[Software] Process Dies Immediately

[TomLBZ]

When I tried the ros package under /Software, its process dies immediately, with the output like this:
NODES
/
ocams_1cgn (ocams_1cgn/ocams_1cgn)
ocams_base_link (tf2_ros/static_transform_publisher)
ocams_camera_link1 (tf2_ros/static_transform_publisher)
ocams_camera_link2 (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[ocams_1cgn-1]: started with pid [9933]
process[ocams_base_link-2]: started with pid [9934]
process[ocams_camera_link1-3]: started with pid [9935]
process[ocams_camera_link2-4]: started with pid [9940]
IMU initialized: AMGEUL
Pixel format: Y, U, Y, V
Width: 640, Height: 480, Image size: 614400
Frame Rate : 1 / 30 (30.00 fps)
[ INFO] [1573374488.581672910]: Initialized the camera
[ INFO] [1573374488.858612847]: Loading from ROS calibration files
[ INFO] [1573374488.858970932]: camera calibration URL: package://ocams_1cgn/config/left.yaml
[ INFO] [1573374488.859516924]: camera calibration URL: package://ocams_1cgn/config/right.yaml
[1, 0, 0, -322.341717;
0, 1, 0, -242.53289;
0, 0, 0, 452.149831;
0, 0, 8.333333333333334, 0]
[ INFO] [1573374488.873160743]: Got camera calibration files
[ INFO] [1573374488.873649084]: Success, found camera
[ocams_1cgn-1] process has died [pid 9933, exit code -11, cmd /home/user/catkin_ws/devel/lib/ocams_1cgn/ocams_1cgn __name:=ocams_1cgn __log:=/home/user/.ros/log/aeeb6e2a-038d-11ea-b025-144f8ac7236f/ocams_1cgn-1.log].
log file: /home/user/.ros/log/aeeb6e2a-038d-11ea-b025-144f8ac7236f/ocams_1cgn-1*.log
But there are no log files with these names in the specified directory.
Is there a reason why the process dies?
I did not modify the source code.
Maybe there is a bug somewhere.

[CS-WITHROBOT]

Please let us know your development environment, such as OS and ROS version.
Our code was tested on Ubuntu 16.04 with ROS kinetic version.

[TomLBZ]

I am developing on Ubuntu 18.04 LTS with ROS melodic.

[arkorobotics]

I have the same exact setup and problem:

[ WARN] [1577957230.944948707]: [left] does not match name narrow_stereo/left in file /home/robocar/catkin_ws/src/ocams_1cgn/config/left.yaml
[ INFO] [1577957230.945186473]: camera calibration URL: package://ocams_1cgn/config/right.yaml
[ WARN] [1577957230.947332874]: [right] does not match name narrow_stereo/right in file /home/robocar/catkin_ws/src/ocams_1cgn/config/right.yaml
[1, 0, 0, -322.341717;
 0, 1, 0, -242.53289;
 0, 0, 0, 452.149831;
 0, 0, 8.333333333333334, 0]
[ INFO] [1577957231.023096559]: Got camera calibration files
[ INFO] [1577957231.025010403]: Success, found camera
[ocams_1cgn-2] process has died [pid 7825, exit code -4, cmd /home/robocar/catkin_ws/devel/lib/ocams_1cgn/ocams_1cgn __name:=ocams_1cgn __log:=/home/robocar/.ros/log/0c3d9be2-2d42-11ea-9fa1-5adc3d725d19/ocams_1cgn-2.log].
log file: /home/robocar/.ros/log/0c3d9be2-2d42-11ea-9fa1-5adc3d725d19/ocams_1cgn-2*.log

[arkorobotics]

The program appears to be crashing on line 656 of oCamS.cpp:
https://github.com/withrobot/oCamS/blob/master/Software/oCamS_ROS_Package/ocams_1cgn/src/oCamS.cpp#L656

[CS-WITHROBOT]

The code was verified with the following tool sets.

• ubuntu 16.04 LTS
• ROS kinetic
• openCV 3.3.0

If you can, please try to run it in those environment.

[arkorobotics]

@CS-WITHROBOT Would it be difficult to update the example code to support the following?

• Ubuntu 18.04
• ROS Melodic
• OpenCV 4.0

I ask because I'm trying to use this camera for an AI race car and the best computer I could find that fits within the volume/power constraints is the Nvidia Jetson Nano. Unfortunately, to take full advantage of the hardware I need to run OS/ROS/OpenCV versions mentioned above.

I found other stereos cameras that integrate well with the Nano, but none of them are global shutter and color! It's clear that oCamS is the better hardware choice, but without a working ROS examples, it's going to be a time sink for us to debug and update the code

Any chance we can get the examples updated to Melodic/OpenCV 4?

I noticed that the "oCamS_Linux_ParameterControl_Example" can handle OpenCV 4 which is great, so I'm hopeful that your team can update the ROS and People Counter example code.

[CS-WITHROBOT]

@arkorobotics
If you send us your email address to withrobot@withrobot.com, we can send you a revised code which we will upload to github eventually.

[pyw2429]

@arkorobotics
If you send us your email address to withrobot@withrobot.com, we can send you a revised code which we will upload to github eventually.

이거 해결 되었는지요 ??
저는 jetson xavier nx 사용중이라

Ubuntu 18.04
ROS Melodic
OpenCV 4.3

입니다. 수정된 코드가 있는지요???? 위에 분과 같은 에러 발생합니다.

dtstory@dtstory-xavis:~/ocam$ roslaunch ocams_1cgn ocams_ros.launch
... logging to /home/dtstory/.ros/log/0f2d5c02-7751-11eb-8aec-d8c0a69b35e5/roslaunch-dtstory-xavis-8376.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://dtstory-xavis:46295/

SUMMARY

PARAMETERS

• /ocams_1cgn/auto_exposure: False
• /ocams_1cgn/exposure: 100
• /ocams_1cgn/frame_rate: 30
• /ocams_1cgn/gain: 100
• /ocams_1cgn/imu_mode: AMGEUL
• /ocams_1cgn/left_frame_id: left_frame
• /ocams_1cgn/port: /dev/ttyACM0
• /ocams_1cgn/resolution: 2
• /ocams_1cgn/right_frame_id: right_frame
• /ocams_1cgn/show_image: True
• /ocams_1cgn/wb_blue: 180
• /ocams_1cgn/wb_red: 145
• /rosdistro: melodic
• /rosversion: 1.14.10

NODES
/
ocams_1cgn (ocams_1cgn/ocams_1cgn)
ocams_base_link (tf2_ros/static_transform_publisher)
ocams_camera_link1 (tf2_ros/static_transform_publisher)
ocams_camera_link2 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [8386]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0f2d5c02-7751-11eb-8aec-d8c0a69b35e5
process[rosout-1]: started with pid [8397]
started core service [/rosout]
process[ocams_1cgn-2]: started with pid [8403]
process[ocams_base_link-3]: started with pid [8405]
process[ocams_camera_link1-4]: started with pid [8406]
process[ocams_camera_link2-5]: started with pid [8412]
IMU initialized: AMGEUL
Pixel format: Y, U, Y, V
Width: 640, Height: 480, Image size: 614400
Frame Rate : 1 / 30 (30.00 fps)
[ INFO] [1614247563.063704036]: Initialized the camera
[ INFO] [1614247563.597357722]: Loading from ROS calibration files
[ INFO] [1614247563.599217975]: camera calibration URL: package://ocams_1cgn/config/left.yaml
[ INFO] [1614247563.603683740]: camera calibration URL: package://ocams_1cgn/config/right.yaml
[1, 0, 0, -322.341717;
0, 1, 0, -242.53289;
0, 0, 0, 452.149831;
0, 0, 8.333333333333334, 0]
[ INFO] [1614247563.686619971]: Got camera calibration files
[ INFO] [1614247563.915677124]: Success, found camera
[ocams_1cgn-2] process has died [pid 8403, exit code -4, cmd /home/dtstory/ocam/devel/lib/ocams_1cgn/ocams_1cgn __name:=ocams_1cgn __log:=/home/dtstory/.ros/log/0f2d5c02-7751-11eb-8aec-d8c0a69b35e5/ocams_1cgn-2.log].
log file: /home/dtstory/.ros/log/0f2d5c02-7751-11eb-8aec-d8c0a69b35e5/ocams_1cgn-2*.log
``

[zeropk]

Thank you for using our product.

when you install the image_geometry ros module,
libopencv_flann.so.3.2 and libopencv_imgproc.so.3.2 are installed automatically.

And it causes a crash with the opencv 4 library.
So you have to remove libopencv as below command and fix something in the oCamS code.

• $ sudo apt remove libopencv*

Fixed points.

1. CMakeLists.txt
2. package.xml
3. oCams.cpp
   Find the word 'image_geometry' and please comment out.
   And should be replaced 'image_geometry::StereoCameraModel::MISSING_Z' to '10000' in the oCamS.cpp

After then, catkin_make and try run it.

[pyw2429]

Thank you for using our product.

when you install the image_geometry ros module,
libopencv_flann.so.3.2 and libopencv_imgproc.so.3.2 are installed automatically.

And it causes a crash with the opencv 4 library.
So you have to remove libopencv as below command and fix something in the oCamS code.

• $ sudo apt remove libopencv*

Fixed points.

1. CMakeLists.txt
2. package.xml
3. oCams.cpp
   Find the word 'image_geometry' and please comment out.
   And should be replaced 'image_geometry::StereoCameraModel::MISSING_Z' to '10000' in the oCamS.cpp

After then, catkin_make and try run it.

위에 알려주신 조치후에 카메라 화면은 나오기 시작했습니다...
위에 주석처리로 인해서
//#include <image_geometry/stereo_camera_model.h>
부분을 주석 처리하여 문제가 발생 하는것 같습니다.
해결 방법은 없는지요 ??

그리고 카메라 화면이 녹색 필터 처리한것처럼 나오는대 정상인가요 ??

ERROR: cannot launch node of type [stereo_image_proc/stereo_image_proc]: stereo_image_proc
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/dtstory/oCamS-master/Example/src
ROS path [2]=/home/dtstory/ocam/src
ROS path [3]=/opt/ros/melodic/share
ERROR: cannot launch node of type [image_view/stereo_view]: image_view
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/dtstory/oCamS-master/Example/src
ROS path [2]=/home/dtstory/ocam/src
ROS path [3]=/opt/ros/melodic/share

[twkim1986]

disparity.launch 파일을 사용하는 경우, ocams_ros.launch 파일을 사용하여 다시 시도하십시오.