A few months ago I was able to properly launch the Astra Camera on ROS with the astra_launch file on a Raspberry Pi and get the correct data from it.
Now I tried to set it up again by freshly installing Raspbian, then the astra openni arm 64 drivers from the develop page and finally compile ros from source. When I use roslaunch astra_launch astra.launch I get the following errors
process[camera/camera_nodelet_manager-2]: started with pid [3184] process[camera/driver-3]: started with pid [3192] process[camera/rgb_rectify_color-4]: started with pid [3193] process[camera/depth_rectify_depth-5]: started with pid [3199] [ INFO] [1479989984.709380469]: Initializing nodelet with 4 worker threads. process[camera/depth_metric_rect-6]: started with pid [3224] process[camera/depth_metric-7]: started with pid [3243] process[camera/depth_points-8]: started with pid [3256] process[camera/register_depth_rgb-9]: started with pid [3273] process[camera/points_xyzrgb_sw_registered-10]: started with pid [3289] process[camera/depth_registered_sw_metric_rect-11]: started with pid [3301] [ INFO] [1479989985.394128035]: Device "2bc5/0402@1/4" found. process[camera_base_link-12]: started with pid [3323] Warning: USB events thread - failed to set priority. This might cause loss of data... process[camera_base_link1-13]: started with pid [3345] process[camera_base_link2-14]: started with pid [3362] process[camera_base_link3-15]: started with pid [3378] [FATAL] [1479989988.656096071]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect of type depth_image_proc/convert_metric to manager camera_nodelet_manager' [FATAL] [1479989988.657252779]: Failed to load nodelet '/camera/register_depth_rgb of type depth_image_proc/register to manager camera_nodelet_manager' [FATAL] [1479989988.657252883]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered of type depth_image_proc/point_cloud_xyzrgb to manager camera_nodelet_manager' [FATAL] [1479989988.658863753]: Failed to load nodelet '/camera/depth_rectify_depth of type image_proc/rectify to manager camera_nodelet_manager' [FATAL] [1479989988.659366821]: Failed to load nodelet '/camera/rgb_rectify_color of type image_proc/rectify to manager camera_nodelet_manager' [FATAL] [1479989988.659617496]: Failed to load nodelet '/camera/depth_metric of type depth_image_proc/convert_metric to manager camera_nodelet_manager' [FATAL] [1479989988.659686454]: Failed to load nodelet '/camera/depth_metric_rect of type depth_image_proc/convert_metric to manager camera_nodelet_manager' [FATAL] [1479989988.660571497]: Failed to load nodelet '/camera/depth_points of type depth_image_proc/point_cloud_xyz to manager camera_nodelet_manager' [camera/camera_nodelet_manager-2] process has died [pid 3184, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-camera_nodelet_manager-2.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-camera_nodelet_manager-2*.log [camera/depth_metric_rect-6] process has died [pid 3224, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_metric_rect-6.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_metric_rect-6*.log [camera/depth_metric-7] process has died [pid 3243, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_metric-7.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_metric-7*.log [camera/depth_points-8] process has died [pid 3256, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_points-8.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_points-8*.log [camera/register_depth_rgb-9] process has died [pid 3273, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-register_depth_rgb-9.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-register_depth_rgb-9*.log [camera/depth_registered_sw_metric_rect-11] process has died [pid 3301, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_registered_sw_metric_rect-11.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_registered_sw_metric_rect-11*.log [camera/rgb_rectify_color-4] process has died [pid 3193, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_raw image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-rgb_rectify_color-4.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-rgb_rectify_color-4*.log [camera/depth_rectify_depth-5] process has died [pid 3199, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_rectify_depth-5.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-depth_rectify_depth-5*.log [camera/points_xyzrgb_sw_registered-10] process has died [pid 3289, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-points_xyzrgb_sw_registered-10.log]. log file: /home/pi/.ros/log/479cbc5c-b240-11e6-94c5-b827eb2510df/camera-points_xyzrgb_sw_registered-10*.log
I have found similar issues on the web with the kinect and Xion cameras, but the solutions from there do not seem to work with the Astra. The image_raw topics still work, but then again dont output any real data.
The device is apparently properly recognized and to me it looks more like a driver issue than a ros one. Anybody having similar problems?
So I tried to run the included Samples from the downloaded driver and they start up the device properly and deliver the correct depth values.
That means the camera is connected and set up properly
I also tried deleting the driver file in /etc/udev/rules.d and reinstalling ROS.
When using roslaunch astra_launch astra.launch right after that without having the udev file set up, I get the ROS Info
Device “2bc5/0402@1/4” found.
into
Device open failed
Could not open “2bc5/0402@1/4”: Failed to open the USB device!
So the device is recognized despite not having the udev file. Is that normal?
Once I install the udev file it goes back to the errors. I think I have a driver conflict here, because I had a previous manual installation of it. So how can I fully delete the device driver from the system?
Retrieving the usb information from the device, I get
Can confirm that this is still a problem. I’m currently trying to make it work with the Pi 4 without much luck. I’ve tested it before on a Xenial workstation and ran fine so it’s definitely not the camera itself.
Here’s my entire log:
pi@roscar:~$ roslaunch astra_camera astra.launch
... logging to /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/roslaunch-roscar-1290.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://roscar:34455/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/bootorder: 0
* /camera/driver/color_depth_synchronization: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/devnums: 1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
camera_base_link (tf2_ros/static_transform_publisher)
camera_base_link1 (tf2_ros/static_transform_publisher)
camera_base_link2 (tf2_ros/static_transform_publisher)
camera_base_link3 (tf2_ros/static_transform_publisher)
auto-starting new master
process[master]: started with pid [1301]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d43de47c-1838-11ea-9aaf-dca6323d1c3e
process[rosout-1]: started with pid [1314]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [1323]
process[camera/driver-3]: started with pid [1332]
process[camera/rgb_rectify_color-4]: started with pid [1333]
process[camera/depth_rectify_depth-5]: started with pid [1334]
process[camera/depth_metric_rect-6]: started with pid [1337]
process[camera/depth_metric-7]: started with pid [1353]
process[camera/depth_points-8]: started with pid [1365]
[ INFO] [1575644296.986559801]: Initializing nodelet with 4 worker threads.
process[camera/register_depth_rgb-9]: started with pid [1380]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [1388]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [1394]
process[camera_base_link-12]: started with pid [1405]
process[camera_base_link1-13]: started with pid [1415]
process[camera_base_link2-14]: started with pid [1419]
5357 INFO New log started on 2019-12-06 14:58:17
5408 INFO --- Filter Info --- Minimum Severity: VERBOSE
5490 VERBOSE OpenNI 2.3.0 (Build 63)-Linux-Arm (Apr 17 2019 14:26:26)
5508 VERBOSE Configuration file found at '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI.ini'
5665 VERBOSE Using '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers' as driver path
5685 VERBOSE Looking for drivers at '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers'
6213 VERBOSE Loading device driver 'libOniFile.so'...
6296 WARNING loading lib from: /home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/libOniFile.so
process[camera_base_link3-15]: started with pid [1429]
14470 VERBOSE Loading device driver 'libPSLink.so'...
14533 WARNING loading lib from: /home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/libPSLink.so
17496 WARNING LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping
17598 WARNING Couldn't use file 'libPSLink.so' as a device driver
17631 VERBOSE Loading device driver 'liborbbec.so'...
17667 WARNING loading lib from: /home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/liborbbec.so
20037 INFO New log started on 2019-12-06 14:58:17
20072 INFO --- Filter Info --- Minimum Severity: VERBOSE
20091 VERBOSE Initializing USB...
33814 INFO USB is initialized.
33940 INFO Device connected: Orbbec Astra (2bc5/0401@1/4)
[ INFO] [1575644297.195013396]: Device "2bc5/0401@1/4" found.
175100 VERBOSE Initialize: Already initialized
175251 VERBOSE Trying to open device by URI '2bc5/0401@1/4'
179451 VERBOSE Initializing device sensor...
180434 VERBOSE Configuring module 'Device' from section 'Device' in file '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/orbbec.ini'...
180596 INFO Setting Device.UsbInterface to 2...
180612 INFO Device.UsbInterface value did not change.
182359 INFO Module 'Device' configuration was loaded from file.
182414 VERBOSE Connecting to USB device...
182427 VERBOSE Trying to open sensor '2bc5/0401@1/4'...
182659 INFO USB is high Speed
182681 VERBOSE Starting libusb asynch thread...
182871 WARNING Failed to set thread priority (1)
182888 WARNING USB events thread: Failed to set thread priority to critical. This might cause loss of data...
Warning: USB events thread - failed to set priority. This might cause loss of data...
182908 VERBOSE Trying to open endpoint 0x4 for control out (for old firmwares)...
183052 INFO Connected to USB device
205763 VERBOSE Getting hardware versions...
217227 INFO Hardware versions: FW=5.8.22 (14) HW=0 Chip=0 Sensor=0 SYS=12
228679 WARNING Received NACK: 2
228717 INFO Reading CMOS 0 supported presets...
229524 VERBOSE Requesting KeepAlive...
229861 VERBOSE Got KeepAlive Reply.
229876 VERBOSE Setting mode to 3...
231295 VERBOSE Requesting KeepAlive...
231651 VERBOSE Got KeepAlive Reply.
231987 VERBOSE Getting the fixed params...
232461 INFO Reading sensor serial number...
232906 VERBOSE Sensor serial number: 15101310095
232922 VERBOSE Getting algorithm params 0x7 for resolution 0 and fps 0....
233383 INFO Reading sensor platform string...
233867 VERBOSE Property Firmware.ReferenceResolution was changed to 2.
233886 VERBOSE Reading all params from firmware...
235696 VERBOSE Property Firmware.DepthWhiteBalance (45) was changed to 1.
242870 VERBOSE Property Firmware.ImageFormat (12) was changed to 5.
243978 VERBOSE Property Firmware.ImageFPS (14) was changed to 30.
244356 VERBOSE Property Firmware.GMCMode (36) was changed to 1.
244747 VERBOSE Property Firmware.ImageQuality (16) was changed to 3.
245120 VERBOSE Property Firmware.ImageSharpness (76) was changed to 32.
245866 VERBOSE Property Firmware.ImageAutoWhiteBalance (77) was changed to 1.
246615 VERBOSE Property Firmware.ImageColorTemperature (78) was changed to 5000.
247402 VERBOSE Property Firmware.ImageBacklightCompensation (79) was changed to 1.
248088 VERBOSE Property Firmware.ImageAutoExposure (80) was changed to 1.
249863 VERBOSE Property Firmware.ImageLowLightCompensation (82) was changed to 1.
250243 VERBOSE Property Firmware.DepthFormat (18) was changed to 3.
250651 VERBOSE Property Firmware.ImageGain (15) was changed to 100.
250997 VERBOSE Property Firmware.DepthResolution (19) was changed to 1.
251748 VERBOSE Property Firmware.DepthFPS (20) was changed to 30.
252148 VERBOSE Property Firmware.DepthGain (21) was changed to 42.
252942 VERBOSE Property Firmware.DepthHoleFilter (22) was changed to 1.
255568 VERBOSE Firmware params were updated.
255702 INFO Property Device.PhysicalDeviceName was changed to ORBBEC ASTRA.
255719 INFO Property Device.VendorData was changed to ASTRA Depth Sensor.
255733 INFO Property Device.ID was changed to 15101310095.
255745 INFO Property Device.SensorPlatformString was changed to RD104a-001.
5257714 ERROR Support sub cmd error!
5257779 INFO Device sensor initialized
5420617 INFO Creating stream 'IR' of type 'IR'...
5420682 INFO Setting Device.ReadData to 1...
5421221 VERBOSE Setting USB alternative interface to 0...
5423035 VERBOSE Opening endpoints...
5423073 VERBOSE Opening endpoint 0x81 for depth...
5423353 VERBOSE Depth endpoint is bulk.
5423387 VERBOSE Opening endpoint 0x82 for image...
5423586 VERBOSE Image endpoint is bulk.
5423621 VERBOSE Opening endpoint 0x83 for misc...
5423833 VERBOSE Misc endpoint is not supported...
5423897 INFO Endpoints open
5424273 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
5425345 INFO Property Device.ReadData was changed to 1.
5425392 INFO Reading CMOS 0 supported presets...
5426190 INFO Device.ReadData was successfully set.
5427506 VERBOSE Initializing stream 'IR'...
5427663 INFO Property IR.Resolution was changed to QVGA.
5427702 INFO Property IR.XRes was changed to 320.
5427738 INFO Property IR.YRes was changed to 240.
5427768 INFO Property IR.FPS was changed to 30.
5427796 INFO Property IR.OutputFormat was changed to 203.
5427832 INFO Property IR.BytesPerPixel was changed to 2.
5427860 INFO Property IR.RequiredDataSize was changed to 158720.
5427895 INFO Property IR.SupportedModesCount was changed to 17.
5427958 INFO Property IR.Mirror was changed to 1.
5428039 INFO Stream 'IR' was initialized.
5428113 INFO 'IR' stream was created.
5428189 VERBOSE Configuring module 'IR' from section 'IR' in file '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/orbbec.ini'...
5430082 INFO Setting IR.Resolution to VGA...
5430177 INFO Property IR.Resolution was changed to VGA.
5430258 INFO Property IR.XRes was changed to 640.
5430335 INFO Property IR.RequiredDataSize was changed to 317440.
5430500 INFO Property IR.YRes was changed to 480.
5430590 INFO Property IR.RequiredDataSize was changed to 624640.
5430669 INFO IR.Resolution was successfully set.
5431471 INFO Module 'IR' configuration was loaded from file.
5432847 INFO Creating stream 'Image' of type 'Image'...
5434690 VERBOSE Initializing stream 'Image'...
5434898 INFO Property Image.Resolution was changed to QVGA.
5434940 INFO Property Image.XRes was changed to 320.
5434976 INFO Property Image.YRes was changed to 240.
5435010 INFO Property Image.FPS was changed to 30.
5435048 INFO Property Image.OutputFormat was changed to 200.
5435077 INFO Property Image.BytesPerPixel was changed to 3.
5435105 INFO Property Image.RequiredDataSize was changed to 230400.
5435209 INFO Property Image.HorizontalFov was changed to 1.022600.
5435251 INFO Property Image.VerticalFov was changed to 0.796616.
5435318 INFO Setting Image.Exposure to 0...
5435349 INFO Image.Exposure value did not change.
5435382 INFO Setting Image.Gain to 100...
5435428 INFO Image.Gain value did not change.
5435461 INFO Property Image.SupportedModesCount was changed to 25.
5435493 INFO Property Image.InputFormat was changed to 1.
5435527 INFO Property Image.FirmwareMirror was changed to 1.
5435559 INFO Property Image.Mirror was changed to 1.
5435592 INFO Stream 'Image' was initialized.
5435620 INFO 'Image' stream was created.
5435652 VERBOSE Configuring module 'Image' from section 'Image' in file '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/orbbec.ini'...
5436108 INFO Setting Image.InputFormat to 5...
5436145 INFO Property Image.InputFormat was changed to 5.
5436175 INFO Image.InputFormat was successfully set.
5437874 INFO Setting Image.Resolution to VGA...
5437908 INFO Property Image.Resolution was changed to VGA.
5437940 INFO Property Image.XRes was changed to 640.
5437972 INFO Property Image.RequiredDataSize was changed to 460800.
5438005 INFO Property Image.YRes was changed to 480.
5438035 INFO Property Image.RequiredDataSize was changed to 921600.
5438066 INFO Image.Resolution was successfully set.
5439560 INFO Module 'Image' configuration was loaded from file.
5440182 INFO Creating stream 'Depth' of type 'Depth'...
5443113 VERBOSE Initializing stream 'Depth'...
5443316 INFO Property Depth.OutputFormat was changed to 100.
5443354 INFO Property Depth.BytesPerPixel was changed to 2.
5443382 INFO Property Depth.RequiredDataSize was changed to 614400.
5443710 INFO Property Depth.MaxDepth was changed to 65534.
5443949 INFO Property Depth.SupportedModesCount was changed to 47.
5444008 INFO Property Depth.Resolution was changed to QQVGA.
5444042 INFO Property Depth.XRes was changed to 160.
5444075 INFO Property Depth.RequiredDataSize was changed to 153600.
5444107 INFO Property Depth.YRes was changed to 120.
5444140 INFO Property Depth.RequiredDataSize was changed to 38400.
5444171 INFO Property Depth.FPS was changed to 30.
5444199 INFO Property Depth.ParamCoeff was changed to 4.
5444372 INFO Property Depth.ShiftScale was changed to 10.
5444553 VERBOSE Getting algorithm params 0x0 for resolution 1 and fps 30....
5445174 INFO Property Depth.ConstShift was changed to 200.
5445374 INFO Property Depth.ZPD was changed to 130.000000.
5445696 INFO Property Depth.ZPPS was changed to 0.113967.
5445731 INFO Property Depth.LDDIS was changed to 7.500000.
5445979 INFO Property Depth.DCRCDIS was changed to 2.630000.
5446574 INFO Property Depth.HorizontalFov was changed to 1.022600.
5446615 INFO Property Depth.VerticalFov was changed to 0.796616.
5447276 VERBOSE cmostype: 1 m_VerticalFOV: 0.796616, m_HorizontalFOV: 1.022600
5447332 INFO Property Depth.Gain was changed to 42.
5447485 VERBOSE Getting algorithm params 0x2 for resolution 4 and fps 30....
5448162 VERBOSE Getting algorithm params 0x2 for resolution 0 and fps 30....
5448901 VERBOSE Getting algorithm params 0x2 for resolution 1 and fps 30....
5449518 VERBOSE Getting algorithm params 0x3 for resolution 4 and fps 30....
5450145 VERBOSE Getting algorithm params 0x3 for resolution 0 and fps 30....
5450736 VERBOSE Getting algorithm params 0x3 for resolution 1 and fps 30....
5632530 INFO Property Depth.FirmwareMirror was changed to 1.
5632562 INFO Property Depth.Mirror was changed to 1.
5632584 INFO Stream 'Depth' was initialized.
5632595 INFO 'Depth' stream was created.
5632608 VERBOSE Configuring module 'Depth' from section 'Depth' in file '/home/pi/ros/roscar/src/ros_astra_camera/include/openni2_redist/arm/OpenNI2/Drivers/orbbec.ini'...
5632856 INFO Setting Depth.InputFormat to 3...
5632878 INFO Property Depth.InputFormat was changed to 3.
5632891 INFO Depth.InputFormat was successfully set.
5634476 INFO Setting Depth.Resolution to VGA...
5634492 INFO Property Depth.Resolution was changed to VGA.
5634509 INFO Property Depth.XRes was changed to 640.
5634523 INFO Property Depth.RequiredDataSize was changed to 153600.
5634537 INFO Property Depth.YRes was changed to 480.
5634550 INFO Property Depth.RequiredDataSize was changed to 614400.
5634565 INFO Depth.Resolution was successfully set.
5635448 INFO Module 'Depth' configuration was loaded from file.
5635780 INFO Setting Depth.Registration to 0...
5635799 INFO Depth.Registration value did not change.
5635874 INFO Setting Image.AutoExposure to 1...
5635887 INFO Image.AutoExposure value did not change.
5635913 INFO Setting Image.AutoWhiteBalance to 1...
5635924 INFO Image.AutoWhiteBalance value did not change.
[ERROR] [1575644302.949109397]: Failed to load nodelet [/camera/rgb_rectify_color] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644302.949204193]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644302.949570821]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[ERROR] [1575644303.046255769]: Failed to load nodelet [/camera/depth_rectify_depth] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.046372250]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.047050932]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[ERROR] [1575644303.074802321]: Failed to load nodelet [/camera/depth_metric_rect] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.074892358]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.075616059]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[ERROR] [1575644303.103417929]: Failed to load nodelet [/camera/depth_points] of type [depth_image_proc/point_cloud_xyz] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.103507151]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.103851205]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[ERROR] [1575644303.131807686]: Failed to load nodelet [/camera/depth_metric] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.131899890]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.132226518]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[ERROR] [1575644303.161687956]: Failed to load nodelet [/camera/register_depth_rgb] of type [depth_image_proc/register] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/register with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.161820400]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/register with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.163052302]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[ERROR] [1575644303.191995001]: Failed to load nodelet [/camera/points_xyzrgb_sw_registered] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.192126260]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.192502870]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[ERROR] [1575644303.221479847]: Failed to load nodelet [/camera/depth_registered_sw_metric_rect] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[ERROR] [1575644303.221572476]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver
[FATAL] [1575644303.221879586]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[camera/rgb_rectify_color-4] process has died [pid 1333, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_raw image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-rgb_rectify_color-4.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-rgb_rectify_color-4*.log
[camera/depth_rectify_depth-5] process has died [pid 1334, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_rectify_depth-5.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_rectify_depth-5*.log
[camera/depth_metric_rect-6] process has died [pid 1337, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_metric_rect-6.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_metric_rect-6*.log
[camera/depth_metric-7] process has died [pid 1353, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_metric-7.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_metric-7*.log
[camera/depth_points-8] process has died [pid 1365, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_points-8.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_points-8*.log
[camera/register_depth_rgb-9] process has died [pid 1380, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-register_depth_rgb-9.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-register_depth_rgb-9*.log
[camera/points_xyzrgb_sw_registered-10] process has died [pid 1388, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-points_xyzrgb_sw_registered-10.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-points_xyzrgb_sw_registered-10*.log
[camera/depth_registered_sw_metric_rect-11] process has died [pid 1394, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_registered_sw_metric_rect-11.log].
log file: /home/pi/.ros/log/d43de47c-1838-11ea-9aaf-dca6323d1c3e/camera-depth_registered_sw_metric_rect-11*.log
This is using the latest version of ros_astra_camera on github right now. Tested with USB 2.0 and 3.0 ports with same results.
