執行ros2 launch mono2d_body_detection hobot_mono2d_body_detection.launch.py遇到報錯

blairan · 2023 年3 月 6 日 07:06

系统软件版本：x3_ubuntu_v1.1.5
问题涉及的技术领域：使用ros2 launch文件
问题描述：
已執行
1 source /opt/tros/setup.bash
2 export CAM_TYPE=usb
3 ros2 launch mono2d_body_detection hobot_mono2d_body_detection.launch.py
執行ros2 launch mono2d_body_detection hobot_mono2d_body_detection.launch.py遇到報錯
软件上是否有做自定义修改：無修改
報錯資訊如下:
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-03-06-14-58-53-361506-ubuntu-9222
[INFO] [launch]: Default logging verbosity is set to INFO
camera_type is usb
using usb cam
webserver has launch
[INFO] [hobot_usb_cam-1]: process started with pid [9228]
[INFO] [hobot_codec_republish-2]: process started with pid [9230]
[INFO] [mono2d_body_detection-3]: process started with pid [9232]
[INFO] [websocket-4]: process started with pid [9234]
[mono2d_body_detection-3] [WARN] [1678085933.883780213] [example]: This is mono2d body det example!
[hobot_usb_cam-1] [ERROR] [1678085933.969851651] [hobot_usb_cam]: Camera calibration file: does not exist! Please make sure the calibration file path is correct and the calibration file exists!
[hobot_usb_cam-1] [ERROR] [1678085933.997069585] [hobot_usb_cam]: /dev/video8 is no video capture device! Please use the v4l2 command ‘sudo v4l2-ctl -d /dev/video8 --all’ to confirm that the USB camera is working\n
[hobot_usb_cam-1] [ERROR] [1678085934.101563743] [hobot_usb_cam]: Hobot USB Cam Init failed
[hobot_usb_cam-1]
[hobot_usb_cam-1]
[mono2d_body_detection-3] [WARN] [1678085934.143601541] [mono2d_body_det]: Parameter:
[mono2d_body_detection-3] is_sync_mode_: 0
[mono2d_body_detection-3] model_file_name_: config/multitask_body_head_face_hand_kps_960x544.hbm
[mono2d_body_detection-3] is_shared_mem_sub: 1
[mono2d_body_detection-3] ai_msg_pub_topic_name: /hobot_mono2d_body_detection
[mono2d_body_detection-3] [C][9232][03-06][14:58:54:150][configuration.cpp:49][EasyDNN]EasyDNN version: 0.4.11
[mono2d_body_detection-3] [BPU_PLAT]BPU Platform Version(1.3.3)!
[mono2d_body_detection-3] [HBRT] set log level as 0. version = 3.14.5
[mono2d_body_detection-3] [DNN] Runtime version = 1.9.7_(3.14.5 HBRT)
[mono2d_body_detection-3] [WARN] [1678085934.259789827] [dnn]: Run default SetOutputParser.
[mono2d_body_detection-3] [WARN] [1678085934.259924110] [dnn]: Set output parser with default dnn node parser, you will get all output tensors and should parse output_tensors in PostProcess.
[mono2d_body_detection-3] [WARN] [1678085934.266645174] [mono2d_body_det]: Create hbmem_subscription with topic_name: /hbmem_img
[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]
[hobot_codec_republish-2] [ERROR] [1678085939.073472630] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!
[websocket-4] [ERROR] [1678085939.125814715] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!
[websocket-4] [ERROR] [1678085939.126530965] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!
[hobot_codec_republish-2] [ERROR] [1678085944.141745123] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!
[websocket-4] [ERROR] [1678085944.194752426] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

bandicam2023-03-0614-59-37-764_20230306150608.jpg

blairan · 2023 年3 月 6 日 07:18

usb_cam已測試過搭配網頁顯示的啓動luanch,能顯示正常,啓動相機程序如下:

- $ ssh sunrise@xxx.xxx.xxx

- 配置 TogetherROS 环境：

- $ source /opt/tros/local_setup.bash

- 参数设置：

- $ ros2 launch hobot_usb_cam hobot_usb_cam.launch.py

以卜是啓動log

root@ubuntu:/home/sunrise# ros2 launch mono2d_body_detection hobot_mono2d_body_detection.launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-03-06-14-58-53-361506-ubuntu-9222

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

camera_type is usb

using usb cam

webserver has launch

[INFO] [hobot_usb_cam-1]: process started with pid [9228]

[INFO] [hobot_codec_republish-2]: process started with pid [9230]

[INFO] [mono2d_body_detection-3]: process started with pid [9232]

[INFO] [websocket-4]: process started with pid [9234]

[mono2d_body_detection-3] [WARN] [1678085933.883780213] [example]: This is mono2d body det example!

[hobot_usb_cam-1] [ERROR] [1678085933.969851651] [hobot_usb_cam]: Camera calibration file: does not exist! Please make sure the calibration file path is correct and the calibration file exists!

[hobot_usb_cam-1] [ERROR] [1678085933.997069585] [hobot_usb_cam]: /dev/video8 is no video capture device! Please use the v4l2 command ‘sudo v4l2-ctl -d /dev/video8 --all’ to confirm that the USB camera is working\n

[hobot_usb_cam-1] [ERROR] [1678085934.101563743] [hobot_usb_cam]: Hobot USB Cam Init failed

[hobot_usb_cam-1]

[mono2d_body_detection-3] [WARN] [1678085934.143601541] [mono2d_body_det]: Parameter:

[mono2d_body_detection-3] is_sync_mode_: 0

[mono2d_body_detection-3] model_file_name_: config/multitask_body_head_face_hand_kps_960x544.hbm

[mono2d_body_detection-3] is_shared_mem_sub: 1

[mono2d_body_detection-3] ai_msg_pub_topic_name: /hobot_mono2d_body_detection

[mono2d_body_detection-3] [C][9232][03-06][14:58:54:150][configuration.cpp:49][EasyDNN]EasyDNN version: 0.4.11

[mono2d_body_detection-3] [BPU_PLAT]BPU Platform Version(1.3.3)!

[mono2d_body_detection-3] [HBRT] set log level as 0. version = 3.14.5

[mono2d_body_detection-3] [DNN] Runtime version = 1.9.7_(3.14.5 HBRT)

[mono2d_body_detection-3] [WARN] [1678085934.259789827] [dnn]: Run default SetOutputParser.

[mono2d_body_detection-3] [WARN] [1678085934.259924110] [dnn]: Set output parser with default dnn node parser, you will get all output tensors and should parse output_tensors in PostProcess.

[mono2d_body_detection-3] [WARN] [1678085934.266645174] [mono2d_body_det]: Create hbmem_subscription with topic_name: /hbmem_img

[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]

[hobot_codec_republish-2] [ERROR] [1678085939.073472630] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085939.125814715] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085939.126530965] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085944.141745123] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085944.194752426] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085944.194965110] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085949.191871329] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085949.244545831] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085949.244787781] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085954.218681088] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085954.271202925] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085954.271429571] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085959.233609140] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085959.286067548] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085959.286284896] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085964.242489352] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085964.294967407] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085964.295177067] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085969.248274873] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085969.300642503] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085969.300872595] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085974.250544976] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085974.302867247] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085974.303081451] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

[hobot_codec_republish-2] [ERROR] [1678085979.250827524] [HobotCodec]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085979.303150098] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image’!

[websocket-4] [ERROR] [1678085979.303363287] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info /hobot_mono2d_body_detection’!

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[INFO] [websocket-4]: process has finished cleanly [pid 9234]

[INFO] [hobot_usb_cam-1]: process has finished cleanly [pid 9228]

[hobot_codec_republish-2] [IsType]->in ros - 3, ros - 3.

[hobot_codec_republish-2] [IsType]->in shared_mem - 10, ros - 3.

[hobot_codec_republish-2] [IsType]->in shared_mem - 10, shared_mem - 10.

[hobot_codec_republish-2] [IsType]->in jpeg - 4, bgr8 - 4.

[hobot_codec_republish-2] [IsType]->in jpeg - 4, rgb8 - 4.

[hobot_codec_republish-2] [IsType]->in jpeg - 4, nv12 - 4.

[hobot_codec_republish-2] [IsType]->in jpeg - 4, jpeg - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, bgr8 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, rgb8 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, nv12 - 4.

[hobot_codec_republish-2] [IsType]->in jpeg - 4, jpeg - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, bgr8 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, rgb8 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, nv12 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, jpeg - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, jpeg-compressed - 15.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, h264 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, h265 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, jpeg - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, jpeg-compressed - 15.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, h264 - 4.

[hobot_codec_republish-2] [IsType]->in nv12 - 4, h265 - 4.

[INFO] [hobot_codec_republish-2]: process has finished cleanly [pid 9230]

[INFO] [mono2d_body_detection-3]: process has finished cleanly [pid 9232]

zhuk · 2023 年3 月 6 日 07:13

1、启动时的完整log发下。

2、按照手册验证下usb cam是否能够正常发布图像数据。USB图像采集 — 地平线机器人平台用户手册 1.0 文档 (horizon.ai)

3、log有一些排查提示，可以参考进行初步问题排查。

blairan · 2023 年3 月 6 日 07:28

我執行其它的範例也都是會顯示這些報錯