bin文件部署到web节点不运行

48158996 · 2026 年3 月 29 日 10:20

ot_codec_republish-2] [WARN] [1774779479.858326589] [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] [1774779479.865390942] [HobotCodecImpl]: platform x5[hobot_usb_cam-1] [WARN] [1774779480.016064831] [hobot_usb_cam]: framerate: 30[hobot_usb_cam-1] [WARN] [1774779480.016656655] [hobot_usb_cam]: pixel_format_name: mjpeg[hobot_usb_cam-1] [WARN] [1774779480.039561607] [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] [1774779480.134779027] [hobot_usb_cam]: This devices supproted formats:[hobot_usb_cam-1] [WARN] [1774779480.135131230] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135218270] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135261561] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135300811] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135342935] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135380310] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135417434] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135454184] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135491141] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135527266] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135564307] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135601015] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135637973] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135674472] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135712055] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135749429] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135786137] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135822387] [hobot_usb_cam]: Motion-JPEG: 1280 x 720 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135858969] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135895177] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135931468] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.135967176] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136003509] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136039800] [hobot_usb_cam]: Motion-JPEG: 640 x 480 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136076299] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136112674] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136149423] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136185839] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136222922] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136259297] [hobot_usb_cam]: Motion-JPEG: 800 x 450 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136295838] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136332671] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136369795] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136406794] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136444336] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136481585] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136518668] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136555334] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136591875] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136628208] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136664957] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136701165] [hobot_usb_cam]: Motion-JPEG: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136738248] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136775497] [hobot_usb_cam]: YUYV 4:2:2: 640 x 480 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136811997] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.136848538] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.137957938] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138095894] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138139894] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138179018] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138216559] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138253850] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138794884] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138840008] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138878924] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.138916132] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139271544] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139329501] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139369001] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139406708] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139444249] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139775411] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139817411] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139855452] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139893076] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139937700] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.139975075] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140012408] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140049240] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140086282] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140123239] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140159322] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140196113] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140232571] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140269321] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140305945] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140342361] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140379027] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140416360] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140452901] [hobot_usb_cam]: YUYV 4:2:2: 800 x 450 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140489526] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140526150] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140562941] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140599691] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140636815] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140673398] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (5 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140709981] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (30 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140746980] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (25 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140784521] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (20 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140821187] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (15 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140858062] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (10 Hz)[hobot_usb_cam-1] [WARN] [1774779480.140894895] [hobot_usb_cam]: YUYV 4:2:2: 1920 x 1080 (5 Hz)[example-3] [WARN] [1774779480.194903426] [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/fcosworkconfig.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] [1774779480.196035451] [dnn_example_node]: Load [80] class types from file [config/coco.list][example-3] [WARN] [1774779480.196229782] [dnn_example_node]: Parameter:[example-3] model_file_name: /opt/hobot/model/x5/basic/fcos_512x512_nv12.bin[example-3] model_name:[example-3] [WARN] [1774779480.196333863] [dnn_example_node]: model_file_name_: /opt/hobot/model/x5/basic/fcos_512x512_nv12.bin, task_num: 4[example-3] [BPU_PLAT]BPU Platform Version(1.3.6)![example-3] [HBRT] set log level as 0. version = 3.15.54.0[example-3] [DNN] Runtime version = 1.23.10_(3.15.54 HBRT)[image_transport_node-5] [INFO] [1774779480.215948822] [Nv122BGR]: Nv122BGR[hobot_codec_republish-2] [WARN] [1774779480.226787745] [hobot_codec_decoder]: New subscription discovered on topic ‘/hbmem_img’, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[image_transport_node-5] [WARN] [1774779480.260053584] [Nv122BGR]: New publisher discovered on topic ‘/hbmem_img’, offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[websocket-4] [WARN] [1774779480.263072789] [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 [HorizonRT] The model builder version = 1.23.5[example-3] [WARN] [1774779480.398520737] [dnn_example_node]: Get model name: fcos_efficientnetb0_512x512_nv12 from load model.[example-3] [WARN] [1774779480.398691068] [dnn_example_node]: Create ai msg publisher with topic_name: hobot_dnn_detection[example-3] [WARN] [1774779480.412743859] [dnn_example_node]: Create img hbmem_subscription with topic_name: /hbmem_img[example-3] [WARN] [1774779481.124738250] [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] [1774779481.125069870] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 0, stamp: 1774779480_20431000, data size: 460800, comm delay [1104.6155]ms[example-3] [WARN] [1774779482.172381399] [dnn_example_node]: Sub img fps: 33.40, Smart fps: 33.30, pre process time ms: 6, infer time ms: 30, post process time ms: 13[example-3] [WARN] [1774779483.192091241] [dnn_example_node]: Sub img fps: 30.42, Smart fps: 30.42, pre process time ms: 6, infer time ms: 32, post process time ms: 14[example-3] [WARN] [1774779484.155734693] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 94, stamp: 1774779483_120081000, data size: 460800, comm delay [1035.6384]ms[example-3] [WARN] [1774779484.215840486] [dnn_example_node]: Sub img fps: 30.30, Smart fps: 30.30, pre process time ms: 6, infer time ms: 33, post process time ms: 13[example-3] [WARN] [1774779485.238670660] [dnn_example_node]: Sub img fps: 30.30, Smart fps: 30.30, pre process time ms: 6, infer time ms: 33, post process time ms: 13[example-3] [WARN] [1774779486.263783344] [dnn_example_node]: Sub img fps: 30.27, Smart fps: 30.27, pre process time ms: 6, infer time ms: 33, post process time ms: 13[example-3] [WARN] [1774779487.159482737] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 185, stamp: 1774779486_123755000, data size: 460800, comm delay [1035.7125]ms[example-3] [WARN] [1774779487.283429354] [dnn_example_node]: Sub img fps: 30.42, Smart fps: 30.42, pre process time ms: 6, infer time ms: 32, post process time ms: 14[example-3] [WARN] [1774779488.307321640] [dnn_example_node]: Sub img fps: 30.27, Smart fps: 30.30, pre process time ms: 6, infer time ms: 33, post process time ms: 14[example-3] [WARN] [1774779489.321578880] [dnn_example_node]: Sub img fps: 30.30, Smart fps: 30.30, pre process time ms: 6, infer time ms: 33, post process time ms: 4[example-3] [WARN] [1774779490.193321751] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 277, stamp: 1774779489_159405000, data size: 460800, comm delay [1033.9064]ms[example-3] [WARN] [1774779490.354909801] [dnn_example_node]: Sub img fps: 30.30, Smart fps: 30.30, pre process time ms: 6, infer time ms: 33, post process time ms: 13[example-3] [WARN] [1774779491.366585702] [dnn_example_node]: Sub img fps: 30.54, Smart fps: 30.60, pre process time ms: 4, infer time ms: 32, post process time ms: 11[example-3] [WARN] [1774779492.383917987] [dnn_example_node]: Sub img fps: 30.33, Smart fps: 30.33, pre process time ms: 3, infer time ms: 32, post process time ms: 6[example-3] [WARN] [1774779493.229206368] [dnn_example_node]: Recved img encoding: nv12, h: 480, w: 640, step: 640, index: 369, stamp: 1774779492_194711000, data size: 460800, comm delay [1034.4807]ms[example-3] [WARN] [1774779493.411981779] [dnn_example_node]: Sub img fps: 30.13, Smart fps: 30.13, pre process time ms: 6, infer time ms: 33, post process time ms: 5[example-3] [WARN] [1774779494.423554679] [dnn_example_node]: Sub img fps: 30.54, Smart fps: 30.57, pre process time ms: 3, infer time ms: 32, post process time ms: 3[example-3] [WARN] [1774779495.458912133] [dnn_example_node]: Sub img fps: 30.19, Smart fps: 30.16, pre process time ms: 6, infer time ms: 33, post process time ms: 9^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)[image_transport_node-5] [INFO] [1774779496.143626082] [rclcpp]: signal_handler(signum=2)[hobot_usb_cam-1] [WARN] [1774779496.149961671] [hobot_usb_cam]: Shutting down[INFO] [hobot_codec_republish-2]: process has finished cleanly [pid 7606][INFO] [hobot_usb_cam-1]: process has finished cleanly [pid 7604][INFO] [websocket-4]: process has finished cleanly [pid 7610][INFO] [image_transport_node-5]: process has finished cleanly [pid 7612][example-3] [W][DNN]bpu_model_info.cpp:491]Version Model: fcos_efficientnetb0_512x512_nv12. Inconsistency between the hbrt library version 3.15.54.0 and the model build version 3.15.47.0 detected, in order to ensure correct model results, it is recommended to use compilation tools and the BPU SDK from the same OpenExplorer package.[INFO] [example-3]: process has finished cleanly [pid 7608]sunrise@ubuntu:~/yiqiang_ws$ ros2 launch origincar_bringup usb_websocket_display.launch.py model_config_file:=/home/sunrise/yiqiang_ws/src/origincar/models/yolo11workconfig.json为什么他不运行我自己的模型

地瓜小助手_bot · 2026 年3 月 29 日 10:21

我来帮你分析这个问题。从日志看，系统实际在运行，但没有加载你指定的 yolo11 模型，而是用了默认的 fcos 模型。

问题定位

日志中关键信息：

model_file_name: /opt/hobot/model/x5/basic/fcos_512x512_nv12.bin  # 默认模型
model_name: fcos_efficientnetb0_512x512_nv12

但你启动命令指定的是：

model_config_file:=/home/sunrise/yiqiang_ws/src/origincar/models/yolo11workconfig.json

排查步骤

1. 检查 yolo11workconfig.json 内容

cat /home/sunrise/yiqiang_ws/src/origincar/models/yolo11workconfig.json

确认文件中 model_file_name 指向正确的 bin 文件路径。

2. 检查 launch 文件参数传递

查看 usb_websocket_display.launch.py 是否正确接收并使用 model_config_file 参数：

cat ~/yiqiang_ws/src/origincar/origincar_bringup/launch/usb_websocket_display.launch.py

关键看 dnn_example_node 是否使用了传入的 config 文件。

3. 验证 bin 文件是否存在

ls -la /opt/hobot/model/x5/basic/yolo11*.bin
# 或你配置中指定的路径

4. 常见原因

原因	检查方法
config 文件中模型路径错误	打开 json 检查 `model_file_name`
launch 文件未使用传入参数	检查 launch 文件中参数声明
bin 文件不存在	`ls` 确认文件存在
模型平台不匹配	确认是 x5 平台模型

临时解决方案

直接修改 launch 文件中的默认 config 路径，或检查你的 json 配置：

{
  "model_file_name": "/path/to/your/yolo11.bin",
  ...
}

请先确认以下两点：

yolo11workconfig.json 里的 model_file_name 路径是否正确？
该 bin 文件在开发板上是否存在？

把这两个信息发我，我再帮你进一步定位。同时建议搜索社区看看是否有类似部署问题：

问题分析

从日志和测试结果看，你的模型输出结构正确（6个输出头，NCHW格式），但存在两个关键问题：

核心问题

问题	你的情况	影响
版本不兼容	模型编译版本 3.15.55.0 vs 运行时 3.15.54.0	可能导致崩溃
测试方法不对	官方测试用MIPI相机，你用的是USB相机	测试失败是相机问题，不是模型问题

解决方案（按优先级）

方案1：升级板子系统（推荐）

# 1. 检查当前系统版本
sudo rdkos_info

# 2. 升级系统
sudo srpi-config
# 选择：1-SystemOptions → S7-UpdateMiniBoot

# 3. 重启
sudo reboot

# 4. 升级后验证
python3 -c "from hobot_dnn import pyeasy_dnn as dnn; print('OK')"

方案2：用USB相机测试官方模型

你之前测试失败是因为默认用了MIPI相机，需要用USB相机参数：

# 使用USB相机测试官方模型
export CAM_TYPE=usb
ros2 launch dnn_node_example dnn_node_example.launch.py

如果这个能跑，说明系统正常，是你的模型版本问题。

方案3：重新量化模型（如果无法升级）

在你的板子上用当前工具链重新量化：

# 查看板子工具链版本
hb_mapper --version

# 按照教程重新量化
# 参考：https://forum.d-robotics.cc/t/topic/34084

快速诊断流程

# 步骤1：用USB相机测试官方模型（5分钟）
export CAM_TYPE=usb
ros2 launch dnn_node_example dnn_node_example.launch.py

# 步骤2：如果成功，测试你的模型
ros2 launch origincar_bringup usb_websocket_display.launch.py \
  dnn_example_config_file:=/home/sunrise/yiqiang_ws/src/origincar/models/yolo11workconfig.json

# 步骤3：查看结果
# - 如果步骤1成功，步骤2失败 → 模型版本问题，需要升级或重新量化
# - 如果步骤1也失败 → 系统环境问题，需要升级系统

配置文件检查

确保你的 yolo11workconfig.json 配置正确：

{
  "model_file": "/home/sunrise/yiqiang_ws/src/origincar/models/obstacle.bin",
  "dnn_Parser": "yolov8",
  "model_output_count": 6,
  "reg_max": 16,
  "class_num": 1,
  "cls_names_list": "/home/sunrise/yiqiang_ws/src/origincar/models/obstacles.list",
  "strides": [8, 16, 32],
  "score_threshold": 0.25,
  "nms_threshold": 0.7,
  "nms_top_k": 300
}

下一步

请先执行快速诊断流程的步骤1，把结果贴出来：

如果官方模型能跑 → 我们解决模型版本问题
如果官方模型也崩溃 → 需要升级系统

相关资源：

Marcelo · 2026 年3 月 30 日 03:23

哪里获取的bin模型？什么镜像的板卡，请详细介绍背景

用的什么ros包推理？

可以 详细描述预期结果和程序运行表现，描述与预期不符的地方

地瓜小助手_bot · 2026 年3 月 30 日 03:24

问题定位：需要向管理员提供关键信息

Marcelo6151 是社区管理员，需要更多背景信息才能精准帮你解决问题。请按以下结构回复：

建议回复模板

## 背景信息

### 1. bin 模型来源
- [ ] 自己训练 + 量化（请说明工具链版本）
- [ ] 社区下载（请提供链接）
- [ ] 其他：_____

### 2. 板卡信息
```bash
# 请运行并提供输出
sudo rdkos_info
hb_mapper --version

3. 推理 ROS 包

包名：origincar_bringup + dnn_node_example
Launch 文件：usb_websocket_display.launch.py
配置文件：yolo11workconfig.json

4. 预期 vs 实际

项目	预期	实际
模型加载	成功	成功（6 输出头正确）
图像接收	正常	正常（640x480 nv12）
推理运行	持续输出检测框	进程崩溃（exit code -11）
WebSocket	收到 AI 数据	收不到（因为推理进程挂了）

5. 关键日志

Version Model: obstacle. Inconsistency between the hbrt library 
version 3.15.54.0 and the model build version 3.15.55.0 detected

6. 已尝试的排查

验证模型输出结构（6 个头，NCHW 格式，正确）
测试官方模型（因 MIPI 相机未连接失败，需改用 USB 测试）
等待系统升级/重新量化


---

## 补充建议

在回复管理员前，先快速验证一件事：

```bash
# 用 USB 相机测试官方模型（排除系统问题）
export CAM_TYPE=usb
ros2 launch dnn_node_example dnn_node_example.launch.py

如果这个能跑 → 说明是模型版本问题，回复时注明
如果这个也崩溃 → 说明是系统环境问题，需要优先升级

核心问题总结

根据现有日志，最可能的原因是：

可能性	原因	解决方案
高	模型编译版本 (3.15.55.0) > 运行时版本 (3.15.54.0)	升级系统或重新量化
中	配置文件 parser 参数不匹配	检查 `dnn_Parser: yolov8`
低	分辨率不匹配 (640x480 vs 640x640)	TROS 会自动 letterbox，不是问题

先运行 USB 官方模型测试，把结果 + 上述模板一起回复给管理员，这样能最快得到解决方案。