Hello,
I am trying to use the Astra Stereo S with the ROS wrapper on ROS Kinetic and Ubuntu 16.04.
My goal is to get a registered RGBXYZ point cloud.
I can access the depth sensor using OpenNI/the SDK and the RGB cam using OpenCV without errors. When using ROS however I am unable to get any data from the depth sensor at all using the Stereo S launch file (the RGB cam works fine).
Using the astra.launch file I can access the depth sensor but not the RGB cam due to the UVC interface of the Stereo S.
The node launch outputs no obvious error messages, but when I try to echo a depth topic the error
`142576888 WARNING Endpoint 0x81, Buffer 0: Asynch transfer failed (status: 1)
142576955 WARNING Endpoint 0x81, Buffer 1: Asynch transfer failed (status: 1)
142610572 WARNING Endpoint 0x81, Buffer 2: Asynch transfer failed (status: 1)
142610599 WARNING Endpoint 0x81, Buffer 3: Asynch transfer failed (status: 1)
142610677 WARNING Endpoint 0x81, Buffer 4: Asynch transfer failed (status: 1)
142644362 WARNING Endpoint 0x81, Buffer 5: Asynch transfer failed (status: 1)
142644421 WARNING Endpoint 0x81, Buffer 6: Asynch transfer failed (status: 1)
142644437 WARNING Endpoint 0x81, Buffer 7: Asynch transfer failed (status: 1)
142711842 WARNING Endpoint 0x81, Buffer 8: Asynch transfer failed (status: 1)
142711888 WARNING Endpoint 0x81, Buffer 9: Asynch transfer failed (status: 1)
142711964 WARNING Endpoint 0x81, Buffer 10: Asynch transfer failed (status: 1)
143043903 WARNING Endpoint 0x81, Buffer 11: Asynch transfer failed (status: 1)
143043967 WARNING Endpoint 0x81, Buffer 12: Asynch transfer failed (status: 1)
143076341 WARNING Endpoint 0x81, Buffer 13: Asynch transfer failed (status: 1)
143076448 WARNING Endpoint 0x81, Buffer 14: Asynch transfer failed (status: 1)
143076474 WARNING Endpoint 0x81, Buffer 15: Asynch transfer failed (status: 1)`
is being printed repeatedly, sometimes being interspersed by
`142378094 VERBOSE Retrying to set the param... rc=131167
142378103 ERROR Failed setting [84] to [0]: Failed to send a USB control request!
142378108 VERBOSE Failed setting Firmware.CloseRange (84): Failed to send a USB control request!`
I also do not recieve any data from the depth topics. You can find a full sample log up to the point where the error occurs below.
`fabian@fabian-machine:~/catkin_ws$ roslaunch astra_launch stereo_s.launch
... logging to /home/fabian/.ros/log/265d9818-8bcd-11e9-ae88-4cedfbb37f9b/roslaunch-fabian-machine-11765.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://fabian-machine:40403/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/depth_registered_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: True
* /camera/driver/device_id: #1
* /camera/driver/devnums: 1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /camera/stereo_s/camera_info_url:
* /camera/stereo_s/frame_rate: 30
* /camera/stereo_s/height: 480
* /camera/stereo_s/index: 0
* /camera/stereo_s/product: 0x0508
* /camera/stereo_s/serial: 0
* /camera/stereo_s/timestamp_method: start
* /camera/stereo_s/vendor: 0x2bc5
* /camera/stereo_s/video_mode: yuyv
* /camera/stereo_s/width: 640
* /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_hw_metric_rect (nodelet/nodelet)
depth_registered_metric (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
stereo_s (astra_camera/camera_node)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
process[camera/stereo_s-1]: started with pid [11782]
process[camera/camera_nodelet_manager-2]: started with pid [11783]
process[camera/driver-3]: started with pid [11784]
process[camera/rgb_rectify_color-4]: started with pid [11793]
process[camera/depth_rectify_depth-5]: started with pid [11795]
process[camera/depth_metric_rect-6]: started with pid [11808]
process[camera/depth_metric-7]: started with pid [11822]
process[camera/depth_points-8]: started with pid [11838]
process[camera/depth_registered_rectify_depth-9]: started with pid [11854]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [11868]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [11891]
process[camera/depth_registered_metric-12]: started with pid [11902]
process[camera_base_link-13]: started with pid [11916]
[ INFO] [1560204981.627278274]: Initializing nodelet with 4 worker threads.
process[camera_base_link1-14]: started with pid [11932]
process[camera_base_link2-15]: started with pid [11954]
process[camera_base_link3-16]: started with pid [11967]
unsupported descriptor subtype VS_COLORFORMAT
unsupported descriptor subtype VS_COLORFORMAT
attempt to claim already-claimed interface 1
331 INFO New log started on 2019-06-11 00:16:21
340 INFO --- Filter Info --- Minimum Severity: VERBOSE
354 VERBOSE OpenNI 2.3.0 (Build 50)-Linux-x86 (Aug 31 2018 09:52:31)
356 VERBOSE Configuration file found at '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI.ini'
379 VERBOSE Using '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers' as driver path
382 VERBOSE Looking for drivers at '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers'
425 VERBOSE Loading device driver 'libOniFile.so'...
432 WARNING loading lib from: /home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/libOniFile.so
594 VERBOSE Loading device driver 'libPSLink.so'...
601 WARNING loading lib from: /home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/libPSLink.so
1087 WARNING LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping
1101 WARNING Couldn't use file 'libPSLink.so' as a device driver
1106 VERBOSE Loading device driver 'liborbbec.so'...
1112 WARNING loading lib from: /home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/liborbbec.so
1506 INFO New log started on 2019-06-11 00:16:21
1511 INFO --- Filter Info --- Minimum Severity: VERBOSE
1514 VERBOSE Initializing USB...
4326 INFO USB is initialized.
4403 INFO Device connected: Orbbec Astra (2bc5/0608@1/14)
[ INFO] [1560204981.857058381]: Device "2bc5/0608@1/14" found.
10236 VERBOSE Initialize: Already initialized
10296 VERBOSE Trying to open device by URI '2bc5/0608@1/14'
10785 VERBOSE Initializing device sensor...
10831 VERBOSE Configuring module 'Device' from section 'Device' in file '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
10869 INFO Setting Device.UsbInterface to 2...
10872 INFO Device.UsbInterface value did not change.
11121 INFO Module 'Device' configuration was loaded from file.
11127 VERBOSE Connecting to USB device...
11130 VERBOSE Trying to open sensor '2bc5/0608@1/14'...
11190 VERBOSE Starting libusb asynch thread...
11216 WARNING Failed to set thread priority (1)
11221 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...
11225 VERBOSE Trying to open endpoint 0x4 for control out (for old firmwares)...
11252 INFO Connected to USB device
14577 VERBOSE Getting hardware versions...
25989 INFO Hardware versions: FW=5.8.22 (14) HW=0 Chip=7 Sensor=0 SYS=12
37444 WARNING Received NACK: 2
37457 INFO Reading CMOS 0 supported presets...
38396 VERBOSE Requesting KeepAlive...
38822 VERBOSE Got KeepAlive Reply.
38830 VERBOSE Setting mode to 3...
40250 VERBOSE Requesting KeepAlive...
40610 VERBOSE Got KeepAlive Reply.
40990 VERBOSE Getting the fixed params...
41533 INFO Reading sensor serial number...
41940 VERBOSE Sensor serial number: AM0NA830438
41946 VERBOSE Getting algorithm params 0x7 for resolution 0 and fps 0....
42378 INFO Reading sensor platform string...
42733 VERBOSE Property Firmware.ReferenceResolution was changed to 2.
42741 VERBOSE Reading all params from firmware...
43686 VERBOSE Property Firmware.ImageResolution (13) was changed to 1.
44320 VERBOSE Property Firmware.ImageBacklightCompensation (79) was changed to 1.
44704 VERBOSE Property Firmware.DepthResolution (19) was changed to 1.
48396 VERBOSE Property Firmware.ImageAutoWhiteBalance (77) was changed to 1.
49007 VERBOSE Property Firmware.ImageLowLightCompensation (82) was changed to 1.
49325 VERBOSE Property Firmware.DepthHoleFilter (22) was changed to 1.
50563 VERBOSE Property Firmware.IRResolution (26) was changed to 1.
51504 VERBOSE Property Firmware.ImageFPS (14) was changed to 30.
51808 VERBOSE Property Firmware.GMCMode (36) was changed to 1.
52401 VERBOSE Property Firmware.ImageAutoExposure (80) was changed to 1.
52704 VERBOSE Property Firmware.DepthFPS (20) was changed to 30.
53607 VERBOSE Property Firmware.DepthWhiteBalance (45) was changed to 1.
54521 VERBOSE Property Firmware.ImageFormat (12) was changed to 5.
55726 VERBOSE Property Firmware.DepthFormat (18) was changed to 3.
56335 VERBOSE Property Firmware.DepthMirror (23) was changed to 1.
57554 VERBOSE Property Firmware.IRFPS (27) was changed to 30.
58472 VERBOSE Property Firmware.ImageQuality (16) was changed to 3.
58778 VERBOSE Property Firmware.ImageSharpness (76) was changed to 32.
59677 VERBOSE Property Firmware.DepthGain (21) was changed to 42.
60879 VERBOSE Property Firmware.IRFormat (25) was changed to 300.
60882 VERBOSE Firmware params were updated.
60899 INFO Property Device.PhysicalDeviceName was changed to Mx6000 Canglong.
60902 INFO Property Device.VendorData was changed to Orbbec(R) Astra(TM) 3D Camera.
60905 INFO Property Device.ID was changed to AM0NA830438.
60908 INFO Property Device.SensorPlatformString was changed to RD2417.
60911 INFO Device sensor initialized
122641 INFO Creating stream 'IR' of type 'IR'...
122650 INFO Setting Device.ReadData to 1...
122755 VERBOSE Setting USB alternative interface to 0...
617647 VERBOSE Opening endpoints...
617680 VERBOSE Opening endpoint 0x81 for depth...
617788 VERBOSE Depth endpoint is bulk.
617803 VERBOSE Opening endpoint 0x82 for image...
617863 VERBOSE Image endpoint is bulk.
617875 VERBOSE Opening endpoint 0x83 for misc...
617930 VERBOSE Misc endpoint is not supported...
617941 INFO Endpoints open
618176 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
619160 INFO Property Device.ReadData was changed to 1.
619191 INFO Reading CMOS 0 supported presets...
619868 INFO Device.ReadData was successfully set.
620282 VERBOSE Initializing stream 'IR'...
620343 INFO Property IR.Resolution was changed to QVGA.
620359 INFO Property IR.XRes was changed to 320.
620373 INFO Property IR.YRes was changed to 240.
620383 INFO Property IR.FPS was changed to 30.
620395 INFO Property IR.OutputFormat was changed to 203.
620407 INFO Property IR.BytesPerPixel was changed to 2.
620419 INFO Property IR.RequiredDataSize was changed to 158720.
620435 INFO Property IR.SupportedModesCount was changed to 17.
620447 INFO Property IR.Mirror was changed to 1.
620460 INFO Stream 'IR' was initialized.
620471 INFO 'IR' stream was created.
620483 VERBOSE Configuring module 'IR' from section 'IR' in file '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
620995 INFO Setting IR.Resolution to VGA...
621010 INFO Property IR.Resolution was changed to VGA.
621019 INFO Property IR.XRes was changed to 640.
621028 INFO Property IR.RequiredDataSize was changed to 317440.
621037 INFO Property IR.YRes was changed to 480.
621049 INFO Property IR.RequiredDataSize was changed to 624640.
621061 INFO IR.Resolution was successfully set.
621266 INFO Module 'IR' configuration was loaded from file.
622037 INFO Setting IR.OutputFormat to 203...
622055 INFO IR.OutputFormat value did not change.
622067 INFO Setting IR.FPS to 30...
622078 INFO IR.FPS value did not change.
622089 INFO Setting IR.XRes to 640...
622096 INFO IR.XRes value did not change.
622109 INFO Setting IR.YRes to 400...
622121 INFO Property IR.Resolution was changed to 640x400.
622134 INFO Property IR.YRes was changed to 400.
622146 INFO Property IR.RequiredDataSize was changed to 522240.
622158 INFO IR.YRes was successfully set.
622254 INFO Creating stream 'Depth' of type 'Depth'...
622967 VERBOSE Initializing stream 'Depth'...
623026 INFO Property Depth.OutputFormat was changed to 100.
623040 INFO Property Depth.BytesPerPixel was changed to 2.
623052 INFO Property Depth.RequiredDataSize was changed to 614400.
623156 INFO Property Depth.MaxDepth was changed to 65534.
623224 INFO Property Depth.SupportedModesCount was changed to 47.
623237 INFO Property Depth.Resolution was changed to QVGA.
623249 INFO Property Depth.XRes was changed to 320.
623261 INFO Property Depth.RequiredDataSize was changed to 307200.
623273 INFO Property Depth.YRes was changed to 240.
623284 INFO Property Depth.RequiredDataSize was changed to 153600.
623297 INFO Property Depth.FPS was changed to 30.
623312 INFO Property Depth.ParamCoeff was changed to 4.
623369 INFO Property Depth.ShiftScale was changed to 10.
623430 VERBOSE Getting algorithm params 0x0 for resolution 1 and fps 30....
624025 INFO Property Depth.ConstShift was changed to 200.
624094 INFO Property Depth.ZPD was changed to 40.000000.
624228 INFO Property Depth.ZPPS was changed to 0.005200.
624242 INFO Property Depth.LDDIS was changed to 4.000000.
624350 INFO Property Depth.DCRCDIS was changed to 1.000000.
624387 INFO Property Depth.HorizontalFov was changed to 0.166018.
624399 INFO Property Depth.VerticalFov was changed to 0.103906.
624563 VERBOSE cmostype: 7 m_VerticalFOV: 0.103906, m_HorizontalFOV: 0.166018
624583 INFO Property Depth.Gain was changed to 42.
624598 VERBOSE Getting algorithm params 0x2 for resolution 4 and fps 30....
625195 VERBOSE Getting algorithm params 0x2 for resolution 0 and fps 30....
625763 VERBOSE Getting algorithm params 0x2 for resolution 1 and fps 30....
626442 VERBOSE Getting algorithm params 0x3 for resolution 4 and fps 30....
626963 VERBOSE Getting algorithm params 0x3 for resolution 0 and fps 30....
627428 VERBOSE Getting algorithm params 0x3 for resolution 1 and fps 30....
656664 INFO Property Depth.FirmwareMirror was changed to 1.
656673 INFO Property Depth.Mirror was changed to 1.
656692 INFO Stream 'Depth' was initialized.
656695 INFO 'Depth' stream was created.
656698 VERBOSE Configuring module 'Depth' from section 'Depth' in file '/home/fabian/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
656736 INFO Setting Depth.InputFormat to 3...
657137 INFO Property Depth.DualCoeffDisparity was changed to 1313.500000.
657143 INFO Depth.InputFormat was successfully set.
657363 INFO Setting Depth.Resolution to VGA...
657366 INFO Property Depth.Resolution was changed to VGA.
657369 INFO Property Depth.XRes was changed to 640.
657372 INFO Property Depth.RequiredDataSize was changed to 307200.
657374 INFO Property Depth.YRes was changed to 480.
657376 INFO Property Depth.RequiredDataSize was changed to 614400.
657378 INFO Depth.Resolution was successfully set.
657501 INFO Module 'Depth' configuration was loaded from file.
657641 INFO Setting Depth.OutputFormat to 100...
657644 INFO Depth.OutputFormat value did not change.
657646 INFO Setting Depth.FPS to 30...
657647 INFO Depth.FPS value did not change.
657649 INFO Setting Depth.XRes to 640...
657650 INFO Depth.XRes value did not change.
657668 INFO Setting Depth.YRes to 400...
657670 INFO Property Depth.Resolution was changed to 640x400.
657673 INFO Property Depth.YRes was changed to 400.
657675 INFO Property Depth.RequiredDataSize was changed to 512000.
657678 INFO Depth.YRes was successfully set.
657703 INFO Setting Depth.Registration to 1...
657707 INFO Property Depth.FirmwareRegistration was changed to 1.
657709 INFO Property Depth.Registration was changed to 1.
657712 INFO Depth.Registration was successfully set.
[ INFO] [1560205124.022323114]: Starting depth stream.
142170030 INFO Setting Depth.Mirror to 0...
142170056 INFO Property Depth.FirmwareMirror was changed to 0.
142170071 INFO Property Depth.Mirror was changed to 0.
142170084 INFO Depth.Mirror was successfully set.
142170116 VERBOSE FW Stream Depth was claimed by Depth
142170129 VERBOSE Creating USB depth read thread...
142170141 VERBOSE Starting a USB read thread...
142172101 INFO USB read thread was started.
142172119 INFO Property Depth.ActualReadData was changed to 1.
142172132 WARNING Failed to set thread priority (1)
142172182 VERBOSE Setting Firmware.DepthFormat (18) to 3...
142172222 WARNING Failed to set thread priority to critical. This might cause loss of data...
142172874 VERBOSE Firmware.DepthFormat (18) was successfully set.
142172895 VERBOSE Setting Firmware.DepthResolution (19) to 17...
142175632 VERBOSE Property Firmware.DepthResolution (19) was changed to 17.
142175660 VERBOSE Firmware.DepthResolution (19) was successfully set.
142175677 VERBOSE Setting Firmware.DepthFPS (20) to 30...
142176406 VERBOSE Firmware.DepthFPS (20) was successfully set.
142176426 VERBOSE Setting Firmware.DepthHoleFilter (22) to 1...
142176990 VERBOSE Firmware.DepthHoleFilter (22) was successfully set.
142177022 VERBOSE Setting Firmware.DepthGain (21) to 42...
142177579 VERBOSE Firmware.DepthGain (21) was successfully set.
142177616 VERBOSE Setting Firmware.DepthDecimation (24) to 0...
142178239 VERBOSE Firmware.DepthDecimation (24) was successfully set.
142178271 VERBOSE Setting Firmware.Registration (2) to 1...
142179852 VERBOSE Property Firmware.Registration (2) was changed to 1.
142179880 VERBOSE Firmware.Registration (2) was successfully set.
142179895 VERBOSE Setting Firmware.DepthMirror (23) to 0...
142180463 VERBOSE Property Firmware.DepthMirror (23) was changed to 0.
142180493 VERBOSE Firmware.DepthMirror (23) was successfully set.
142180505 VERBOSE Setting Firmware.GMCMode (36) to 1...
142181197 VERBOSE Firmware.GMCMode (36) was successfully set.
142181216 VERBOSE Setting Firmware.GMCDebug (61) to 0...
142181815 VERBOSE Firmware.GMCDebug (61) was successfully set.
142181832 VERBOSE Setting Firmware.WavelengthCorrection (73) to 0...
142182507 VERBOSE Firmware.WavelengthCorrection (73) was successfully set.
142182540 VERBOSE Setting Firmware.WavelengthCorrectionDebug (74) to 0...
142183236 VERBOSE Firmware.WavelengthCorrectionDebug (74) was successfully set.
142183265 VERBOSE Setting Firmware.DepthWhiteBalance (45) to 1...
142183871 VERBOSE Firmware.DepthWhiteBalance (45) was successfully set.
142183901 VERBOSE Getting algorithm params 0x6 for resolution 17 and fps 30....
142303446 VERBOSE =================================================
142303525 VERBOSE depth [477.788696,477.788696,316.743073,193.644104],
color[541.479370,541.479370,322.027405,231.171860]
r2lrotate[0.999961,-0.005060,-0.007192, 0.005103,0.999969,0.005998, 0.007162,-0.006034,0.999956]
r2lTrans[-29.921028,-0.208853,-0.154459], l_k[0.000000,0.000000,0.000000,0.000000,0.000000], r_k[0.091649,-0.148170,0.000000,0.000201,-0.000219]
142303561 VERBOSE Read forcalllength: 955.577393,baseline: 39.792210, fbcoeff: 38024.535919, fittingCoeff: 1313.500000 ,fCoefficient: 4.000000,nShiftScale: 1
142306312 VERBOSE Firmware stream 'Depth' processor was replaced.
142306344 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
142306935 VERBOSE Setting Firmware.Stream1Mode (6) to 2...
142309916 VERBOSE Property Firmware.Stream1Mode (6) was changed to 2.
142309950 VERBOSE Setting Firmware.FrameSync (1) to 0...
142310617 VERBOSE Firmware.FrameSync (1) was successfully set.
142310645 VERBOSE Firmware.Stream1Mode (6) was successfully set.
142310657 VERBOSE Setting Firmware.CloseRange (84) to 0...
142346046 WARNING Endpoint 0x81, Buffer 1: Asynch transfer failed (status: 1)`
Thanks in advance for the assistance.