Gemini335 Failed to initialize device! Failed to setup topics: Component 8 not found!

[Wwupup]

Gemini335 + orangepi ubuntu22
RK3588板子新装的ROS2 humble
直接克隆v2-main工程，按照README中流程配置：

sudo apt install libgflags-dev nlohmann-json3-dev  \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
ros-$ROS_DISTRO-backward-ros libdw-dev

cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

cd ~/ros2_ws/
# build release, Default is Debug
colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release

. ./install/setup.bash
ros2 launch orbbec_camera gemini_330_series.launch.py # or other launch file, see below table

配置、编译过程都正常，但是运行后，执行ros2 topic list 发现只有
/parameter_events
/rosout

然后查看日志如下：
[INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2025-10-17-11-22-22-478235-orangepi5ultra-18044
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [18056]
[component_container-1] [INFO] [1760671342.932834697] [camera.camera_container]: Load Library: /home/orangepi/projects/projector_robot_ces/ros2_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1760671343.030177467] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1760671343.030266133] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1760671343.040124658] [camera.camera]: setUvcBackendType:libuvc
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1760671344.137498608] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1760671344.326408706] [camera.camera]: Select device cost 188 ms
[component_container-1] [INFO] [1760671344.326761910] [camera.camera]: Try to connect device via USB2.1
[component_container-1] [INFO] [1760671344.327746859] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1760671344.345042143] [camera.camera]: current time domain: global
[component_container-1] [INFO] [1760671344.345133725] [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] [1760671344.345173975] [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] [1760671344.345209266] [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] [1760671344.345243683] [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] [1760671344.408362630] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1760671344.409064665] [camera.camera]: Create align filter
[component_container-1] [ERROR] [1760671344.410242111] [camera.camera]: Failed to setup topics: Component 8 not found!
[component_container-1] [ERROR] [1760671344.410443068] [camera.camera]: Failed to initialize device (Attempt 1 of 3): Component 8 not found!
...
Please help!

[skyline-fray]

@obyalian Hello, I noticed that my Gemini 336 has the same problem when using the original blue 3.0 USB, firmware version 2.5.5.

~/orbbec_ws$ ros2 launch orbbec_camera gemini_330_series.launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [38036]
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [0000003982.688152033] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [0000003982.688248837] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [0000003982.720271292] [camera.camera]: setUvcBackendType:v4l2
[component_container-1] [INFO] [0000003983.730114535] [camera.camera]: startDevice called
[component_container-1] [INFO] [0000003983.740365472] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [0000003983.953519695] [camera.camera]: Select device cost 213 ms
[component_container-1] [INFO] [0000003983.953670676] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [0000003983.954060257] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [0000003984.003454785] [camera.camera]: current time domain: global
[component_container-1] [INFO] [0000003984.003614727] [camera.camera]: hdr_index1_laser_control_ 1 hdr_index1_depth_exposure_ 1 hdr_index1_depth_gain_ 16 hdr_index1_ir_brightness_ 30 hdr_index1_ir_ae_max_exposure_ 30458
[component_container-1]
[component_container-1] [INFO] [0000003984.003654568] [camera.camera]: hdr_index0_laser_control_ 1 hdr_index0_depth_exposure_ 7500 hdr_index0_depth_gain_ 16 hdr_index0_ir_brightness_ 90 hdr_index0_ir_ae_max_exposure_ 30458
[component_container-1]
[component_container-1] [INFO] [0000003984.003678633] [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] [0000003984.003700586] [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] [0000003984.316784639] [camera.camera]: Setting heartbeat to OFF

[skyline-fray]

[component_container-1] [INFO] [0000001005.267472082] [camera.camera]: setupTopics: getParameters OK
[component_container-1] [INFO] [0000001005.267482578] [camera.camera]: setupTopics: calling setupDevices
[component_container-1] [INFO] [0000001005.267494482] [camera.camera]: Device sensor count: 6
[component_container-1] [INFO] [0000001005.267505075] [camera.camera]:   Sensor[0] type: OB_SENSOR_COLOR
[component_container-1] [INFO] [0000001005.267542644] [camera.camera]:   Sensor[1] type: OB_SENSOR_DEPTH
[component_container-1] [INFO] [0000001005.267568757] [camera.camera]:   Sensor[2] type: OB_SENSOR_ACCEL
[component_container-1] [INFO] [0000001005.267586165] [camera.camera]:   Sensor[3] type: OB_SENSOR_GYRO
[component_container-1] [INFO] [0000001005.267602038] [camera.camera]:   Sensor[4] type: OB_SENSOR_IR_LEFT
[component_container-1] [INFO] [0000001005.267619127] [camera.camera]:   Sensor[5] type: OB_SENSOR_IR_RIGHT
[component_container-1] [INFO] [0000001005.272375959] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [0000001005.272435641] [camera.camera]: Heartbeat property set successfully
[component_container-1] [INFO] [0000001005.272453017] [camera.camera]: setupDevices: property configuration block start
[component_container-1] [INFO] [0000001005.272467162] [camera.camera]: setupDevices: step start: max_depth_limit
[component_container-1] [INFO] [0000001005.272485466] [camera.camera]: setupDevices: step OK: max_depth_limit
[component_container-1] [INFO] [0000001005.272503899] [camera.camera]: setupDevices: step start: min_depth_limit
[component_container-1] [INFO] [0000001005.272513051] [camera.camera]: setupDevices: step OK: min_depth_limit
[component_container-1] [INFO] [0000001005.272522012] [camera.camera]: setupDevices: step start: laser_energy_level
[component_container-1] [INFO] [0000001005.272530812] [camera.camera]: setupDevices: step OK: laser_energy_level
[component_container-1] [INFO] [0000001005.272538812] [camera.camera]: setupDevices: step start: align_filter
[component_container-1] [INFO] [0000001005.272546685] [camera.camera]: setupDevices: step OK: align_filter
[component_container-1] [INFO] [0000001005.272556765] [camera.camera]: setupDevices: step start: disparity_to_depth
[component_container-1] [INFO] [0000001005.272570653] [camera.camera]: Attempting to set property OB_PROP_DISPARITY_TO_DEPTH_BOOL (id=85) to 1
[component_container-1] [ERROR] [0000001005.274079952] [camera.camera]: Failed to set property OB_PROP_DISPARITY_TO_DEPTH_BOOL (id=85) - Component 8 not found!
[component_container-1] [ERROR] [0000001005.274150643] [camera.camera]: setupDevices: step failed: disparity_to_depth - Component 8 not found!
[component_container-1] [ERROR] [0000001005.274179796] [camera.camera]: setupDevices: property configuration block failed: Component 8 not found!
[component_container-1] [ERROR] [0000001005.274239190] [camera.camera]: setupTopics: setupDevices failed: Component 8 not found!
[component_container-1] [ERROR] [0000001005.274264918] [camera.camera]: Failed to setup topics: setupTopics: setupDevices: Component 8 not found!
[component_container-1] [ERROR] [0000001005.274367098] [camera.camera]: Failed to initialize device (Attempt 3 of 3): setupTopics: setupDevices: Component 8 not found!
[component_container-1] [ERROR] [0000001005.274479486] [camera.camera]: Device initialization failed after 3 attempts.
[component_container-1] [ERROR] [0000001005.274527231] [camera.camera]: Failed to initialize device Device initialization failed after 3 attempts.
[component_container-1] [INFO] [0000001005.274744903] [camera.camera]: resetDevice : Reset device uid:
[component_container-1] [INFO] [0000001005.374964312] [camera.camera]: Resetting device_
[component_container-1] [INFO] [0000001005.376425481] [camera.camera]: device_ reset completed
[component_container-1] [INFO] [0000001005.376524716] [camera.camera]: Resetting device_info_
[component_container-1] [INFO] [0000001005.376556109] [camera.camera]: device_info_ reset completed
[component_container-1] [INFO] [0000001005.376917113] [camera.camera]: Reset device uid:  done

This is my troubleshooting log, it might be helpful.

[skyline-fray]

[component_container-1] [INFO] [0000004197.695024195] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [ERROR] [0000004197.696514357] [camera.camera]: Failed to set 85 to 1 in setupDevices at line 279: Component 8 not found!
[component_container-1] [ERROR] [0000004197.696616632] [camera.camera]: Failed to set 3004 to 0 in setupDevices at line 280: Component 8 not found!
[component_container-1] [INFO] [0000004197.696647353] [camera.camera]: Depth process is HW
[component_container-1] [INFO] [0000004197.696670874] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [0000004197.701064494] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [0000004197.702571329] [camera.camera]: Available presets:
[component_container-1] [INFO] [0000004197.702620291] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [0000004197.702648259] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [0000004197.702667716] [camera.camera]: Preset 2: High Accuracy
[component_container-1] [INFO] [0000004197.702682789] [camera.camera]: Preset 3: Factory Calib
[component_container-1] [INFO] [0000004197.702696837] [camera.camera]: Preset 4: Custom
[component_container-1] [INFO] [0000004197.702710534] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [0000004197.713147621] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [0000004197.713247497] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [0000004197.713301802] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [0000004197.713459856] [camera.camera]: Setting color mirror to OFF
[component_container-1] [ERROR] [0000004197.713593044] [camera.camera]: Failed to set 81 to 0 in setupDevices at line 432: Component 12 not found!
[component_container-1] [INFO] [0000004197.713635670] [camera.camera]: Setting color flip to OFF
[component_container-1] [ERROR] [0000004197.713727705] [camera.camera]: Failed to set 82 to 0 in setupDevices at line 449: Component 12 not found!
[component_container-1] [INFO] [0000004197.713761786] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [ERROR] [0000004197.713845181] [camera.camera]: Failed to set 14 to 0 in setupDevices at line 432: Component 8 not found!
[component_container-1] [INFO] [0000004197.713875230] [camera.camera]: Setting depth flip to OFF
[component_container-1] [ERROR] [0000004197.713955744] [camera.camera]: Failed to set 15 to 0 in setupDevices at line 449: Component 8 not found!
[component_container-1] [ERROR] [0000004197.714076133] [camera.camera]: Failed to setup topics: Component 8 not found!
[component_container-1] [ERROR] [0000004197.714221449] [camera.camera]: Failed to initialize device (Attempt 3 of 3): Component 8 not found!
[component_container-1] [ERROR] [0000004197.714256459] [camera.camera]: Device initialization failed after 3 attempts.
[component_container-1] [ERROR] [0000004197.714310092] [camera.camera]: Failed to initialize device Device initialization failed after 3 attempts.
[component_container-1] [INFO] [0000004197.714390415] [camera.camera]: resetDevice : Reset device uid:
[component_container-1] [INFO] [0000004197.814604704] [camera.camera]: Resetting device_
[component_container-1] [INFO] [0000004197.816417309] [camera.camera]: device_ reset completed
[component_container-1] [INFO] [0000004197.816508160] [camera.camera]: Resetting device_info_
[component_container-1] [INFO] [0000004197.816549121] [camera.camera]: device_info_ reset completed
[component_container-1] [INFO] [0000004197.817079923] [camera.camera]: Reset device uid:  done

[skyline-fray]

OrbbecViewer display OK

[Wwupup]

@Wwupup Hi,

I noticed that your device is currently connected via USB 2.0, which is likely the cause of the issue. For the Gemini 335, we recommend using a USB 3.0 port (the blue one) to ensure sufficient bandwidth and power supply.

Please try reconnecting the camera to a USB 3.0 port and test again. If the issue persists, you can use our OrbbecViewer software to verify whether the camera works properly and check if the firmware version is up to date: https://orbbec.github.io/OrbbecSDK_ROS2/source/3_quickstarts/orbbecviewer.html

If the problem still exists after that, please let us know, and we’ll help you investigate further.

我联系技术人员后，使用新的Gemini335相机以及新的开发板，按照Readme进行环境配置，仍会出现这个BUG。后来技术人员给我一个旧版本，就没这个问题，猜测是当前最新版本（2.5.4）存在兼容性问题。

[skyline-fray]

@obyalian yes, firmware 1.6.0 and sdk 2.5.5，actually, 2.4.4 is OK， Looking forward to it being fixed

[skyline-fray]

@obyalian Actually, I feel that it doesn't have much to do with the firmware version. For example, firmware versions that work fine with SDK 1.10.22 also work with SDK 2.4.4. On the other hand, both firmware versions for 2.5.5 are unusable. Hope this helps.

[Wwupup]

@Wwupup Thank you for your detailed feedback. To help us identify the root cause more quickly, could you please share the firmware version of your Gemini 335 camera, as well as the specific SDK version that worked correctly for you? This information will help us verify whether the compatibility issue is related to the latest version (v2.5.4).

我当前能跑通的版本是1.5.8, 然后固件信息如下：

[ob-yalian]

@Wwupup I tested the same setup (Gemini 335 + Orange Pi with Ubuntu 22.04 + ROS 2 Humble, using the latest v2-main branch), and it runs normally on my side.

[skyline-fray]

@Wwupup I tested the same setup (Gemini 335 + Orange Pi with Ubuntu 22.04 + ROS 2 Humble, using the latest v2-main branch), and it runs normally on my side.

anyway, i return to ce31e3a OCT 13, its all OK, on Jetson orin NX, Ubuntu 22.04 + ROS 2 Humble