Issues with SceneScan Pro and ROS driver
Posted: Wed Jul 06, 2022 3:02 pm
Starting with SceneScan Pro firmware v9.0.0 , the current ROS driver throws a ParameterException:
The ROS driver works with FW versions <= 8.1.9. This is the most urgent problem for me at the moment. Any idea how to fix this quickly?
The log files mentioned in the error message also never get created, at least not in this path (they did not get created before with FW 8.0.1 either).
Frame rate is rather low; while the data sheet suggests 32fps for Karmin3 Color at 1024x768 with 256 disparities (presumably with JumboFrames enabled; there's also a 15 fps preset for Karmin3 Color at 1024x768 with 256 disparity without Jumbo Frames, which gives roughly the same frame rate, maybe 0.5 - 1 fps lower), SceneScan Pro reports only ~ 7 fps. The low frame rate remains low regardless of firmware version (at least >= 8.0.1). It's not too important right now, but I'd like to fix this in the near future.
SceneScan settings are attached for examination, if this is helpful.
Thanks in advance, best regards
Carsten
Code: Select all
$ roslaunch nerian_stereo nerian_stereo.launch device_address:=192.168.10.10 node_name:=nerian_stereo_01
... logging to /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/roslaunch-odroid-8757.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://odroid:33669/
SUMMARY
========
PARAMETERS
* /nerian_stereo_01/calibration_file: /tmp/nerian_calib...
* /nerian_stereo_01/color_code_disparity_map: none
* /nerian_stereo_01/color_code_legend: True
* /nerian_stereo_01/delay_execution: 2.0
* /nerian_stereo_01/frame: map
* /nerian_stereo_01/max_depth: -1.0
* /nerian_stereo_01/point_cloud_intensity_channel: mono8
* /nerian_stereo_01/remote_host: 192.168.10.10
* /nerian_stereo_01/remote_port: 7681
* /nerian_stereo_01/ros_coordinate_system: True
* /nerian_stereo_01/ros_timestamps: True
* /nerian_stereo_01/use_tcp: False
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/
download_calib (nerian_stereo/download_calibration.sh)
nerian_stereo_01 (nerian_stereo/nerian_stereo_node)
auto-starting new master
process[master]: started with pid [8831]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5256aba6-fd2d-11ec-9374-001e064322c7
process[rosout-1]: started with pid [8880]
started core service [/rosout]
process[download_calib-2]: started with pid [8892]
process[nerian_stereo_01-3]: started with pid [8899]
% Total % Received % Xferd Average Speed Time Time Time Current
Dload Upload Total Spent Left Speed
100 3185 100 3185 0 0 1555k 0 --:--:-- --:--:-- --:--:-- 1555k
[download_calib-2] process has finished cleanly
log file: /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/download_calib-2*.log
[ INFO] [1657113167.520943330]: Connecting to 192.168.10.10 for parameter service
[ERROR] [1657113167.528672926]: ParameterException while connecting to parameter service: Protocol version mismatch! Expected 6 but received 1342781194
[nerian_stereo_01-3] process has died [pid 8899, exit code 1, cmd /opt/ros/noetic/lib/nerian_stereo/nerian_stereo_node __name:=nerian_stereo_01 __log:=/home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/nerian_stereo_01-3.log].
log file: /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/nerian_stereo_01-3*.logThe log files mentioned in the error message also never get created, at least not in this path (they did not get created before with FW 8.0.1 either).
Frame rate is rather low; while the data sheet suggests 32fps for Karmin3 Color at 1024x768 with 256 disparities (presumably with JumboFrames enabled; there's also a 15 fps preset for Karmin3 Color at 1024x768 with 256 disparity without Jumbo Frames, which gives roughly the same frame rate, maybe 0.5 - 1 fps lower), SceneScan Pro reports only ~ 7 fps. The low frame rate remains low regardless of firmware version (at least >= 8.0.1). It's not too important right now, but I'd like to fix this in the near future.
SceneScan settings are attached for examination, if this is helpful.
Thanks in advance, best regards
Carsten