地平线程序员奶爸带你玩转机器人开发平台 (horizon.ai) 配置 TogetherROS 环境后，启动脚本 出现如下错误该怎么解决

板卡使用 新手上路
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1

root@ubuntu:~# source /opt/tros/local_setup.bash

root@ubuntu:~# ros2 launch websocket hobot_websocket.launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-28-01-54-06-840120-ubuntu-3169

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [mipi_cam-1]: process started with pid [3179]

[INFO] [hobot_codec_republish-2]: process started with pid [3181]

[INFO] [mono2d_body_detection-3]: process started with pid [3183]

[INFO] [websocket-4]: process started with pid [3185]

[websocket-4] [INFO] [1661622848.318705824] [websocket]:

[websocket-4] Parameter:

[websocket-4] image_topic: /image_jpeg

[websocket-4] image_type: mjpeg

[websocket-4] only_show_image: 0

[websocket-4] smart_topic: /hobot_mono2d_body_detection

[websocket-4] output_fps: 10

[websocket-4] [INFO] [1661622848.319796693] [websocket]: Websocket using image mjpeg

[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_euclid_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_euclid_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json

[mono2d_body_detection-3]

[mipi_cam-1] [ERROR] [1661622848.684096286] [mipi_cam]: Cannot open ‘F37’: 121, Remote I/O error

[mipi_cam-1] [ERROR] [1661622848.685219861] [mipi_node]: video dev ‘F37’ config err

[mipi_cam-1] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[mipi_cam-1] what(): could not create publisher: rcl node’s context is invalid, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl/rcl/src/rcl/node.c:441

[ERROR] [mipi_cam-1]: process has died [pid 3179, exit code -6, cmd ‘/opt/tros/lib/mipi_cam/mipi_cam --ros-args --log-level error --ros-args --params-file /tmp/launch_params_lvl59h05 --params-file /tmp/launch_params_vx6ayou_ --params-file /tmp/launch_params_0wrrky0j --params-file /tmp/launch_params_e0_5b2_t --params-file /tmp/launch_params_vmc5hwrr’].

2

需要将/opt/tros/share/websocket/launch/ hobot_websocket.launch.py 文件 “video_device”: “F37"改成"GC4663”

3

从报错信息看打开摄像头失败了，这个配置默认使用的是F37，确认下连接是否正确。

4

从报错信息看打开摄像头失败了，这个配置默认使用的是F37，确认下连接是否正确。