Astra 2 launch seems to restart #69
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The log shows that the device is constantly disconnecting and reconnecting. This kind of problem is usually related to unstable device connection or power supply. Here are the suggestions: |
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Hi, i'm using the ROS 2 SDK inside a docker container, and it seems to work, except that the launch file I am using (astra2.launch.py), is always restaring. Here is my log:
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-11-07-17-24-46-596883-raspberrypi-3257
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [3269]
[component_container-1] [INFO] [1731000286.989787985] [camera.camera_container]: Load Library: /home/ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1731000287.154440108] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1731000287.154523255] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [11/07 17:24:47.160288][info][3269][Context.cpp:68] Context created with config: /home/ros2_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [11/07 17:24:47.160300][info][3269][Context.cpp:73] Work directory=/home/ros2_ws, SDK version=v1.10.15-20241012-bb4e350
[component_container-1] [11/07 17:24:47.160312][info][3269][LinuxPal.cpp:32] createObPal: create LinuxPal!
[component_container-1] [11/07 17:24:47.287628][info][3269][LinuxPal.cpp:166] Create PollingDeviceWatcher!
[component_container-1] [11/07 17:24:47.287682][info][3269][DeviceManager.cpp:15] Current found device(s): (1)
[component_container-1] [11/07 17:24:47.287689][info][3269][DeviceManager.cpp:24] - Name: Orbbec Astra 2, PID: 0x0660, SN/ID: AARX34100EB, Connection: USB2.0
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1731000287.390919861] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1731000287.543556415] [camera.camera]: Select device cost 152 ms
[component_container-1] [INFO] [1731000287.543640988] [camera.camera]: Try to connect device via USB2.0
[component_container-1] [INFO] [1731000287.543718967] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1731000287.546282372] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1731000287.584366449] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1731000287.590738204] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1731000287.590860711] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1731000287.592328499] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1731000287.594220005] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1731000287.595325865] [camera.camera]: Setting ir mirror to OFF
[component_container-1] [INFO] [1731000287.595388267] [camera.camera]: Setting depth soft filter to ON
[component_container-1] [INFO] [1731000287.595419329] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1731000287.596442969] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1731000287.596953520] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1731000287.602517033] [camera.camera]: default_soft_filter_max_diff: 0
[component_container-1] [INFO] [1731000287.602583621] [camera.camera]: default_soft_filter_speckle_size: 0
[component_container-1] [INFO] [1731000287.604731884] [camera.camera]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1731000287.605431011] [camera.camera]: stream depth is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y14
[component_container-1] [INFO] [1731000287.606281151] [camera.camera]: stream ir is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y8
[component_container-1] [INFO] [1731000287.662625612] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1731000287.666355965] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1731000287.666402030] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1731000287.666417441] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1731000287.666429980] [camera.camera]: Stream depth width: 800 height: 600 fps: 30 format: Y14
[component_container-1] [INFO] [1731000287.666441335] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1731000287.666453985] [camera.camera]: Stream ir width: 800 height: 600 fps: 30 format: Y8
[component_container-1] [INFO] [1731000287.695273054] [camera.camera]: Disable frame sync
[component_container-1] [INFO] [1731000287.728930652] [camera.camera]: Device Orbbec Astra 2 connected
[component_container-1] [INFO] [1731000287.729018226] [camera.camera]: Serial number: AARX34100EB
[component_container-1] [INFO] [1731000287.729042008] [camera.camera]: Firmware version: 2.8.20
[component_container-1] [INFO] [1731000287.729060253] [camera.camera]: Hardware version: V2.1
[component_container-1] [INFO] [1731000287.729071477] [camera.camera]: device unique id: 1-2-15
[component_container-1] [INFO] [1731000287.729086314] [camera.camera]: Current node pid: 3269
[component_container-1] [INFO] [1731000287.729096668] [camera.camera]: usb connect type: USB2.0
[component_container-1] [INFO] [1731000287.729106374] [camera.camera]: Start device cost 438 ms
[component_container-1] [INFO] [1731000287.729117228] [camera.camera]: Initialize device cost 185 ms
[component_container-1] [INFO] [1731000288.026716707] [camera.camera]: onDeviceDisconnected
[component_container-1] [INFO] [1731000288.026888928] [camera.camera]: device with 1-2-15 disconnected
[component_container-1] [INFO] [1731000288.026917527] [camera.camera]: device with 1-2-15 disconnected, notify reset device thread.
[component_container-1] [INFO] [1731000288.027342819] [camera.camera]: resetDevice : Reset device uid: 1-2-15
[component_container-1] [WARN] [1731000288.027493980] [camera.camera]: Do destroy ~OBCameraNode
[component_container-1] [WARN] [1731000288.027514614] [camera.camera]: Stop tf thread
[component_container-1] [WARN] [1731000288.027597817] [camera.camera]: Stop color frame thread
[component_container-1] [INFO] [1731000288.027640270] [camera.camera]: Color frame thread exit!
[component_container-1] [WARN] [1731000288.027708136] [camera.camera]: stop streams
[component_container-1] [WARN] [1731000288.027929960] [camera.camera]: Destroy ~OBCameraNode DONE
[component_container-1] [INFO] [1731000288.029781456] [camera.camera]: Reset device uid: done
[component_container-1] [INFO] [1731000291.356062578] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1731000291.509080578] [camera.camera]: Select device cost 153 ms
[component_container-1] [INFO] [1731000291.509169171] [camera.camera]: Try to connect device via USB2.0
[component_container-1] [INFO] [1731000291.509242426] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1731000291.509549953] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1731000291.550627200] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1731000291.554974656] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1731000291.555083308] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1731000291.556267553] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1731000291.558308198] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1731000291.559559272] [camera.camera]: Setting ir mirror to OFF
[component_container-1] [INFO] [1731000291.559670313] [camera.camera]: Setting depth soft filter to ON
[component_container-1] [INFO] [1731000291.559736141] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1731000291.560866950] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1731000291.561363182] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1731000291.566792436] [camera.camera]: default_soft_filter_max_diff: 0
[component_container-1] [INFO] [1731000291.566880417] [camera.camera]: default_soft_filter_speckle_size: 0
[component_container-1] [INFO] [1731000291.568211119] [camera.camera]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1731000291.568882832] [camera.camera]: stream depth is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y14
[component_container-1] [INFO] [1731000291.569639952] [camera.camera]: stream ir is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y8
[component_container-1] [INFO] [1731000291.618810485] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1731000291.619883874] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1731000291.619950555] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1731000291.619978208] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1731000291.620000732] [camera.camera]: Stream depth width: 800 height: 600 fps: 30 format: Y14
[component_container-1] [INFO] [1731000291.620019532] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1731000291.620036906] [camera.camera]: Stream ir width: 800 height: 600 fps: 30 format: Y8
[component_container-1] [INFO] [1731000291.648202145] [camera.camera]: Disable frame sync
[component_container-1] [INFO] [1731000291.682580153] [camera.camera]: Device Orbbec Astra 2 connected
[component_container-1] [INFO] [1731000291.682849820] [camera.camera]: Serial number: AARX34100EB
[component_container-1] [INFO] [1731000291.682874584] [camera.camera]: Firmware version: 2.8.20
[component_container-1] [INFO] [1731000291.682888791] [camera.camera]: Hardware version: V2.1
[component_container-1] [INFO] [1731000291.682910444] [camera.camera]: device unique id: 1-2-16
[component_container-1] [INFO] [1731000291.682934208] [camera.camera]: Current node pid: 3269
[component_container-1] [INFO] [1731000291.682958713] [camera.camera]: usb connect type: USB2.0
[component_container-1] [INFO] [1731000291.682973123] [camera.camera]: Start device cost 426 ms
[component_container-1] [INFO] [1731000291.682985848] [camera.camera]: Initialize device cost 173 ms
[component_container-1] [INFO] [1731000291.723691610] [camera.camera]: onDeviceDisconnected
[component_container-1] [INFO] [1731000291.723833158] [camera.camera]: device with 1-2-16 disconnected
[component_container-1] [INFO] [1731000291.723853792] [camera.camera]: device with 1-2-16 disconnected, notify reset device thread.
[component_container-1] [INFO] [1731000291.723893874] [camera.camera]: resetDevice : Reset device uid: 1-2-16
[component_container-1] [WARN] [1731000291.723945941] [camera.camera]: Do destroy ~OBCameraNode
[component_container-1] [WARN] [1731000291.723963611] [camera.camera]: Stop tf thread
[component_container-1] [WARN] [1731000291.723977262] [camera.camera]: Stop color frame thread
[component_container-1] [INFO] [1731000291.724025402] [camera.camera]: Color frame thread exit!
[component_container-1] [WARN] [1731000291.724092175] [camera.camera]: stop streams
[component_container-1] [WARN] [1731000291.724285363] [camera.camera]: Destroy ~OBCameraNode DONE
[component_container-1] [INFO] [1731000291.725615323] [camera.camera]: Reset device uid: done
[component_container-1] [INFO] [1731000295.200034658] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1731000295.353038616] [camera.camera]: Select device cost 153 ms
[component_container-1] [INFO] [1731000295.353122022] [camera.camera]: Try to connect device via USB2.0
[component_container-1] [INFO] [1731000295.353176700] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1731000295.353396838] [camera.camera]: current time domain: device
[component_container-1] [INFO] [1731000295.392595763] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1731000295.396829911] [camera.camera]: Depth process is HW D2D
[component_container-1] [INFO] [1731000295.396945805] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1731000295.398121102] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1731000295.400378807] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1731000295.401572589] [camera.camera]: Setting ir mirror to OFF
[component_container-1] [INFO] [1731000295.401873522] [camera.camera]: Setting depth soft filter to ON
[component_container-1] [INFO] [1731000295.401911567] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1731000295.402916792] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1731000295.403420080] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1731000295.408817208] [camera.camera]: default_soft_filter_max_diff: 0
[component_container-1] [INFO] [1731000295.408863273] [camera.camera]: default_soft_filter_speckle_size: 0
[component_container-1] [INFO] [1731000295.409754197] [camera.camera]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1731000295.410388086] [camera.camera]: stream depth is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y14
[component_container-1] [INFO] [1731000295.410834696] [camera.camera]: stream ir is enabled - width: 800, height: 600, fps: 30, Format: OB_FORMAT_Y8
[component_container-1] [INFO] [1731000295.451256354] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1731000295.454541678] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1731000295.454820272] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1731000295.454951225] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1731000295.455046948] [camera.camera]: Stream depth width: 800 height: 600 fps: 30 format: Y14
[component_container-1] [INFO] [1731000295.455139041] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1731000295.455222706] [camera.camera]: Stream ir width: 800 height: 600 fps: 30 format: Y8
[component_container-1] [INFO] [1731000295.487729053] [camera.camera]: Disable frame sync
[component_container-1] [INFO] [1731000295.523292712] [camera.camera]: Device Orbbec Astra 2 connected
[component_container-1] [INFO] [1731000295.523596553] [camera.camera]: Serial number: AARX34100EB
[component_container-1] [INFO] [1731000295.523719559] [camera.camera]: Firmware version: 2.8.20
[component_container-1] [INFO] [1731000295.523812060] [camera.camera]: Hardware version: V2.1
[component_container-1] [INFO] [1731000295.523883871] [camera.camera]: device unique id: 1-2-17
[component_container-1] [INFO] [1731000295.523948254] [camera.camera]: Current node pid: 3269
[component_container-1] [INFO] [1731000295.524016824] [camera.camera]: usb connect type: USB2.0
[component_container-1] [INFO] [1731000295.524070891] [camera.camera]: Start device cost 424 ms
[component_container-1] [INFO] [1731000295.524127180] [camera.camera]: Initialize device cost 171 ms
[component_container-1] [INFO] [1731000295.567907825] [camera.camera]: onDeviceDisconnected
[component_container-1] [INFO] [1731000295.568012605] [camera.camera]: device with 1-2-17 disconnected
[component_container-1] [INFO] [1731000295.568028479] [camera.camera]: device with 1-2-17 disconnected, notify reset device thread.
[component_container-1] [INFO] [1731000295.568657330] [camera.camera]: resetDevice : Reset device uid: 1-2-17
[component_container-1] [WARN] [1731000295.568738329] [camera.camera]: Do destroy ~OBCameraNode
[component_container-1] [WARN] [1731000295.568759092] [camera.camera]: Stop tf thread
[component_container-1] [WARN] [1731000295.568771965] [camera.camera]: Stop color frame thread
[component_container-1] [INFO] [1731000295.568823365] [camera.camera]: Color frame thread exit!
[component_container-1] [WARN] [1731000295.568902862] [camera.camera]: stop streams
[component_container-1] [WARN] [1731000295.569182901] [camera.camera]: Destroy ~OBCameraNode DONE
[component_container-1] [INFO] [1731000295.570550942] [camera.camera]: Reset device uid: done
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