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v2-main branch failed to initialize device. #80

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graycatrl opened this issue Dec 13, 2024 · 2 comments
Open

v2-main branch failed to initialize device. #80

graycatrl opened this issue Dec 13, 2024 · 2 comments

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@graycatrl
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graycatrl commented Dec 13, 2024 •
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Issue: Gemini 336 camera fail to initialize with v2-main branch due to missing config related to filters. If I build/run with main branch, then switch back to v2-main branch, the camera is able to initialize. It seems the main branch writes some config to somewhere, which is later picked up by code in v2-main.

Setup:

  • Ubuntu 22.04
  • ROS2 Humble fresh install
  • Cloned and built this repo following instructions in README.

If I'm using v2-main branch, it result in a crash loop, unable to initialize the device:

$ ros2 launch orbbec_camera gemini_330_series.launch.py
[INFO] [launch]: All log files can be found below /home/rl/.ros/log/2024-12-12-20-52-42-029131-rl-ubuntu-63666
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [63678]
[component_container-1] [INFO] [1734065562.336968205] [camera.camera_container]: Load Library: /home/rl/ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1734065562.381011390] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1734065562.381042208] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [12/12 20:52:42.383676][debug][63678][FrameMemoryPool.cpp:29] FrameMemoryPool created!
[component_container-1] [12/12 20:52:42.383754][info][63678][FilterFactory.cpp:32] Registered 14 filter creators
[component_container-1] [12/12 20:52:42.383757][info][63678][FilterFactory.cpp:34]  - Align
[component_container-1] [12/12 20:52:42.383759][info][63678][FilterFactory.cpp:34]  - DecimationFilter
[component_container-1] [12/12 20:52:42.383760][info][63678][FilterFactory.cpp:34]  - FormatConverter
[component_container-1] [12/12 20:52:42.383762][info][63678][FilterFactory.cpp:34]  - FrameFlip
[component_container-1] [12/12 20:52:42.383763][info][63678][FilterFactory.cpp:34]  - FrameMirror
[component_container-1] [12/12 20:52:42.383765][info][63678][FilterFactory.cpp:34]  - FrameRotate
[component_container-1] [12/12 20:52:42.383766][info][63678][FilterFactory.cpp:34]  - HDRMerge
[component_container-1] [12/12 20:52:42.383767][info][63678][FilterFactory.cpp:34]  - IMUCorrector
[component_container-1] [12/12 20:52:42.383769][info][63678][FilterFactory.cpp:34]  - IMUFrameReversion
[component_container-1] [12/12 20:52:42.383770][info][63678][FilterFactory.cpp:34]  - PixelValueOffset
[component_container-1] [12/12 20:52:42.383772][info][63678][FilterFactory.cpp:34]  - PixelValueScaler
[component_container-1] [12/12 20:52:42.383773][info][63678][FilterFactory.cpp:34]  - PointCloudFilter
[component_container-1] [12/12 20:52:42.383774][info][63678][FilterFactory.cpp:34]  - SequenceIdFilter
[component_container-1] [12/12 20:52:42.383776][info][63678][FilterFactory.cpp:34]  - ThresholdFilter
[component_container-1] [12/12 20:52:42.384625][debug][63678][UsbEnumeratorLibusb.cpp:436] UsbContext::startEventHandler()
[component_container-1] [12/12 20:52:42.384660][debug][63678][UsbEnumeratorLibusb.cpp:336] UsbEnumeratorLibusb created
[component_container-1] [12/12 20:52:42.384665][debug][63678][LinuxUsbPal.cpp:369] Uvc backend have been set to 0
[component_container-1] [12/12 20:52:42.384673][debug][63678][Context.cpp:39] Context created! Library version: v2.0.21, config file path: /home/rl/ros2_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1734065564.475542796] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1734065564.488036096] [camera.camera]: Select device cost 12 ms
[component_container-1] [INFO] [1734065564.488055162] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1734065564.488132677] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.489424120] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.542089501] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.542111242] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.542424888] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.542429837] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.542594645] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.542757399] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.542899224] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.542909043] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.542912810] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.542916126] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.542919222] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.542922748] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.544315782] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.544491691] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.544933987] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.544995372] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.545042941] [camera.camera]: Failed to initialize device (Attempt 1 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.545068469] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.545129964] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.546239227] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.546250097] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.546408223] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.546413092] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.546548615] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.546679059] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.546806597] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.546811136] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.546814312] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.546817528] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.546820633] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.546823709] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.548204911] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.548210591] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.548218696] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.548241269] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.548265003] [camera.camera]: Failed to initialize device (Attempt 2 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.548287365] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.548341827] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.549439227] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.549459095] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.549624514] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.549629754] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.549756230] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.549885061] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.550014112] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.550019432] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.550022608] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.550025613] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.550028509] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.550031635] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.551414800] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.551420771] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.551425901] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.551447371] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.551470754] [camera.camera]: Failed to initialize device (Attempt 3 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.551474862] [camera.camera]: Device initialization failed after 3 attempts.
[component_container-1] [ERROR] [1734065564.551483759] [camera.camera]: Failed to initialize device Device initialization failed after 3 attempts.
[component_container-1] [INFO] [1734065564.551523864] [camera.camera]: resetDevice : Reset device uid: 
[component_container-1] [INFO] [1734065564.551568016] [camera.camera]: Reset device uid:  done
[component_container-1] [INFO] [1734065564.576234918] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1734065564.583695312] [camera.camera]: Select device cost 7 ms
[component_container-1] [INFO] [1734065564.583709137] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1734065564.583735948] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.583808693] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.636986321] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.637007651] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.637182187] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.637187708] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.637322139] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.637453995] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.637590230] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.637595009] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.637599087] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.637602333] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.637605238] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.637612101] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.639011016] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.639186944] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.639627518] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.639659618] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.639697058] [camera.camera]: Failed to initialize device (Attempt 1 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.639729388] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.639794560] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.640873376] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.640884747] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.641048984] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.641054855] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.641193024] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.641330460] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.641476634] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.641481583] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.641484649] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.641487684] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.641490780] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.641493746] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.642902489] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.642909271] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.642916224] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.642938236] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.642961309] [camera.camera]: Failed to initialize device (Attempt 2 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.642984201] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.643039885] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.644105697] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.644116097] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.644277248] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.644282127] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.644410697] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.644540109] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.644674591] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.644680161] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.644683157] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.644686042] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.644688927] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.644691963] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.646091288] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.646105906] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.646112238] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.646137815] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.646170927] [camera.camera]: Failed to initialize device (Attempt 3 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.646175346] [camera.camera]: Device initialization failed after 3 attempts.
[component_container-1] [ERROR] [1734065564.646183250] [camera.camera]: Failed to initialize device Device initialization failed after 3 attempts.
[component_container-1] [INFO] [1734065564.646203749] [camera.camera]: resetDevice : Reset device uid: 
[component_container-1] [INFO] [1734065564.646240648] [camera.camera]: Reset device uid:  done
[component_container-1] [INFO] [1734065564.671091313] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1734065564.678623400] [camera.camera]: Select device cost 7 ms
[component_container-1] [INFO] [1734065564.678636635] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1734065564.678664407] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.678735690] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.732126857] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.732146143] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.732329496] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.732334766] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.732485187] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.732635278] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.732776281] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.732781851] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.732785108] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.732788153] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.732797110] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.732800306] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.734207305] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.734384416] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.734824409] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.734849786] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.734875775] [camera.camera]: Failed to initialize device (Attempt 1 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.734903968] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.734972395] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.736039901] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.736051152] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.736214838] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.736220568] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.736355681] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.736488249] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.736627479] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.736632689] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.736635584] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.736638710] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.736641645] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.736644491] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.738060166] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.738067801] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.738073131] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.738095102] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.738121301] [camera.camera]: Failed to initialize device (Attempt 2 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [INFO] [1734065564.738144564] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065564.738206300] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065564.739289033] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065564.739304402] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065564.739470112] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065564.739475051] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065564.739606907] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734065564.739740787] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065564.739867735] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065564.739872153] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734065564.739875068] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734065564.739877954] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734065564.739880939] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734065564.739883945] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065564.741269855] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065564.741275877] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065564.741280806] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [ERROR] [1734065564.741302697] [camera.camera]: Failed to setup topics: Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.741325680] [camera.camera]: Failed to initialize device (Attempt 3 of 3): Filter@FrameProcessor: config schema is empty, doesn't have any config value
[component_container-1] [ERROR] [1734065564.741329226] [camera.camera]: Device initialization failed after 3 attempts.
[component_container-1] [ERROR] [1734065564.741340678] [camera.camera]: Failed to initialize device Device initialization failed after 3 attempts.

If I'm in main branch, camera is able to initialize:

$ ros2 launch orbbec_camera gemini_330_series.launch.py
[INFO] [launch]: All log files can be found below /home/rl/.ros/log/2024-12-12-20-59-15-952849-rl-ubuntu-68366
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [68378]
[component_container-1] [INFO] [1734065956.260821483] [camera.camera_container]: Load Library: /home/rl/ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1734065956.296795103] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1734065956.296823045] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [12/12 20:59:16.299357][info][68378][Context.cpp:68] Context created with config: /home/rl/ros2_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [12/12 20:59:16.299368][info][68378][Context.cpp:73] Work directory=/home/rl/ros2_ws, SDK version=v1.10.16-20241021-5113dad
[component_container-1] [12/12 20:59:16.299378][info][68378][LinuxPal.cpp:32] createObPal: create LinuxPal!
[component_container-1] [12/12 20:59:16.376901][info][68378][LinuxPal.cpp:166] Create PollingDeviceWatcher!
[component_container-1] [12/12 20:59:16.376925][info][68378][DeviceManager.cpp:15] Current found device(s): (1)
[component_container-1] [12/12 20:59:16.376929][info][68378][DeviceManager.cpp:24] 	- Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7284100039, Connection: USB3.2
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1734065956.387861892] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1734065956.496731385] [camera.camera]: Select device cost 108 ms
[component_container-1] [INFO] [1734065956.496802287] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1734065956.496875643] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734065956.498249724] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734065956.502504453] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734065956.502668137] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734065956.502942416] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734065956.502947606] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065956.503071496] [camera.camera]: Setting laser control to 1
[component_container-1] [INFO] [1734065956.504333179] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734065956.504455456] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734065956.504466416] [camera.camera]: Preset 0: Custom
[component_container-1] [INFO] [1734065956.504470073] [camera.camera]: Preset 1: Default
[component_container-1] [INFO] [1734065956.504473659] [camera.camera]: Preset 2: AMR with IR-Pass
[component_container-1] [INFO] [1734065956.504476735] [camera.camera]: Preset 3: Factory Calib
[component_container-1] [INFO] [1734065956.504480061] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734065956.504491583] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734065956.504651850] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065956.504659945] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734065956.504664143] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1734065956.505968915] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1734065956.507306048] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1734065956.512459165] [camera.camera]: Setting DecimationFilter......
[component_container-1] [INFO] [1734065956.512471148] [camera.camera]: set DecimationFilter to false
[component_container-1] [INFO] [1734065956.512482929] [camera.camera]: Skip setting filter: DecimationFilter
[component_container-1] [INFO] [1734065956.512488259] [camera.camera]: Setting HDRMerge......
[component_container-1] [INFO] [1734065956.512491806] [camera.camera]: set HDRMerge to false
[component_container-1] [INFO] [1734065956.512495302] [camera.camera]: Skip setting filter: HDRMerge
[component_container-1] [INFO] [1734065956.512499190] [camera.camera]: Setting SequenceIdFilter......
[component_container-1] [INFO] [1734065956.512502416] [camera.camera]: Skip setting filter: SequenceIdFilter
[component_container-1] [INFO] [1734065956.512506022] [camera.camera]: Setting NoiseRemovalFilter......
[component_container-1] [INFO] [1734065956.512509058] [camera.camera]: set NoiseRemovalFilter to true
[component_container-1] [INFO] [1734065956.512517904] [camera.camera]: Default noise removal filter params: disp_diff: 256, max_size: 80
[component_container-1] [INFO] [1734065956.512521321] [camera.camera]: Set noise removal filter params: disp_diff: 256, max_size: 80
[component_container-1] [INFO] [1734065956.512526210] [camera.camera]: Setting SpatialAdvancedFilter......
[component_container-1] [INFO] [1734065956.512529706] [camera.camera]: set SpatialAdvancedFilter to false
[component_container-1] [INFO] [1734065956.512532872] [camera.camera]: Skip setting filter: SpatialAdvancedFilter
[component_container-1] [INFO] [1734065956.512536409] [camera.camera]: Setting SpatialFastFilter......
[component_container-1] [INFO] [1734065956.512539434] [camera.camera]: Skip setting filter: SpatialFastFilter
[component_container-1] [INFO] [1734065956.512542821] [camera.camera]: Setting SpatialModerateFilter......
[component_container-1] [INFO] [1734065956.512545676] [camera.camera]: Skip setting filter: SpatialModerateFilter
[component_container-1] [INFO] [1734065956.512549022] [camera.camera]: Setting TemporalFilter......
[component_container-1] [INFO] [1734065956.512552158] [camera.camera]: set TemporalFilter to false
[component_container-1] [INFO] [1734065956.512555454] [camera.camera]: Skip setting filter: TemporalFilter
[component_container-1] [INFO] [1734065956.512559271] [camera.camera]: Setting HoleFillingFilter......
[component_container-1] [INFO] [1734065956.512562838] [camera.camera]: set HoleFillingFilter to false
[component_container-1] [INFO] [1734065956.512582404] [camera.camera]: Skip setting filter: HoleFillingFilter
[component_container-1] [INFO] [1734065956.512586422] [camera.camera]: Setting DisparityTransform......
[component_container-1] [INFO] [1734065956.512589577] [camera.camera]: Skip setting filter: DisparityTransform
[component_container-1] [INFO] [1734065956.512592944] [camera.camera]: Setting ThresholdFilter......
[component_container-1] [INFO] [1734065956.512595929] [camera.camera]: set ThresholdFilter to false
[component_container-1] [INFO] [1734065956.512602471] [camera.camera]: Skip setting filter: ThresholdFilter
[component_container-1] [INFO] [1734065956.513656618] [camera.camera]:  stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1734065956.513941397] [camera.camera]:  stream depth is enabled - width: 848, height: 480, fps: 30, Format: OB_FORMAT_Y16
[component_container-1] [INFO] [1734065956.521015481] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1734065956.521518024] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1734065956.521528964] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1734065956.521534885] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1734065956.521539113] [camera.camera]: Stream depth width: 848 height: 480 fps: 30 format: Y16
[component_container-1] [INFO] [1734065956.530835252] [camera.camera]: Enable frame sync
[component_container-1] [INFO] [1734065956.530851092] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734065956.544267511] [camera.camera]: Device Orbbec Gemini 336 connected
[component_container-1] [INFO] [1734065956.544276087] [camera.camera]: Serial number: CP7284100039
[component_container-1] [INFO] [1734065956.544281066] [camera.camera]: Firmware version: 1.3.70
[component_container-1] [INFO] [1734065956.544285484] [camera.camera]: Hardware version: 0.1
[component_container-1] [INFO] [1734065956.544288530] [camera.camera]: device unique id: 2-1-2
[component_container-1] [INFO] [1734065956.544292878] [camera.camera]: Current node pid: 68378
[component_container-1] [INFO] [1734065956.544296024] [camera.camera]: usb connect type: USB3.2
[component_container-1] [INFO] [1734065956.544299330] [camera.camera]: Start device cost 166 ms
[component_container-1] [INFO] [1734065956.544302836] [camera.camera]: Initialize device cost 47 ms
[component_container-1] [INFO] [1734065962.562771657] [camera.camera]: Publishing static transform from color to depth
[component_container-1] [INFO] [1734065962.562799659] [camera.camera]: Translation 13.8907, 0.112773, 1.7219
[component_container-1] [INFO] [1734065962.562805469] [camera.camera]: Rotation -0.001405, -0.000518092, -0.000310144, 0.999999
[component_container-1] [INFO] [1734065962.562809948] [camera.camera]: Publishing static transform from depth to depth
[component_container-1] [INFO] [1734065962.562813615] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1734065962.562817953] [camera.camera]: Rotation 0, 0, 0, 1

If I switch back to v2-main and build/run again, it is able to initialize:

$ ros2 launch orbbec_camera gemini_330_series.launch.py
[INFO] [launch]: All log files can be found below /home/rl/.ros/log/2024-12-12-21-38-02-820616-rl-ubuntu-100569
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [100581]
[component_container-1] [INFO] [1734068283.126646438] [camera.camera_container]: Load Library: /home/rl/ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1734068283.161912137] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1734068283.161939167] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [12/12 21:38:03.164443][debug][100581][FrameMemoryPool.cpp:29] FrameMemoryPool created!
[component_container-1] [12/12 21:38:03.164672][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: DisparityTransform
[component_container-1] [12/12 21:38:03.164684][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: HoleFillingFilter
[component_container-1] [12/12 21:38:03.164688][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: NoiseRemovalFilter
[component_container-1] [12/12 21:38:03.164691][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: SpatialAdvancedFilter
[component_container-1] [12/12 21:38:03.164694][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: TemporalFilter
[component_container-1] [12/12 21:38:03.164698][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: DepthResize
[component_container-1] [12/12 21:38:03.164701][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: EdgeNoiseRemovalFilter
[component_container-1] [12/12 21:38:03.164890][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: G2XLDecompress
[component_container-1] [12/12 21:38:03.164897][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: FrameUnpacker
[component_container-1] [12/12 21:38:03.164900][debug][100581][PrivFilterLoader.cpp:168] Private filter creator created: G2PixelOffsetFix
[component_container-1] [12/12 21:38:03.164915][info][100581][FilterFactory.cpp:32] Registered 24 filter creators
[component_container-1] [12/12 21:38:03.164919][info][100581][FilterFactory.cpp:34]  - Align
[component_container-1] [12/12 21:38:03.164922][info][100581][FilterFactory.cpp:34]  - DecimationFilter
[component_container-1] [12/12 21:38:03.164925][info][100581][FilterFactory.cpp:34]  - DepthResize
[component_container-1] [12/12 21:38:03.164928][info][100581][FilterFactory.cpp:34]  - DisparityTransform
[component_container-1] [12/12 21:38:03.164931][info][100581][FilterFactory.cpp:34]  - EdgeNoiseRemovalFilter
[component_container-1] [12/12 21:38:03.164934][info][100581][FilterFactory.cpp:34]  - FormatConverter
[component_container-1] [12/12 21:38:03.164936][info][100581][FilterFactory.cpp:34]  - FrameFlip
[component_container-1] [12/12 21:38:03.164939][info][100581][FilterFactory.cpp:34]  - FrameMirror
[component_container-1] [12/12 21:38:03.164942][info][100581][FilterFactory.cpp:34]  - FrameRotate
[component_container-1] [12/12 21:38:03.164945][info][100581][FilterFactory.cpp:34]  - FrameUnpacker
[component_container-1] [12/12 21:38:03.164947][info][100581][FilterFactory.cpp:34]  - G2PixelOffsetFix
[component_container-1] [12/12 21:38:03.164950][info][100581][FilterFactory.cpp:34]  - G2XLDecompress
[component_container-1] [12/12 21:38:03.164953][info][100581][FilterFactory.cpp:34]  - HDRMerge
[component_container-1] [12/12 21:38:03.164956][info][100581][FilterFactory.cpp:34]  - HoleFillingFilter
[component_container-1] [12/12 21:38:03.164959][info][100581][FilterFactory.cpp:34]  - IMUCorrector
[component_container-1] [12/12 21:38:03.164962][info][100581][FilterFactory.cpp:34]  - IMUFrameReversion
[component_container-1] [12/12 21:38:03.164971][info][100581][FilterFactory.cpp:34]  - NoiseRemovalFilter
[component_container-1] [12/12 21:38:03.164974][info][100581][FilterFactory.cpp:34]  - PixelValueOffset
[component_container-1] [12/12 21:38:03.164976][info][100581][FilterFactory.cpp:34]  - PixelValueScaler
[component_container-1] [12/12 21:38:03.164978][info][100581][FilterFactory.cpp:34]  - PointCloudFilter
[component_container-1] [12/12 21:38:03.164980][info][100581][FilterFactory.cpp:34]  - SequenceIdFilter
[component_container-1] [12/12 21:38:03.164982][info][100581][FilterFactory.cpp:34]  - SpatialAdvancedFilter
[component_container-1] [12/12 21:38:03.164984][info][100581][FilterFactory.cpp:34]  - TemporalFilter
[component_container-1] [12/12 21:38:03.164986][info][100581][FilterFactory.cpp:34]  - ThresholdFilter
[component_container-1] [12/12 21:38:03.165861][debug][100581][UsbEnumeratorLibusb.cpp:436] UsbContext::startEventHandler()
[component_container-1] [12/12 21:38:03.165913][debug][100581][UsbEnumeratorLibusb.cpp:336] UsbEnumeratorLibusb created
[component_container-1] [12/12 21:38:03.165919][debug][100581][LinuxUsbPal.cpp:369] Uvc backend have been set to 0
[component_container-1] [12/12 21:38:03.165926][debug][100581][Context.cpp:39] Context created! Library version: v2.0.21, config file path: /home/rl/ros2_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1734068285.256923415] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1734068285.265260706] [camera.camera]: Select device cost 8 ms
[component_container-1] [INFO] [1734068285.265287546] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1734068285.265395326] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1734068285.266710465] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1734068285.319832850] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1734068285.319862224] [camera.camera]: Create align filter
[component_container-1] [INFO] [1734068285.320065130] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1734068285.320078956] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1734068285.320243381] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1734068285.320411763] [camera.camera]: Setting laser on off mode to 0
[component_container-1] [INFO] [1734068285.320556712] [camera.camera]: Available presets:
[component_container-1] [INFO] [1734068285.320574856] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1734068285.320586547] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1734068285.320591977] [camera.camera]: Preset 2: Factory Calib
[component_container-1] [INFO] [1734068285.320597067] [camera.camera]: Preset 3: Custom
[component_container-1] [INFO] [1734068285.320607256] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1734068285.321941941] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1734068285.322125852] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734068285.322579433] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1734068285.322628835] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1734068285.322860464] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1734068285.323051859] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1734068285.323745475] [camera.camera]: default_noise_removal_filter_min_diff: 256
[component_container-1] [INFO] [1734068285.323761665] [camera.camera]: default_noise_removal_filter_max_size: 80
[component_container-1] [INFO] [1734068285.326158651] [camera.camera]:  stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1734068285.326516043] [camera.camera]:  stream depth is enabled - width: 848, height: 480, fps: 30, Format: OB_FORMAT_Y16
[component_container-1] [INFO] [1734068285.334308925] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1734068285.334858925] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1734068285.334872510] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1734068285.334881437] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1734068285.334888059] [camera.camera]: Stream depth width: 848 height: 480 fps: 30 format: Y16
[component_container-1] [INFO] [1734068285.336997040] [camera.camera]: Enable frame sync
[component_container-1] [INFO] [1734068285.395122273] [camera.camera]: Device Orbbec Gemini 336 connected
[component_container-1] [INFO] [1734068285.395143422] [camera.camera]: Serial number: CP7284100039
[component_container-1] [INFO] [1734068285.395156196] [camera.camera]: Firmware version: 1.3.70
[component_container-1] [INFO] [1734068285.395165433] [camera.camera]: Hardware version: 0.1
[component_container-1] [INFO] [1734068285.395172566] [camera.camera]: device unique id: 2-1-3
[component_container-1] [INFO] [1734068285.395181663] [camera.camera]: Current node pid: 100581
[component_container-1] [INFO] [1734068285.395188626] [camera.camera]: usb connect type: USB3.2
[component_container-1] [INFO] [1734068285.395195699] [camera.camera]: Start device cost 148 ms
[component_container-1] [INFO] [1734068285.395205577] [camera.camera]: Initialize device cost 129 ms
[component_container-1] [INFO] [1734068291.471170763] [camera.camera]: Publishing static transform from color to depth
[component_container-1] [INFO] [1734068291.471199857] [camera.camera]: Translation 13.8907, 0.112773, 1.7219
[component_container-1] [INFO] [1734068291.471205818] [camera.camera]: Rotation -0.001405, -0.000518092, -0.000310144, 0.999999
[component_container-1] [INFO] [1734068291.471221888] [camera.camera]: Publishing static transform from depth to depth
[component_container-1] [INFO] [1734068291.471245983] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1734068291.471250672] [camera.camera]: Rotation 0, 0, 0, 1
@jjiszjj
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jjiszjj commented Dec 19, 2024

@graycatrl Thank you for your feedback. If you can delete the build and install folders and then switch to v2-main and recompile, will there still be a problem of being unable to initialize the device?

@graycatrl
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graycatrl commented Dec 21, 2024 •
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@graycatrl Thank you for your feedback. If you can delete the build and install folders and then switch to v2-main and recompile, will there still be a problem of being unable to initialize the device?

@jjiszjj It turns out the problem is that --symlink-install option works with main branch but breaks the v2-main branch. I used this option in my own project builds and reused it when initially testing for building this repo.

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