searching for booted device: DeviceInfo(name=1.2.1, mxid=1844301091E6331300, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[component_container-1] [INFO] [1679157189.311138631] [oak]: Camera with MXID: 1844301091E6331300 and Name: 1.2.1 connected!
[component_container-1] [1844301091E6331300] [1.2.1] [0.956] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0xFCCBD2D0
[component_container-1] GPIO boot mode 0x3, interface SPI_MASTER_EFF
[component_container-1] Setting aons(0..4) back to boot from flash (offset = 0)
[component_container-1] ====ENABLE WATCHDOG====1
[component_container-1] initial keepalive, countdown: 10
[component_container-1] PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
[component_container-1] Board init ret 3
[component_container-1] DepthAI Firmware - version: 8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd
[component_container-1] eeprom configuration version: 55AA0007
[component_container-1] Reading VERSION 7 --- ->
[component_container-1] eeprom configuration load from user area, status: 0
[component_container-1] Reading VERSION 7 --- ->
[component_container-1] PMIC read  reg 0x19, val 0xb8
[component_container-1] PMIC read  reg 0x23, val 0x10
[component_container-1] PMIC read  reg 0x31, val 0x08
[component_container-1] PMIC read  reg 0x33, val 0x28
[component_container-1] Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device: 
[component_container-1] Board options: 00000004
[component_container-1] --> brdInit ...
[component_container-1] brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]
[component_container-1] 
[component_container-1] spi_N25Q_init: Flash JEDEC ID: c2 25 3a
[component_container-1] SR CR: 40 07
[component_container-1] QUAD mode already enabled. Dummy cfg: 0x00
[component_container-1] Initialized pin: 56, mode: 7, level: 1, pad: 0x00000010
[component_container-1] Opening bus for IR driver: 1
[component_container-1] Failed to probe IR driver LM3644
[component_container-1] Opening bus for IR driver: 2
[component_container-1] LM3644 detected, ID = 0x02
[component_container-1] ===== IR write bus 2: 0x07 = 0x89
[component_container-1] ===== IR write bus 2: 0x02 = 0x01
[component_container-1] ===== IR write bus 2: 0x03 = 0x00
[component_container-1] ===== IR write bus 2: 0x04 = 0x00
[component_container-1] ===== IR write bus 2: 0x05 = 0x00
[component_container-1] ===== IR write bus 2: 0x06 = 0x00
[component_container-1] ===== IR write bus 2: 0x07 = 0x09
[component_container-1] ===== IR write bus 2: 0x08 = 0x1a
[component_container-1] ===== IR write bus 2: 0x09 = 0x08
[component_container-1] ===== IR write bus 2: 0x01 = 0x24
[component_container-1] Opening bus for IR driver: 3
[component_container-1] Failed to probe IR driver LM3644
[component_container-1] Closing EEPROm!
[component_container-1] MyriaX board configuration
[component_container-1] pll0 frequency: 700000, ref0 frequency: 24000
[component_container-1] Is booted from flash by bootloader: 0
[component_container-1] Networking not available...
[component_container-1] === Enumerating on socket: Cam_A / RGB / Center
[component_container-1] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378
[component_container-1] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378
[component_container-1]   >> Registered camera A12N02A (imx378) as /dev/Camera_0
[component_container-1] camera socket: 0, name: color
[component_container-1]         config - w: 1920, h: 1080, type: COLOR
[component_container-1]         config - w: 3840, h: 2160, type: COLOR
[component_container-1]         config - w: 4056, h: 3040, type: COLOR
[component_container-1] Adding socket 0: cam 2. Sen name: IMX378
[component_container-1] === Enumerating on socket: Cam_B / Left
[component_container-1]   >> Registered camera TG161B (ov9282) as /dev/Camera_1
[component_container-1] camera socket: 1, name: left
[component_container-1]         config - w: 1280, h: 720, type: MONO
[component_container-1]         config - w: 1280, h: 720, type: COLOR
[component_container-1]         config - w: 1280, h: 800, type: MONO
[component_container-1]         config - w: 1280, h: 800, type: COLOR
[component_container-1] Adding socket 1: cam 5. Sen name: OV9282
[component_container-1] === Enumerating on socket: Cam_C / Right
[component_container-1]   >> Registered camera TG161B (ov9282) as /dev/Camera_2
[component_container-1] camera socket: 2, name: right
[component_container-1]         config - w: 1280, h: 720, type: MONO
[component_container-1]         config - w: 1280, h: 720, type: COLOR
[component_container-1]         config - w: 1280, h: 800, type: MONO
[component_container-1]         config - w: 1280, h: 800, type: COLOR
[component_container-1] Adding socket 2: cam 5. Sen name: OV9282
[component_container-1] Initializing XLink...
[component_container-1] UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
[component_container-1] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
[component_container-1] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
[component_container-1] initial keepalive, countdown: 9
[component_container-1] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
[component_container-1] Done!
[component_container-1] Usb connection speed: Super - USB 3.0
[component_container-1] Temperature: Driver registered.
[component_container-1] Temperature: Initialized driver.
[component_container-1] Temperature: Sensor opened: CSS.
[component_container-1] Temperature: Sensor opened: MSS.
[component_container-1] Temperature: Sensor opened: UPA.
[component_container-1] Temperature: Sensor opened:
[component_container-1] [INFO] [1679157189.313438512] [oak]: USB SPEED: SUPER
[component_container-1] [1844301091E6331300] [1.2.1] [0.966] [system] [info] Memory Usage - DDR: 0.12 / 340.42 MiB, CMX: 2.05 / 2.50 MiB, LeonOS Heap: 7.00 / 77.32 MiB, LeonRT Heap: 2.89 / 41.23 MiB
[component_container-1] [1844301091E6331300] [1.2.1] [0.966] [system] [info] Temperatures - Average: 36.53 °C, CSS: 37.48 °C, MSS 36.30 °C, UPA: 36.06 °C, DSS: 36.30 °C
[component_container-1] [1844301091E6331300] [1.2.1] [0.966] [system] [info] Cpu Usage - LeonOS 65.40%, LeonRT: 1.69%
[component_container-1] [1844301091E6331300] [1.2.1] [0.967] [system] [warning] PRINT:LeonCss:  DSS.
[component_container-1] [1844301091E6331300] [1.2.1] [0.978] [system] [warning] PRINT:LeonCss: I: [Timesync] [   4202637] [XLin] startSync:130     Timesync | Callback not set
[component_container-1] [1844301091E6331300] [1.2.1] [0.989] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents
[component_container-1] Reading VERSION 7 --- ->
[component_container-1] [INFO] [1679157189.347519480] [oak]: Device type: OAK-D-PRO-AF
[component_container-1] [INFO] [1679157189.354222803] [oak]: Pipeline type: RGBStereo
[component_container-1] [2023-03-18 12:33:09.355] [debug] Device about to be closed...
[component_container-1] [2023-03-18 12:33:09.520] [debug] XLinkResetRemote of linkId: (0)
[component_container-1] [2023-03-18 12:33:09.522] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR)
[component_container-1] [2023-03-18 12:33:09.522] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)
[component_container-1] [2023-03-18 12:33:10.789] [debug] Device closed, 1434
[component_container-1] [ERROR] [1679157190.815125257] [oak_container]: Component constructor threw an exception: _Map_base::at
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: _Map_base::at

About this issue

Original URL
State: closed
Created a year ago
Comments: 34 (18 by maintainers)

Most upvoted comments

Now I just need to figure how to do the actual calibration 😄

same!

MAVProxyUser on Mar 24, 2023

Is this also happening if you run other launches in depthai_ros_driver?

I tried running some other example which seemed to work (I ran the RGB-D-pcl.launch, which published on the /oak/points topic with 30 hz). Then I reran the calibration and now it shows an grayscale image of the center camera. Now I just need to figure how to do the actual calibration 😄

Not entirely sure why it shows an image now 😕

Sidenote: I initially connected two USB-C with the supplied splitter, to power the IR-emitter, to see if that had any changes. But now I returned to just a single USB-C and it still works.

larshg on Mar 24, 2023

@MAVProxyUser @larshg Ok, I think I’ve pinpointed that issue, and of course it’s a typo 🥲 🤦 Until fix is added, easiest way to get rid of the issue is to edit calibration launch file, change pipeline_type parameter from “RGBStereo” to “RGBDStereo”.

Serafadam on Mar 23, 2023

@Serafadam as someone coming off the RealSense landscape… I’m a bit floored by people responding quickly and actually fixing things! I’ll try to test this ASAP.

MAVProxyUser on Mar 22, 2023

Thanks for the logs, it seems that device returns older sensor name, I added a fix in https://github.com/luxonis/depthai-ros/pull/247, please try depthai_filters_humble branch and let me know if that fix works for you

Serafadam on Mar 22, 2023