使用orbbecsdk_ros2的gemini435le.launch.py出现问题 #143
Description
我在使用orbbecsdk_ros2的gemini435le.launch.py出现问题
当我在运行ros2 launch orbbec_camera gemini435le.launch.py时会出现打不开的相机的情况
终端报错如下：
cat@lubancat:~/orbbec_ros2_ws$ ros2 launch orbbec_camera gemini435_le.launch.py
[INFO] [launch]: All log files can be found below /home/cat/.ros/log/2025-09-20-16-29-43-615495-lubancat-701678
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [701757]
[component_container-1] [INFO] [1758356984.469566040] [camera.camera_container]: Load Library: /home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1758356984.651435261] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1758356984.654557160] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1758356984.707551577] [camera.camera]: setUvcBackendType:libuvc
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1758356985.721442642] [camera.camera]: Connecting to device with net ip: 192.168.1.10
[component_container-1] [INFO] [1758356985.721591096] [camera.camera]: Before lock: Select device net ip: 192.168.1.10
[component_container-1] [INFO] [1758356985.721615303] [camera.camera]: After lock: Select device net ip: 192.168.1.10
[component_container-1] [INFO] [1758356985.721657594] [camera.camera]: FindDeviceByNetIP device net ip 192.168.1.10
[component_container-1] [INFO] [1758356985.721684426] [camera.camera]: getDeviceByNetIP device net ip 192.168.1.10 done
[component_container-1] [INFO] [1758356988.692621485] [camera.camera]: Select device cost 2971 ms
[component_container-1] [INFO] [1758356988.692991306] [camera.camera]: Try to connect device via Ethernet
[component_container-1] [INFO] [1758356988.693619827] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1758356988.737162257] [camera.camera]: current time domain: global
[component_container-1] [INFO] [1758356988.737354751] [camera.camera]: hdr_index1_laser_control_ 1 hdr_index1_depth_exposure_ 1 hdr_index1_depth_gain_ 16 hdr_index1_ir_brightness_ 20 hdr_index1_ir_ae_max_exposure_ 2000
[component_container-1]
[component_container-1] [INFO] [1758356988.737420374] [camera.camera]: hdr_index0_laser_control_ 1 hdr_index0_depth_exposure_ 7500 hdr_index0_depth_gain_ 16 hdr_index0_ir_brightness_ 60 hdr_index0_ir_ae_max_exposure_ 10000
[component_container-1]
[component_container-1] [INFO] [1758356988.737469664] [camera.camera]: laser_index1_laser_control_ 0 laser_index1_depth_exposure_ 3000 laser_index1_depth_gain_ 16 laser_index1_ir_brightness_ 60 laser_index1_ir_ae_max_exposure_ 17000
[component_container-1]
[component_container-1] [INFO] [1758356988.737513996] [camera.camera]: laser_index0_laser_control_ 1 laser_index0_depth_exposure_ 3000 laser_index0_depth_gain_ 16 laser_index0_ir_brightness_ 60 laser_index0_ir_ae_max_exposure_ 30000
[component_container-1]
[component_container-1] [INFO] [1758356989.143032881] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1758356989.143368287] [camera.camera]: Create align filter
[component_container-1] [INFO] [1758356989.144235675] [camera.camera]: Depth process is HW
[component_container-1] [INFO] [1758356989.144298382] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1758356989.150789214] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1758356989.154032151] [camera.camera]: Setting laser control to 1
[component_container-1] [INFO] [1758356989.157045262] [camera.camera]: Available presets:
[component_container-1] [INFO] [1758356989.158086187] [camera.camera]: Load device preset: Default
[component_container-1] [ERROR] [1758356989.159997709] [camera.camera]: Error in setupDevices at line 311: Component 21 not found!
[component_container-1] [ERROR] [1758356989.164822012] [camera.camera]: Failed to load device preset: Component 21 not found!
[component_container-1] [INFO] [1758356989.169547151] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1758356989.217095077] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1758356989.217405692] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1758356989.217633768] [camera.camera]: Setting color flip to OFF
[component_container-1] [INFO] [1758356989.217871177] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1758356989.217976756] [camera.camera]: Setting depth flip to OFF
[component_container-1] [INFO] [1758356989.218082628] [camera.camera]: Setting noise removal filter:ON
[component_container-1] [INFO] [1758356989.218141543] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1758356989.221019617] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1758356989.224434423] [camera.camera]: Setting depth auto exposure priority to OFF
[component_container-1] [INFO] [1758356989.228200302] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1758356989.563819440] [camera.camera]: default noise removal filter min diff: 512
[component_container-1] [INFO] [1758356989.564244093] [camera.camera]: after set noise removal filter min diff: 256
[component_container-1] [INFO] [1758356989.564350840] [camera.camera]: default noise removal filter max size: 40
[component_container-1] [INFO] [1758356989.564493460] [camera.camera]: after set noise removal filter max size: 80
[component_container-1] [INFO] [1758356989.564894197] [camera.camera]: Setting accel data correction to ON
[component_container-1] [INFO] [1758356989.564986361] [camera.camera]: Setting gyro data correction to ON
[component_container-1] [INFO] [1758356989.566300860] [camera.camera]: Setting DecimationFilter......
[component_container-1] [INFO] [1758356989.566414023] [camera.camera]: set DecimationFilter to false
[component_container-1] [INFO] [1758356989.566582018] [camera.camera]: Skip setting filter: DecimationFilter
[component_container-1] [INFO] [1758356989.566663974] [camera.camera]: Setting HDRMerge......
[component_container-1] [INFO] [1758356989.566722888] [camera.camera]: set HDRMerge to false
[component_container-1] [INFO] [1758356989.566781803] [camera.camera]: Skip setting filter: HDRMerge
[component_container-1] [INFO] [1758356989.566849176] [camera.camera]: Setting SequenceIdFilter......
[component_container-1] [INFO] [1758356989.566906924] [camera.camera]: set SequenceIdFilter to false
[component_container-1] [INFO] [1758356989.566965839] [camera.camera]: Skip setting filter: SequenceIdFilter
[component_container-1] [INFO] [1758356989.567034962] [camera.camera]: Setting SpatialAdvancedFilter......
[component_container-1] [INFO] [1758356989.567091543] [camera.camera]: set SpatialAdvancedFilter to false
[component_container-1] [INFO] [1758356989.567151041] [camera.camera]: Skip setting filter: SpatialAdvancedFilter
[component_container-1] [INFO] [1758356989.567218706] [camera.camera]: Setting TemporalFilter......
[component_container-1] [INFO] [1758356989.567272246] [camera.camera]: set TemporalFilter to false
[component_container-1] [INFO] [1758356989.567321827] [camera.camera]: Skip setting filter: TemporalFilter
[component_container-1] [INFO] [1758356989.567382492] [camera.camera]: Setting HoleFillingFilter......
[component_container-1] [INFO] [1758356989.567433241] [camera.camera]: set HoleFillingFilter to false
[component_container-1] [INFO] [1758356989.567484281] [camera.camera]: Skip setting filter: HoleFillingFilter
[component_container-1] [INFO] [1758356989.567543195] [camera.camera]: Setting DisparityTransform......
[component_container-1] [INFO] [1758356989.567594527] [camera.camera]: set DisparityTransform to true
[component_container-1] [INFO] [1758356989.567644692] [camera.camera]: Skip setting filter: DisparityTransform
[component_container-1] [INFO] [1758356989.567703607] [camera.camera]: Setting ThresholdFilter......
[component_container-1] [INFO] [1758356989.567751147] [camera.camera]: set ThresholdFilter to false
[component_container-1] [INFO] [1758356989.567821145] [camera.camera]: Skip setting filter: ThresholdFilter
[component_container-1] [INFO] [1758356989.582036728] [camera.camera]: Setting DecimationFilter......
[component_container-1] [INFO] [1758356989.582223097] [camera.camera]: set color DecimationFilter to false
[component_container-1] [ERROR] [1758356989.584001623] [camera.camera]: Failed to get color profile: Invalid input, No matched video stream profile found!
[component_container-1] [ERROR] [1758356989.584101078] [camera.camera]: Stream: OB_STREAM_COLOR, Stream Index: 0, Width: 640, Height: 400, FPS: 20, Format: OB_FORMAT_MJPG
[component_container-1] [ERROR] [1758356989.584158826] [camera.camera]: Error: The device might be connected via USB 2.0. Please verify your configuration and try again. The current process will now exit.
[component_container-1] [INFO] [1758356989.584216866] [camera.camera]: Available profiles:
[component_container-1] [INFO] [1758356989.584740974] [camera.camera]: color profile: 1280x800 10fps MJPG
[component_container-1] [INFO] [1758356989.584842471] [camera.camera]: color profile: 1280x800 10fps I420
[component_container-1] [INFO] [1758356989.584921218] [camera.camera]: color profile: 1280x800 10fps RGB888
[component_container-1] [INFO] [1758356989.584997341] [camera.camera]: color profile: 1280x800 10fps BGR
[component_container-1] [INFO] [1758356989.585072005] [camera.camera]: color profile: 1280x800 10fps BGRA
[component_container-1] [INFO] [1758356989.585147253] [camera.camera]: color profile: 1280x800 5fps I420
[component_container-1] [INFO] [1758356989.585221917] [camera.camera]: color profile: 1280x800 5fps RGB888
[component_container-1] [INFO] [1758356989.585295998] [camera.camera]: color profile: 1280x800 5fps BGR
[component_container-1] [INFO] [1758356989.585369496] [camera.camera]: color profile: 1280x800 5fps BGRA
[component_container-1] [INFO] [1758356989.585445618] [camera.camera]: color profile: 1280x800 5fps MJPG
[component_container-1] [INFO] [1758356989.585519116] [camera.camera]: color profile: 1280x720 10fps I420
[component_container-1] [INFO] [1758356989.585593780] [camera.camera]: color profile: 1280x720 10fps RGB888
[component_container-1] [INFO] [1758356989.585667569] [camera.camera]: color profile: 1280x720 10fps BGR
[component_container-1] [INFO] [1758356989.585741942] [camera.camera]: color profile: 1280x720 10fps BGRA
[component_container-1] [INFO] [1758356989.585816023] [camera.camera]: color profile: 1280x720 10fps MJPG
[component_container-1] [INFO] [1758356989.585890104] [camera.camera]: color profile: 1280x720 5fps I420
[component_container-1] [INFO] [1758356989.586115847] [camera.camera]: color profile: 1280x720 5fps RGB888
[component_container-1] [INFO] [1758356989.586199844] [camera.camera]: color profile: 1280x720 5fps BGR
[component_container-1] [INFO] [1758356989.586275091] [camera.camera]: color profile: 1280x720 5fps BGRA
[component_container-1] [INFO] [1758356989.586349464] [camera.camera]: color profile: 1280x720 5fps MJPG
[component_container-1] [INFO] [1758356989.586423837] [camera.camera]: color profile: 800x600 10fps I420
[component_container-1] [INFO] [1758356989.586498209] [camera.camera]: color profile: 800x600 10fps RGB888
[component_container-1] [INFO] [1758356989.586571999] [camera.camera]: color profile: 800x600 10fps BGR
[component_container-1] [INFO] [1758356989.586646371] [camera.camera]: color profile: 800x600 10fps BGRA
[component_container-1] [INFO] [1758356989.586721035] [camera.camera]: color profile: 800x600 10fps MJPG
[component_container-1] [INFO] [1758356989.586795408] [camera.camera]: color profile: 800x600 5fps I420
[component_container-1] [INFO] [1758356989.586869197] [camera.camera]: color profile: 800x600 5fps RGB888
[component_container-1] [INFO] [1758356989.586943862] [camera.camera]: color profile: 800x600 5fps BGR
[component_container-1] [INFO] [1758356989.587017651] [camera.camera]: color profile: 800x600 5fps BGRA
[component_container-1] [INFO] [1758356989.587092023] [camera.camera]: color profile: 800x600 5fps MJPG
[component_container-1] [INFO] [1758356989.587172229] [camera.camera]: color profile: 640x400 10fps I420
[component_container-1] [INFO] [1758356989.587323016] [camera.camera]: color profile: 640x400 10fps RGB888
[component_container-1] [INFO] [1758356989.587403222] [camera.camera]: color profile: 640x400 10fps BGR
[component_container-1] [INFO] [1758356989.587479053] [camera.camera]: color profile: 640x400 10fps BGRA
[component_container-1] [INFO] [1758356989.587552842] [camera.camera]: color profile: 640x400 10fps MJPG
[component_container-1] [INFO] [1758356989.587626923] [camera.camera]: color profile: 640x400 5fps I420
[component_container-1] [INFO] [1758356989.587701004] [camera.camera]: color profile: 640x400 5fps RGB888
[component_container-1] [INFO] [1758356989.587791418] [camera.camera]: color profile: 640x400 5fps BGR
[component_container-1] [INFO] [1758356989.587869582] [camera.camera]: color profile: 640x400 5fps BGRA
[component_container-1] [INFO] [1758356989.587945704] [camera.camera]: color profile: 640x400 5fps MJPG
[component_container-1] [INFO] [1758356989.588020077] [camera.camera]: color profile: 640x360 10fps I420
[component_container-1] [INFO] [1758356989.588094158] [camera.camera]: color profile: 640x360 10fps RGB888
[component_container-1] [INFO] [1758356989.588167364] [camera.camera]: color profile: 640x360 10fps BGR
[component_container-1] [INFO] [1758356989.588242611] [camera.camera]: color profile: 640x360 10fps BGRA
[component_container-1] [INFO] [1758356989.588316984] [camera.camera]: color profile: 640x360 10fps MJPG
[component_container-1] [INFO] [1758356989.588390773] [camera.camera]: color profile: 640x360 5fps I420
[component_container-1] [INFO] [1758356989.588464563] [camera.camera]: color profile: 640x360 5fps RGB888
[component_container-1] [INFO] [1758356989.588538060] [camera.camera]: color profile: 640x360 5fps BGR
[component_container-1] [INFO] [1758356989.588611266] [camera.camera]: color profile: 640x360 5fps BGRA
[component_container-1] [INFO] [1758356989.588685930] [camera.camera]: color profile: 640x360 5fps MJPG
[component_container-1] [ERROR] [1758356989.588748345] [camera.camera]: Because can not set this stream, so exit.
[component_container-1] Received signal: 11
[component_container-1] Log crash stack trace to Log/camera_crash_stack_trace_2025_09_20_16_29_49.log
[component_container-1] terminate called after throwing an instance of 'std::system_error'
[component_container-1] what(): Resource deadlock avoided
[component_container-1] Received signal: 6
[component_container-1] Log crash stack trace to Log/camera_crash_stack_trace_2025_09_20_16_29_49.log
[ERROR] [component_container-1]: process has died [pid 701757, exit code 6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=camera_container -r __ns:=/camera'].
但是当我先运行orbbecviewer，并在orbbecviewer中修改rgb和深度的分辨率，帧率后，再运行ros2 launch orbbec_camera gemini435le.launch.py就可以正常打开相机，但是过一段时间，又需要重复这个操作，不知道是什么原因，能否解答
这是我的launch配置
import os
import yaml
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
def load_yaml(file_path):
with open(file_path, 'r') as f:
return yaml.safe_load(f)
def merge_params(default_params, yaml_params):
for key, value in yaml_params.items():
if key in default_params:
default_params[key] = value
return default_params
def convert_value(value):
if isinstance(value, str):
try:
return int(value)
except ValueError:
pass
try:
return float(value)
except ValueError:
pass
if value.lower() == 'true':
return True
elif value.lower() == 'false':
return False
return value
def load_parameters(context, args):
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
config_file_path = LaunchConfiguration('config_file_path').perform(context)
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
}
def generate_launch_description():
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='true'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='400'),
DeclareLaunchArgument('color_fps', default_value='20'),
DeclareLaunchArgument('color_format', default_value='MJPG'), #YUYV, MJPG, NV12, NV21, UYVY, ANY
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('color_flip', default_value='false'),
DeclareLaunchArgument('color_mirror', default_value='false'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('color_sharpness', default_value='-1'),
DeclareLaunchArgument('color_gamma', default_value='-1'),
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_constrast', default_value='-1'),
DeclareLaunchArgument('color_hue', default_value='-1'),
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='20'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('depth_flip', default_value='false'),
DeclareLaunchArgument('depth_mirror', default_value='false'),
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('left_ir_flip', default_value='false'),
DeclareLaunchArgument('left_ir_mirror', default_value='false'),
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
DeclareLaunchArgument('right_ir_fps', default_value='0'),
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('right_ir_flip', default_value='false'),
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
# If you do not want to automatically enumerate network devices,
# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
DeclareLaunchArgument("enumerate_net_device", default_value='true'),
DeclareLaunchArgument("net_device_ip", default_value="192.168.1.10"),
DeclareLaunchArgument("net_device_port", default_value="8090"),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, olor_frame, ANY or disable
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
]
def get_params(context, args):
return [load_parameters(context, args)]
def create_node_action(context, args):
params = get_params(context, args)
ros_distro = os.environ.get("ROS_DISTRO", "humble")
if ros_distro == "foxy":
return [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=params,
output="screen",
)
]
else:
return [
GroupAction([
PushRosNamespace(LaunchConfiguration("camera_name")),
ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
parameters=params,
),
],
output="screen",
)
])
]
return LaunchDescription(
args + [
OpaqueFunction(function=lambda context: create_node_action(context, args))
]
)
这是Log爆错：
Received signal: 11
Received signal: 6
Stack trace (most recent call last) in thread 701864:
#7 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#6 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb7015edb, in
#5 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb6fad5b7, in
#4 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71e29cb, in
#3 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/libOrbbecSDK.so.2", at 0x7fb031ff27, in
#2 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/libOrbbecSDK.so.2", at 0x7fb0338704, in
#1 Object "linux-vdso.so.1", at 0x7fb75f87af, in
#0 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so", at 0x7fb0dccc6f, in signalHandler(int)
Stack trace (most recent call last) in thread 701933:
#19 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#18 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb7015edb, in
#17 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb6fad5b7, in
#16 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71e29db, in
#15 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/libOrbbecSDK.so.2", at 0x7fb033e69f, in
#14 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/libOrbbecSDK.so.2", at 0x7fb025bc73, in
#13 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71e2a8b, in std::thread::join()
#12 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71ae6ab, in std::__throw_system_error(int)
#11 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71b2e87, in __cxa_throw
#10 Object "/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0x7fb70ee873, in _Unwind_RaiseException
#9 Object "/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0x7fb70ee47b, in
#8 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71b21bf, in __gxx_personality_v0
#7 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71b1973, in
#6 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71b2b4b, in
#5 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0x7fb71b53cf, in __gnu_cxx::__verbose_terminate_handler()
#4 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb6f5712f, in abort
#3 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb6f6a67b, in raise
#2 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0x7fb6faf1f0, in
#1 Object "linux-vdso.so.1", at 0x7fb75f87af, in
#0 Object "/home/cat/orbbec_ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so", at 0x7fb0dccc6f, in signalHandler(int)