trioculus-depthai-ros-driver-error-logs

garuda:/$ roslaunch depthai_ros_driver depthai_node.launch
... logging to /root/.ros/log/33cde116-a196-11eb-a675-80fa5b86d0c0/roslaunch-garuda-215.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://garuda:33285/

SUMMARY
========

PARAMETERS
 * /depthai/driver/blob_file: /opt/ros/melodic/...
 * /depthai/driver/blob_file_config: /opt/ros/melodic/...
 * /depthai/driver/calibration_file: /opt/ros/melodic/...
 * /depthai/driver/camera_name: bw1097
 * /depthai/driver/cmd_file: /opt/ros/melodic/...
 * /depthai/driver/cmx_slices: 14
 * /depthai/driver/compute_bbox_depth: False
 * /depthai/driver/depth_fps: 30
 * /depthai/driver/depth_height: 720
 * /depthai/driver/force_usb2: False
 * /depthai/driver/full_fov_nn: True
 * /depthai/driver/nn_engines: 2
 * /depthai/driver/queue_size: 1
 * /depthai/driver/rgb_fps: 30
 * /depthai/driver/rgb_height: 1080
 * /depthai/driver/shaves: 14
 * /depthai/driver/stream_list: ['left', 'right',...
 * /depthai/driver/sync_video_meta: False
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/tf_prefix:
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /depthai/
    driver (depthai_ros_driver/depthai_ros_driver)

auto-starting new master
process[master]: started with pid [228]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 33cde116-a196-11eb-a675-80fa5b86d0c0
process[rosout-1]: started with pid [239]
started core service [/rosout]
process[depthai/driver-2]: started with pid [242]
process[robot_state_publisher-3]: started with pid [247]
XLink initialized.
Sending internal device firmware
Successfully connected to device.
Usb speed : High/480Mbps
Mx serial id : 14442C10B1C19CCD00
Loading config file
Attempting to open stream config_d2h
watchdog started
Successfully opened stream config_d2h with ID #0!
Closing stream config_d2h: ...
Closing stream config_d2h: DONE.
EEPROM data: valid (v5)
  Board name     : BW1098OBC_109
  Board rev      : R0M0E0
  HFOV L/R       : 71.86 deg
  HFOV RGB       : 68.7938 deg
  L-R   distance : 10.93 cm
  L-RGB distance : 2.7 cm
  L/R swapped    : yes
  L/R crop region: center
  Rectification Rotation R1 (left):
  0.999706,   -0.023390,    0.006343,
    0.023392,    0.999726,   -0.000293,
   -0.006335,    0.000441,    0.999980,
  Rectification Rotation R2 (right):
  0.999958,   -0.008153,    0.004103,
    0.008152,    0.999967,    0.000384,
   -0.004106,   -0.000350,    0.999992,
  Calibration intrinsic matrix M1 (left):
  872.257812,    0.000000,  644.260437,
    0.000000,  850.885315,  370.415039,
    0.000000,    0.000000,    1.000000,
  Calibration intrinsic matrix M2 (right):
  875.261719,    0.000000,  641.352173,
    0.000000,  853.323181,  372.664276,
    0.000000,    0.000000,    1.000000,
  Calibration rotation matrix R:
    0.999881,   -0.015241,    0.002234,
    0.015243,    0.999884,   -0.000695,
    -0.002223,    0.000729,    0.999997,
  Calibration translation matrix T:
  -10.823161,
    0.088248,
   -0.044413,
  Calibration Distortion Coeff d1 (Left):
  7.570787,   35.297356,   -0.001438,    0.000390,  119.645813,    7.664666,   33.134071,
  124.595421,    0.000000,    0.000000,    0.000000,    0.000000,    0.000000,    0.000000,
  Calibration Distortion Coeff d2 (Right):
   20.529846,   34.537006,   -0.002347,    0.001700,  102.165176,   20.643391,   31.698166,
   108.508835,    0.000000,    0.000000,    0.000000,    0.000000,    0.000000,    0.000000,
Available Streams: meta_d2h
Available Streams: left
Available Streams: right
Available Streams: disparity
Available Streams: depth
Available Streams: metaout
Available Streams: previewout
Available Streams: jpegout
Available Streams: video
Available Streams: object_tracker
Available Streams: rectified_left
Available Streams: rectified_right
Available Streams: color
/opt/ros/melodic/share/depthai_ros_driver/resources/mobilenet-ssd.json
depthai: Using calibration from stored in EEPROM
RGB camera (IMX378) is not detected on board!
WARNING: NN inference was requested on RGB camera (IMX378), defaulting to right stereo camera (OV9282)!
config_h2d json:
{"_board":{"calib_data":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,
0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.
0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],"mesh_left":[0.0],"mesh_right":[0.0]},"_load_i
nBlob":true,"_pipeline":{"_streams":[{"name":"left"},{"name":"right"},{"name":"metaout"},{"name":"previewout"},{"name":"disparity
"},{"name":"disparity"},{"data_type":"uint16","name":"depth"},{"name":"video"}]},"ai":{"NCEs":2,"NN_config":{"NN_family":"mobilen
et","confidence_threshold":0.01,"output_format":"detection"},"blob0_size":14489664,"blob1_size":0,"calc_dist_to_bb":false,"camera
_input":"right","cmx_slices":14,"keep_aspect_ratio":false,"num_stages":1,"shaves":14},"app":{"enable_reconfig":true,"sync_sequenc
e_numbers":false,"sync_video_meta_streams":false,"usb_chunk_KiB":64},"board":{"clear-eeprom":false,"left_fov_deg":69.0,"left_to_r
gb_distance_m":0.22750000655651093,"left_to_right_distance_m":0.10930000245571136,"name":"","override-eeprom":false,"revision":""
,"rgb_fov_deg":69.0,"stereo_center_crop":false,"store-to-eeprom":false,"swap-left-and-right-cameras":false},"camera":{"mono":{"fp
s":30.0,"resolution_h":720,"resolution_w":1280},"rgb":{"fps":30.0,"resolution_h":1080,"resolution_w":1920}},"depth":{"depth_limit
_mm":10000,"lr_check":false,"median_kernel_size":7,"padding_factor":0.30000001192092896,"warp_rectify":{"edge_fill_color":-1,"mir
ror_frame":true,"use_mesh":false}},"ot":{"confidence_threshold":0.5,"max_tracklets":20},"video_config":{"profile":"mjpeg","qualit
y":95}}
size of input string json_config_obj to config_h2d is ->1813
size of json_config_obj that is expected to be sent to config_h2d is ->1048576
Attempting to open stream config_h2d
Successfully opened stream config_h2d with ID #1!
Writing 1048576 bytes to config_h2d
!!! XLink write successful: config_h2d (1048576)
Closing stream config_h2d: ...
Closing stream config_h2d: DONE.
Creating observer stream host_capture: ...
Attempting to open stream host_capture
Successfully opened stream host_capture with ID #0!
Creating observer stream host_capture: DONE.
Read: 14489664
Attempting to open stream inBlob
Successfully opened stream inBlob with ID #1!
Writing 14489664 bytes to inBlob
!!! XLink write successful: inBlob (14489664)
Closing stream inBlob: ...
Closing stream inBlob: DONE.
depthai: done sending Blob file /opt/ros/melodic/share/depthai_ros_driver/resources/mobilenet_ssd.blob
Attempting to open stream outBlob
Successfully opened stream outBlob with ID #2!
Closing stream outBlob: ...
Closing stream outBlob: DONE.
Input layer :
Name: data
Index: 0
Element type: uint8
Element size:  1byte
Offset: 0 byte
Dimensions: [Batch : 1, Channel : 3, Height : 300, Width : 300]

Output layer :
Name: detection_out
Index: 0
Element type: float16
Element size:  2 bytes
Offset: 0 byte
Dimensions: [Batch : 1, Channel : 1, Height : 100, Width : 7]

CNN to depth bounding-box mapping: start(0, 0), max_size(0, 0)
Host stream start:left
Opening stream for read: left
Attempting to open stream left
Successfully opened stream left with ID #2!
Starting thread for stream: left
Started thread for stream: left
Host stream start:right
Opening stream for read: right
Attempting to open stream right
Successfully opened stream right with ID #3!
Starting thread for stream: right
Started thread for stream: right
Host stream start:disparity
Opening stream for read: disparity
Attempting to open stream disparity
Successfully opened stream disparity with ID #4!
Starting thread for stream: disparity
Host stream start:depth
Opening stream for read: depth
Attempting to open stream depth
Started thread for stream: disparity
Successfully opened stream depth with ID #5!
Starting thread for stream: depth
Host stream start:metaoutStarted thread for stream: depth

Opening stream for read: metaout
Attempting to open stream metaout
Successfully opened stream metaout with ID #1!
Starting thread for stream: metaout
Host stream start:previewout
Opening stream for read: previewout
Attempting to open stream previewout
Started thread for stream: metaout
Successfully opened stream previewout with ID #6!
Starting thread for stream: previewout
Started thread for stream: previewout
Host stream start:video
Opening stream for read: video
Attempting to open stream video
Successfully opened stream video with ID #7!
Starting thread for stream: video
Started thread for stream: video
Opening stream for read: disparity
Attempting to open stream disparity
Successfully opened stream disparity with ID #4!
Starting thread for stream: disparity
Started thread for stream: disparity
depthai: INIT OK!
=== New data in observer stream host_capture, size: 33
Writing 33 bytes to host_capture
!!! XLink write successful: host_capture (33)
E: [global] [    210965] [depthai_ros_dri] addEvent:264 E: [global] [    210965] [depthai_ros_dri] addEvent:264 Condition failed:
 event->header.flags.bitField.ack != 1
E: [global] [    210965] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210965] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
E: [global] [    210965] [depthai_ros_dri] addEvent:264 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210965] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210965] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream disparity: ...
Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210966] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210966] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream left: ...
Closing stream disparity: DONE.
Thread for disparity finished.
E: [global] [    210965] [depthai_ros_dri] addEvent:264 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210966] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210966] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream previewout: ...
E: [global] [    210965] [depthai_ros_dri] addEvent:264 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210966] [depthai_ros_dri] addEventWithPerf:276 E: [global] [    210966] [Scheduler00Thr] dispatcherEventSend:53E
: [global] [    210965] [depthai_ros_dri] addEvent:264  Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210966] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210966] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream right: ...
E: [global] [    210965] [depthai_ros_dri] addEvent:264 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210966] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3 addEvent(eve
nt) method call failed with an error: 3

E: [global] [    210966] [depthai_ros_dri] XLinkReadData:156    Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream disparity: ...
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM_REQ

Closing stream metaout: ...
E: [global] [    210966] [depthai_ros_dri] XLinkReadData:156
Condition failed: (addEventWithPerf(&event, &opTime))E: [global]
[    210965] [depthai_ros_dri] addEvent:264
Condition failed: event->header.flags.bitField.ack != 1
E: [global] [    210967] [depthai_ros_dri] addEventWithPerf:276  addEvent(event) method call failed with an error: 3
E: [global] [    210967] [depthai_ros_dri] XLinkReadData:156
Condition failed: (addEventWithPerf(&event, &opTime))

E: [xLink] [    210967] [Scheduler00Thr] sendEvents:1027
Device get data failed: 7
Closing stream depth: ...
Device get data failed: 7
Closing stream video: ...
Event sending failed
Closing stream left: DONE.
Thread for left finished.
E: [global] [    210967] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210967] [Scheduler00Thr] sendEvents:1027
Event sending failed
Closing stream previewout: DONE.
Thread for previewout finished.
E: [global] [    210967] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210967] [Scheduler00Thr] sendEvents:1027
Event sending failed
E: [global] [    210967] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210967] [Scheduler00Thr] sendEvents:1027
Event sending failed
Closing stream right: DONE.
Thread for right finished.
E: [global] [    210968] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210968] [Scheduler00Thr] sendEvents:1027
Event sending failed
Closing stream disparity: DONE.
Thread for disparity finished.
Closing stream metaout: DONE.
Thread for metaout finished.
E: [global] [    210968] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210968] [Scheduler00Thr] sendEvents:1027
Event sending failed
Closing stream depth: DONE.
Thread for depth finished.
E: [global] [    210968] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210968] [Scheduler00Thr] sendEvents:1027
Event sending failed
E: [global] [    210968] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    210968] [Scheduler00Thr] sendEvents:1027
Event sending failed
Closing stream video: DONE.
Thread for video finished.
E: [global] [    408634] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -1) | event XLINK_CLOSE_STREAM
_REQ

E: [xLink] [    408634] [Scheduler00Thr] sendEvents:1027
Event sending failed
watchdog triggered
=== New data in observer stream host_capture, size: 4
Writing 4 bytes to host_capture
!!! XLink write successful: host_capture (4)
Stopping threads: ...
E: [global] [    411965] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -4) | event XLINK_WRITE_REQ

E: [xLink] [    411965] [Scheduler00Thr] sendEvents:1027
Event sending failed
Stopping threads: DONE 0.000s.
Closing all observer streams: ...
Closing stream host_capture: ...
Closing stream host_capture: DONE.
Closing all observer streams: DONE.
Reseting device: 0.
E: [global] [    411965] [Scheduler00Thr] dispatcherEventSend:53
Write failed (header) (err -4) | event XLINK_RESET_REQ

E: [xLink] [    411965] [Scheduler00Thr] sendEvents:1027
Event sending failed
Reseting: DONE.