[图像算法][RDK X5][双目深度算法demo: 无法更新hobot-stereonet到最新2.5.0版本]

开发与问题 应用开发
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1

问题描述：运行双目深度算法demo时，无法更新hobot-stereonet到要求的最新2.5.0版本。系统已经添加了d-robotics的APT源

sunrise@ubuntu:~$ sudo apt update
Get:1 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy InRelease [270 kB]
Get:2 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security InRelease [129 kB]
Get:3 Index of /ubuntu-rdk-x5/ jammy InRelease [3,476 B]
Get:4 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates InRelease [128 kB]
Get:5 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports InRelease [127 kB]
Get:6 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/main arm64 Packages [1,369 kB]
Get:7 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/main Translation-en [510 kB]
Get:8 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/main arm64 DEP-11 Metadata [423 kB]
Get:9 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/main DEP-11 48x48 Icons [100.0 kB]
Get:10 Index of /ubuntu-rdk-x5/ jammy/main arm64 Packages [55.6 kB]
Get:11 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/main DEP-11 64x64 Icons [148 kB]
Get:12 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/restricted arm64 Packages [19.6 kB]
Get:13 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/restricted Translation-en [18.6 kB]
Get:14 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/universe arm64 Packages [13.9 MB]
Hit:15 http://packages.ros.org/ros2/ubuntu jammy InRelease
Get:16 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/universe Translation-en [5,652 kB]
Get:17 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/universe arm64 DEP-11 Metadata [3,360 kB]
Get:18 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/universe DEP-11 48x48 Icons [3,447 kB]
Get:19 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/universe DEP-11 64x64 Icons [7,609 kB]
Get:20 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/multiverse arm64 Packages [184 kB]
Get:21 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/multiverse Translation-en [112 kB]
Get:22 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/multiverse arm64 DEP-11 Metadata [38.8 kB]
Get:23 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/multiverse DEP-11 48x48 Icons [42.7 kB]
Get:24 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy/multiverse DEP-11 64x64 Icons [193 kB]
Get:25 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/main arm64 Packages [2,874 kB]
Get:26 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/main Translation-en [430 kB]
Get:27 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/main arm64 DEP-11 Metadata [54.5 kB]
Get:28 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/main DEP-11 48x48 Icons [20.3 kB]
Get:29 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/main DEP-11 64x64 Icons [31.6 kB]
Get:30 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/restricted arm64 Packages [5,203 kB]
Get:31 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/restricted Translation-en [998 kB]
Get:32 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/restricted arm64 DEP-11 Metadata [208 B]
Get:33 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/restricted DEP-11 48x48 Icons [29 B]
Get:34 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/restricted DEP-11 64x64 Icons [29 B]
Get:35 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/universe arm64 Packages [1,062 kB]
Get:36 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/universe Translation-en [225 kB]
Get:37 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/universe arm64 DEP-11 Metadata [125 kB]
Get:38 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/universe DEP-11 48x48 Icons [82.0 kB]
Get:39 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/universe DEP-11 64x64 Icons [122 kB]
Get:40 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/multiverse arm64 Packages [34.4 kB]
Get:41 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/multiverse Translation-en [10.6 kB]
Get:42 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/multiverse arm64 DEP-11 Metadata [208 B]
Get:43 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/multiverse DEP-11 48x48 Icons [29 B]
Get:44 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-security/multiverse DEP-11 64x64 Icons [29 B]
Get:45 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/main arm64 Packages [3,130 kB]
Get:46 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/main Translation-en [499 kB]
Get:47 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/main arm64 DEP-11 Metadata [114 kB]
Get:48 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/main DEP-11 48x48 Icons [37.0 kB]
Get:49 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/main DEP-11 64x64 Icons [56.3 kB]
Get:50 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/restricted arm64 Packages [5,371 kB]
Get:51 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/restricted Translation-en [1,028 kB]
Get:52 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/restricted arm64 DEP-11 Metadata [212 B]
Get:53 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/restricted DEP-11 48x48 Icons [29 B]
Get:54 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/restricted DEP-11 64x64 Icons [29 B]
Get:55 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/universe arm64 Packages [1,294 kB]
Get:56 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/universe Translation-en [314 kB]
Get:57 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/universe arm64 DEP-11 Metadata [356 kB]
Get:58 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/universe DEP-11 48x48 Icons [253 kB]
Get:59 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/universe DEP-11 64x64 Icons [408 kB]
Get:60 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/multiverse arm64 Packages [40.0 kB]
Get:61 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/multiverse Translation-en [13.5 kB]
Get:62 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/multiverse arm64 DEP-11 Metadata [212 B]
Get:63 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/multiverse DEP-11 48x48 Icons [1,867 B]
Get:64 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-updates/multiverse DEP-11 64x64 Icons [2,497 B]
Get:65 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/main arm64 Packages [69.0 kB]
Get:66 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/main Translation-en [11.5 kB]
Get:67 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/main arm64 DEP-11 Metadata [3,584 B]
Get:68 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/main DEP-11 48x48 Icons [9,536 B]
Get:69 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/main DEP-11 64x64 Icons [11.3 kB]
Get:70 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/restricted arm64 DEP-11 Metadata [212 B]
Get:71 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/restricted DEP-11 48x48 Icons [29 B]
Get:72 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/restricted DEP-11 64x64 Icons [29 B]
Get:73 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/universe arm64 Packages [30.1 kB]
Get:74 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/universe Translation-en [16.9 kB]
Get:75 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/universe arm64 DEP-11 Metadata [9,796 B]
Get:76 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/universe DEP-11 48x48 Icons [20.7 kB]
Get:77 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/universe DEP-11 64x64 Icons [29.3 kB]
Get:78 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/multiverse arm64 DEP-11 Metadata [212 B]
Get:79 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/multiverse DEP-11 48x48 Icons [29 B]
Get:80 ubuntu-ports安装包下载-开源镜像站-阿里云 jammy-backports/multiverse DEP-11 64x64 Icons [29 B]
Fetched 62.2 MB in 26s (2,420 kB/s)
Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
10 packages can be upgraded. Run ‘apt list --upgradable’ to see them.
sunrise@ubuntu:~$ sudo apt install --only-upgrade tros-humble-hobot-stereonet
Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
tros-humble-hobot-stereonet is already the newest version (2.4.5-jammy.20251028.160634).
The following package was automatically installed and is no longer required:
libllvm13
Use ‘sudo apt autoremove’ to remove it.
0 upgraded, 0 newly installed, 0 to remove and 10 not upgraded.
sunrise@ubuntu:~$ sudo apt install tros-humble
Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
tros-humble is already the newest version (2.4.5-jammy.20251028.175825).
The following package was automatically installed and is no longer required:
libllvm13
Use ‘sudo apt autoremove’ to remove it.
0 upgraded, 0 newly installed, 0 to remove and 10 not upgraded.

复现概率：必现

已进行的排查措施、分析及结果：

  1. 升级所有软件包到最新，参考

    rdkos_info_20260305_双目深度收不到图像数据.txt (23.0 KB)

    1. RDK X5系统镜像版本 3.4.1-251219版本
    2. tros-humble-hobot-stereonet功能包版本 2.4.5 (无更新版本)
    3. tros-humble-mipi-cam功能包版本 2.4.0
    4. tros-humble-hobot-zed-cam功能包版本 2.3.3
    5. 双目硬件版本：CDP2D4410-V4

  2. 在运行双目深度算法的mipi双目相机运行demo例程 5.机器人应用开发-5.3 Boxs算法仓库-双目深度算法 时，出现了Hobot_Codec超过5秒没有收到图像数据的问题。已进行的排查如下：

    1. 双目相机I2C信号正常

    2. tros-humble-hobot-stereonet功能包中没有启动脚本，采用了方法2创建启动脚本

    3. root用户执行启动指令，报错，问题日志：

      双目深度收不到图像问题日志.txt (9.4 KB)

    4. 硬件链路正常：i2cdetect返回正常，运行mipi_cam的双通道demo程序 ros2 launch mipi_cam mipi_cam_dual_channel_websocket.launch.py，能够在PC浏览器上正常看到双目输出的实时画面。

    5. 软件代码比对无差异。主要涉及启动脚本，内容直接复制的教程内容，无差异。

      run_stereo.sh.txt (9.6 KB)

    6. 系统版本回退到3.3.3，相同的问题仍出现。

  3. 论坛相关案例：存在相关或相似案例，但仍未解决

    1. 双目深度估计算法运行出错 - 板卡使用 / 新手上路 - 地瓜机器人论坛
    2. x5上mipi双目相机模块使用报错 - 板卡使用 / 新手上路 - 地瓜机器人论坛
基于官方132GS MIPI双目相机运行双目Demo报错
自主导航出现问题，amcl发布不了map，使用的是n10
2

目前排查原因是tros-humble-hobot-stereonet的版本2.4.5低于要求的2.5.0，修改了render_type为0或1，程序就跑通了。

不过系统显示2.4.5已是最新版本，系统也是最新的系统，问题转化为如何更新hobot-stereonet包到最新。