(ros) sunrise@ubuntu:~/rdk_model_zoo/demos/detect/YOLO11/YOLO11-Detect_YUV420SP$ ros2 launch dnn_node_example dnn_node_example.launch.py dnn_example_config_file:=config/my_workconfig.json
[INFO] [launch]: All log files can be found below /home/sunrise/.ros/log/2025-05-08-22-27-17-295741-ubuntu-10491
[INFO] [launch]: Default logging verbosity is set to INFO
dnn_node_example_path is /opt/tros/humble/lib/dnn_node_example
cp_cmd is cp -r /opt/tros/humble/lib/dnn_node_example/config .
camera_type is usb
using usb cam
Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml
Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1
config_file_path is /opt/tros/humble/lib/hobot_usb_cam/config/usb_camera_calibration.yaml
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
webserver has launch
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
config_file_path is /opt/tros/humble/lib/hobot_usb_cam/config/usb_camera_calibration.yaml
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
webserver has launch
[INFO] [hobot_usb_cam-1]: process started with pid [10498]
[INFO] [hobot_codec_republish-2]: process started with pid [10500]
[INFO] [example-3]: process started with pid [10502]
[INFO] [websocket-4]: process started with pid [10504]
[hobot_codec_republish-2] [WARN] [1746714438.201390479] [hobot_codec_decoder]: Parameters:
[hobot_codec_republish-2] sub_topic: /image
[hobot_codec_republish-2] pub_topic: /hbmem_img
[hobot_codec_republish-2] channel: 1
[hobot_codec_republish-2] in_mode: ros
[hobot_codec_republish-2] out_mode: shared_mem
[hobot_codec_republish-2] in_format: jpeg
[hobot_codec_republish-2] out_format: nv12
[hobot_codec_republish-2] enc_qp: 10
[hobot_codec_republish-2] jpg_quality: 60
[hobot_codec_republish-2] input_framerate: 30
[hobot_codec_republish-2] output_framerate: -1
[hobot_codec_republish-2] dump_output: 0
[hobot_codec_republish-2] [WARN] [1746714438.207433751] [HobotCodecImpl]: platform x5
[hobot_usb_cam-1] [WARN] [1746714438.345495508] [hobot_usb_cam]: framerate: 30
[hobot_usb_cam-1] [WARN] [1746714438.346017930] [hobot_usb_cam]: pixel_format_name: mjpeg
[hobot_usb_cam-1] [WARN] [1746714438.366430438] [hobot_usb_cam]: Camera calibration file: [/opt/tros/humble/lib/hobot_usb_cam/config/usb_camera_calibration.yaml] does not exist!
[hobot_usb_cam-1] If you need calibration msg, please make sure the calibration file path is correct and the calibration file exists!
[hobot_usb_cam-1] [WARN] [1746714438.376609588] [hobot_usb_cam]: Try to open device [/dev/video0]
[hobot_usb_cam-1] [WARN] [1746714438.479188301] [hobot_usb_cam]: This devices supproted formats:
[hobot_usb_cam-1] [WARN] [1746714438.479524971] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479618764] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479667640] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479706890] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479744599] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479779432] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479815599] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479848850] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479882392] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479915601] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479947768] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.479979685] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480011810] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480044227] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480084561] [hobot_usb_cam]: Motion-JPEG: 2592 x 1944 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480120103] [hobot_usb_cam]: Motion-JPEG: 2592 x 1944 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480152311] [hobot_usb_cam]: Motion-JPEG: 2592 x 1944 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480184645] [hobot_usb_cam]: Motion-JPEG: 2592 x 1944 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480217020] [hobot_usb_cam]: Motion-JPEG: 2592 x 1944 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480248896] [hobot_usb_cam]: Motion-JPEG: 2560 x 1440 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480280188] [hobot_usb_cam]: Motion-JPEG: 2560 x 1440 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480312230] [hobot_usb_cam]: Motion-JPEG: 2560 x 1440 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480343980] [hobot_usb_cam]: Motion-JPEG: 2560 x 1440 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480375855] [hobot_usb_cam]: Motion-JPEG: 2560 x 1440 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480408022] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480439689] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480471523] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480503440] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480535315] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480567441] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480600149] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480632316] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480665067] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.480697984] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481007362] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481048779] [hobot_usb_cam]: Motion-JPEG: 1280 x 960 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481083238] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481115738] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481147614] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481179864] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481212239] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481244448] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481276532] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481308115] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481339657] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481484784] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481525034] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481558368] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481590202] [hobot_usb_cam]: Motion-JPEG: 320 x 240 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481622119] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481654452] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481686369] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481718495] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481750412] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481781954] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481814037] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481845454] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481878080] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481910080] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481941247] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.481973039] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482005248] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482037623] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482069415] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482102874] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482134791] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482166249] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482198291] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482230083] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482261709] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482293084] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482324543] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482355376] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482387127] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482418669] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482450252] [hobot_usb_cam]: YUYV 4:2:2: 2592 x 1944 (2 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482481919] [hobot_usb_cam]: YUYV 4:2:2: 2560 x 1440 (3 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482513420] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482544587] [hobot_usb_cam]: YUYV 4:2:2: 1280 x 960 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482575670] [hobot_usb_cam]: YUYV 4:2:2: 1280 x 720 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482606754] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (60 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482638546] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482669880] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482701505] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482732339] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482763714] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482795048] [hobot_usb_cam]: YUYV 4:2:2: 320 x 240 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.482994008] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483032300] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483066509] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483099051] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483131218] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483163218] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (5 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483195760] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (30 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483227969] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (25 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483287011] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (20 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483336178] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (15 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483547181] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (10 Hz)
[hobot_usb_cam-1] [WARN] [1746714438.483595140] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (5 Hz)
[example-3] [WARN] [1746714438.494920635] [dnn_example_node]: Parameter:
[example-3] feed_type(0:local, 1:sub): 1
[example-3] image: config/test.jpg
[example-3] image_type: 0
[example-3] dump_render_img: 0
[example-3] is_shared_mem_sub: 1
[example-3] config_file: config/my_workconfig.json
[example-3] msg_pub_topic_name: hobot_dnn_detection
[example-3] info_msg_pub_topic_name: hobot_dnn_detection_info
[example-3] ros_img_topic_name: /image
[example-3] sharedmem_img_topic_name: /hbmem_img
[example-3] [WARN] [1746714438.495789144] [dnn_example_node]: Load [80] class types from file [config/coco.list]
[example-3] [WARN] [1746714438.495967563] [dnn_example_node]: Parameter:
[example-3] model_file_name: /home/sunrise/rdk_model_zoo/demos/detect/YOLO11/YOLO11-Detect_YUV420SP/bin_dir/yolo11n_detect_bayese_640x640_nv12/yolo11n_detect_bayese_640x640_nv12.bin
[example-3] model_name:
[example-3] [WARN] [1746714438.496066814] [dnn_example_node]: model_file_name_: /home/sunrise/rdk_model_zoo/demos/detect/YOLO11/YOLO11-Detect_YUV420SP/bin_dir/yolo11n_detect_bayese_640x640_nv12/yolo11n_detect_bayese_640x640_nv12.bin, task_num: 4
[hobot_usb_cam-1] [WARN] [1746714438.501514121] [hobot_usb_cam]: Open & Init device /dev/video0 success.
[example-3] [BPU_PLAT]BPU Platform Version(1.3.6)!
[example-3] [HBRT] set log level as 0. version = 3.15.55.0
[example-3] [DNN] Runtime version = 1.24.5_(3.15.55 HBRT)
[websocket-4] [WARN] [1746714438.549245878] [websocket]:
[websocket-4] Parameter:
[websocket-4] image_topic: /image
[websocket-4] image_type: mjpeg
[websocket-4] only_show_image: 0
[websocket-4] smart_topic: hobot_dnn_detection
[websocket-4] output_fps: 0
[example-3] [A][DNN][packed_model.cpp:247][Model](2025-05-08,22:27:18.569.570) [HorizonRT] The model builder version = 1.24.3
[example-3] [WARN] [1746714438.674219704] [dnn_example_node]: Get model name: yolo11n_detect_bayese_640x640_nv12 from load model.
[example-3] [WARN] [1746714438.674363997] [dnn_example_node]: Create ai msg publisher with topic_name: hobot_dnn_detection
[example-3] [WARN] [1746714438.684968818] [dnn_example_node]: Create img hbmem_subscription with topic_name: /hbmem_img
[example-3] [WARN] [1746714439.360289917] [dnn_example_node]: Loaned messages are only safe with const ref subscription callbacks. If you are using any other kind of subscriptions, set the ROS_DISABLE_LOANED_MESSAGES environment variable to 1 (the default).
[example-3] [WARN] [1746714439.360628088] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 0, stamp: 1746714438_698232000, data size: 460800, comm delay [662.3738]ms
[ERROR] [example-3]: process has died [pid 10502, exit code -11, cmd ‘/opt/tros/humble/lib/dnn_node_example/example --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_7763cy9g --params-file /tmp/launch_params_v5h8gaez --params-file /tmp/launch_params_9fes5lcy --params-file /tmp/launch_params_tqf06qh_ --params-file /tmp/launch_params_dgvyoc1i’].
[hobot_codec_republish-2] [WARN] [1746714443.256444510] [hobot_codec_decoder]: Pub img fps [24.09]
[websocket-4] [ERROR] [1746714443.581390039] [websocket]: Websocket did not receive AI data! Please check whether the AI data publisher still exists by ‘ros2 topic info hobot_dnn_detection’!
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[hobot_usb_cam-1] [WARN] [1746714446.575109785] [hobot_usb_cam]: Shutting down
[INFO] [hobot_codec_republish-2]: process has finished cleanly [pid 10500]
[INFO] [websocket-4]: process has finished cleanly [pid 10504]
[INFO] [hobot_usb_cam-1]: process has finished cleanly [pid 10498]