Astra not found in ROS container

Technical Support & Q&A
1

Hello,

Has anybody managed to access Astra camera through a ROS docker container ?

create_udev_rules in ros_astra_camera returns:
"udev does not support containers, not started"

and roslaunch astra_launch astra.launch returns:

Device “2bc5/0402@3/3” found.
No matching device found… waiting for devices. Reason: astra_wrapper::AstraDevice::AstraDevice(const string&) @ /home/kinetic-dev/catkin_ws/src/ros_astra_camera/src/astra_device.cpp @ 76 : Device open failed
Could not open “2bc5/0402@3/3”: Failed to open the USB device!

lsusb -v gives:

Bus 003 Device 005: ID 2bc5:0402  
Couldn't open device, some information will be missing
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               2.00
  bDeviceClass            0 (Defined at Interface level)
  bDeviceSubClass         0 
  bDeviceProtocol         0 
  bMaxPacketSize0        64
  idVendor           0x2bc5 
  idProduct          0x0402 
  bcdDevice            0.01
  iManufacturer           1 
  iProduct                2 
  iSerial                 0 
  bNumConfigurations      1
  Configuration Descriptor:
    bLength                 9
    bDescriptorType         2
    wTotalLength          145
    bNumInterfaces          3
    bConfigurationValue     1
    iConfiguration          0 
    bmAttributes         0x80
      (Bus Powered)
    MaxPower              500mA
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        0
      bAlternateSetting       0
      bNumEndpoints           2
      bInterfaceClass       255 Vendor Specific Class
      bInterfaceSubClass      0 
      bInterfaceProtocol      0 
      iInterface              3 
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x81  EP 1 IN
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0200  1x 512 bytes
        bInterval               1
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x82  EP 2 IN
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0200  1x 512 bytes
        bInterval               1
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        1
      bAlternateSetting       0
      bNumEndpoints           0
      bInterfaceClass         1 Audio
      bInterfaceSubClass      1 Control Device
      bInterfaceProtocol      0 
      iInterface              4 
      AudioControl Interface Descriptor:
        bLength                 9
        bDescriptorType        36
        bDescriptorSubtype      1 (HEADER)
        bcdADC               1.00
        wTotalLength           43
        bInCollection           1
        baInterfaceNr( 0)       2
      AudioControl Interface Descriptor:
        bLength                12
        bDescriptorType        36
        bDescriptorSubtype      2 (INPUT_TERMINAL)
        bTerminalID             1
        wTerminalType      0x0201 Microphone
        bAssocTerminal          0
        bNrChannels             2
        wChannelConfig     0x0003
          Left Front (L)
          Right Front (R)
        iChannelNames           0 
        iTerminal               0 
      AudioControl Interface Descriptor:
        bLength                 9
        bDescriptorType        36
        bDescriptorSubtype      3 (OUTPUT_TERMINAL)
        bTerminalID             2
        wTerminalType      0x0101 USB Streaming
        bAssocTerminal          0
        bSourceID               3
        iTerminal               0 
      AudioControl Interface Descriptor:
        bLength                13
        bDescriptorType        36
        bDescriptorSubtype      6 (FEATURE_UNIT)
        bUnitID                 3
        bSourceID               1
        bControlSize            2
        bmaControls( 0)      0x03
        bmaControls( 0)      0x00
          Mute Control
          Volume Control
        bmaControls( 1)      0x03
        bmaControls( 1)      0x00
          Mute Control
          Volume Control
        bmaControls( 2)      0x03
        bmaControls( 2)      0x00
          Mute Control
          Volume Control
        iFeature                0 
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        2
      bAlternateSetting       0
      bNumEndpoints           0
      bInterfaceClass         1 Audio
      bInterfaceSubClass      2 Streaming
      bInterfaceProtocol      0 
      iInterface              0 
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        2
      bAlternateSetting       1
      bNumEndpoints           1
      bInterfaceClass         1 Audio
      bInterfaceSubClass      2 Streaming
      bInterfaceProtocol      0 
      iInterface              0 
      AudioStreaming Interface Descriptor:
        bLength                 7
        bDescriptorType        36
        bDescriptorSubtype      1 (AS_GENERAL)
        bTerminalLink           2
        bDelay                  1 frames
        wFormatTag              1 PCM
      AudioStreaming Interface Descriptor:
        bLength                20
        bDescriptorType        36
        bDescriptorSubtype      2 (FORMAT_TYPE)
        bFormatType             1 (FORMAT_TYPE_I)
        bNrChannels             2
        bSubframeSize           2
        bBitResolution         16
        bSamFreqType            4 Discrete
        tSamFreq[ 0]         8000
        tSamFreq[ 1]        16000
        tSamFreq[ 2]        32000
        tSamFreq[ 3]        48000
      Endpoint Descriptor:
        bLength                 9
        bDescriptorType         5
        bEndpointAddress     0x83  EP 3 IN
        bmAttributes           13
          Transfer Type            Isochronous
          Synch Type               Synchronous
          Usage Type               Data
        wMaxPacketSize     0x00c0  1x 192 bytes
        bInterval               4
        bRefresh                0
        bSynchAddress           0
        AudioControl Endpoint Descriptor:
          bLength                 7
          bDescriptorType        37
          bDescriptorSubtype      1 (EP_GENERAL)
          bmAttributes         0x01
            Sampling Frequency
          bLockDelayUnits         0 Undefined
          wLockDelay              0 Undefined

Thank you for your help!

2

The point of docker is to give you an isolated environment - normally you don’t get any device access at all inside of docker. If you’re only using docker to get a different OS install but don’t care about any of the security, look at the --privileged option; there’s also a --device but I don’t think that works with things that are accessed via raw USB. (You probably also want to run create_udev_rules outside the container, since device events are only seen by the “real” operating system anyway, not the container, so they have to run on the outside regardless.)

3

Thank you for your answer!
--privileged along with -v /dev/bus/usb:/dev/bus/usb did the trick.

Now, in another container with PCL (but not ROS), what appears in my viewer is upside down! Do you have any idea why and how to correct that ?
I am using PCL 1.8 and openni2_grabber()
(adapted from PCL/OpenNI tutorial 1: Installing and testing - robotica.unileon.es)

Yet SimpleViewer works well in this container.

Thank you