The realsense camera does not initialize

[RamsesReyes]

Hello, I'm working with the AutoModelCar version 2, when I try to initialize de SR300 camera I just get the next messages again and again:

process[app/camera/driver-2]: started with pid [21607]
[ INFO] [1490375862.673406579]: /app/camera/driver - Stopping camera
[ INFO] [1490375862.681803288]: /app/camera/driver - Stopping...
[FATAL] [1490375862.897421079]: Failed to load nodelet '/app/camera/driverof typerealsense_camera/SR300Nodeletto managercamera_nodelet_manager'
[app/camera/driver-2] process has died [pid 21607, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense_camera/SR300Nodelet camera_nodelet_manager depth:=depth color:=rgb ir:=ir ir2:=ir2 __name:=driver __log:=/root/.ros/log/ccbf8a7a-10b1-11e7-b3fe-001e06306003/app-camera-driver-2.log].
log file: /root/.ros/log/ccbf8a7a-10b1-11e7-b3fe-001e06306003/app-camera-driver-2*.log
[app/camera/driver-2] restarting process

If I supply the car with the battery, the camera does not even turn on, supplying with the ac adapter the camera does turn on, but I still get the same kind of messages.

I've already modified the autostart.sh file, to run the sr300_nodelet_rgbd.launch twice, like this:
timeout 10 roslaunch realsense_camera sr300_nodelet_rgbd.launch
roslaunch realsense_camera sr300_nodelet_rgbd.launch || exit

But that does not work either, any idea?

[ZahraBoroujeni]

I suggest to upgrade to new linux image, and new repo.
https://github.com/AutoModelCar/AutoModelCarWiki/wiki/Flashing-the-eMMC-(AutoNOMOS-Model-v3)
be careful and checkout your version!

git checkout version-2-kinetic

https://github.com/AutoModelCar/AutoModelCarWiki/wiki/Patch-for-Realsense-IR-Depth-Images

[RamsesReyes]

I've already flashed the eMMC card, the alive led is blinking (two blinks and a pause pattern), but the odroid does not connect neither via ethernet nor wifi, In the ethernet port only the yellow light is flashing, the green one is off. I have no access to a hdmi display, so I don't know if the Odroid is working well, how could I know that?

Thank you for the help :)

[RamsesReyes]

I managed to reflash the eMMC with the linux image with ROS kinetic for car version 2 and it works, the modules (light stripes, lidar, rgbd camera) turn on, but I can't ping the odroid neither by ethernet nor wifi, so I can not make an ssh connection either.

What do you suggest me to do?

Thanks and greetings.

[RamsesReyes]

I could do it, the car works with the ROS kinetic image. I had to erase all the rootfs files and subfolders from Odroid and copy them manually from the image. About the connection issue, I was using a wrong IP for wifi and ethernet connection worked after I commented the "auto wlan0" line in /etc/network/interfaces, I have connection now.

Everything works well now... while the odroid is supplied with the AC adapter, if I supply it with the battery, the camera and rplidar don't work at all and terminal shows the next messages:

[ERROR] [1455208740.489898847]: /camera/driver - No cameras detected!
[ERROR] [1455208740.490403634]: /camera/driver - Error calling rs_create_context ( api_version:11201 ):
libusb_bulk_transfer(...) returned LIBUSB_ERROR_I

and:

[rplidarNode-22] process has finished cleanly
log file: /root/.ros/log/6e8b239e-d0dc-11e5-b748-001e06306003/rplidarNode-22*.log

The wires patch has been done, does that mean that it is wrong?

Thank you for any help :)

[ZahraBoroujeni]

When the camera works with power supply, it means there is a problem on hardware! You can stop the other nodes like (lidar) and just run the camera, it may help to work temporally.
To fix the hardware: You should fix the car and use short and thick wire to provide stable 5 volt for odroid.
https://github.com/AutoModelCar/AutoModelCarWiki/wiki/Patch-for-Model-Car-Version-2-(stabilize-power-supply)

[RamsesReyes]

All right! I'll remake the patch then, thank you very much, I will share the results.

[RamsesReyes]

Hello!
I remade the wiring patch, and the behavior is the same, the camera and the rplidar turns off after a few minutes. I used 22 AWG wires, they have a diameter of 0.64mm. I get the next message when the camera turns off:

[camera/camera_nodelet_manager-7] process has died [pid 3844, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/root/.ros/log/d800fd5c-ad27-11e7-8d2e-001e06306003/camera-camera_nodelet_manager-7.log].
log file: /root/.ros/log/d800fd5c-ad27-11e7-8d2e-001e06306003/camera-camera_nodelet_manager-7*.log
[camera/driver-8] process has finished cleanly
log file: /root/.ros/log/d800fd5c-ad27-11e7-8d2e-001e06306003/camera-driver-8*.log

Is it possible there is another cause for this issue?

Thanks for the help.

[AutoModelCar]

Is your battery full charged?
Did you check the voltage of Odroid? Is it 5 volt? If it is under 5 volt, you did not patch it correctly. Try to follow the patch instruction precisely.

[RamsesReyes]

I tried with the battery fully charged and the behavior is the same, the voltage of Odroid is stable 5.2 volts. This is the terminal message when the camera turns off:

[ INFO] [1508190943.786109588]: /camera/driver - Setting static camera options
[ INFO] [1508190943.790717007]: /camera/driver - Enabling Depth in manual mode
[ INFO] [1508190943.793067716]: /camera/driver - Enabling Color in manual mode
[ INFO] [1508190943.795860217]: /camera/driver - Enabling IR in manual mode
[ INFO] [1508190943.797957468]: /camera/driver - Starting camera
[ INFO] [1508190943.826782688]: /camera/driver - Publishing camera transforms (/tf_static)
[ INFO] [1508190943.827796271]: /camera/driver - Setting dynamic camera options
terminate called after throwing an instance of 'std::runtime_error'
what(): VIDIOC_DQBUF error 19, No such device
close failed in file object destructor:
sys.excepthook is missing
lost sys.stderr

Or sometimes I get this error:

[ INFO] [1507835917.209522673]: /camera/driver - Setting dynamic camera options
[ERROR] [1508191584.851112080]: /camera/driver - Error calling rs_wait_for_frames ( device:0x1a84e8 ):
Timeout waiting for frames.

This problem could be related to the fact that the regulators are very hot? Could be this the cause of this problem?

[AutoModelCar]

Do you have realsense_camera package in your catkin_ws Folder? If so, you should delete it, because you should use ros-kinetic-realsense-camera package which is in /opt/ros/kinetic Folder.
Therefore you should delete old version package of realsense_camera from catkin_ws Folder and do

catkin clean
catkin build -j2 

ros-kinetic-realsense-camera should be installed , but if you don't have, try:
apt-get install ros-kinetic-realsense-camera

reset the car at end.

[RamsesReyes]

Ros kinetic realsense camera package is installed, and it is not in catkin_ws folder. I am using the system image released on September 25th

[AutoModelCar]

Regrading Regulator please contact moballegh@gmail.com.

[RamsesReyes]

All right! Thank you very much!