微雪的sc132gs双目模组无法使用

stwtester · 2026 年10 月 28 日 09:08

root@ubuntu:/# source /opt/tros/humble/setup.bash
root@ubuntu:/# ros2 launch mipi_cam mipi_cam_dual_channel.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2000-01-01-15-30-54-070724-ubuntu-110033
[INFO] [launch]: Default logging verbosity is set to INFO
config_file_path is /opt/tros/humble/lib/mipi_cam/config/
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
env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
[INFO] [mipi_cam-1]: process started with pid [110066]
[mipi_cam-1] [WARN] [0946711854.686105932] [mipi_node]:
[mipi_cam-1] node params:
[mipi_cam-1] config_path: /opt/tros/humble/lib/mipi_cam/config/
[mipi_cam-1] video_device_name: default
[mipi_cam-1] channel: 2
[mipi_cam-1] channel2: 0
[mipi_cam-1] camera_info_url:
[mipi_cam-1] camera_calibration_file_path: /opt/tros/humble/lib/mipi_cam/config/calib_params.yaml
[mipi_cam-1] out_format_name: nv12
[mipi_cam-1] gdc_bin_file:
[mipi_cam-1] image_width: 1920
[mipi_cam-1] image_height: 1080
[mipi_cam-1] sub_image_width: 1920
[mipi_cam-1] sub_image_height: 1080
[mipi_cam-1] framerate: 10
[mipi_cam-1] rotation: 0.000000
[mipi_cam-1] device_mode: dual
[mipi_cam-1] dual_combine: 1
[mipi_cam-1] lpwm_enable: false
[mipi_cam-1] gdc_enable: true
[mipi_cam-1] frame_ts_type: sensor
[mipi_cam-1] frame_id: default_cam
[mipi_cam-1] link_type: 0
[mipi_cam-1] link_port: 0
[mipi_cam-1] io_method_name: ros
[mipi_cam-1] cal_alpha: 0.000
[mipi_cam-1] [ERROR] [0946711856.813619058] [mipi_cam]: [init]->cap capture init failture.
[mipi_cam-1]
[mipi_cam-1] [ERROR] [0946711856.814044641] [mipi_node]: [init]->mipinode init failure.
[mipi_cam-1]
[mipi_cam-1] [WARN] [0946711856.815531641] [mipi_node]: get camera calibration parameters failed
[mipi_cam-1] [WARN] [0946711856.815609141] [mipi_node]: get camera calibration parameters failed
[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 ./src/rcl/node.c:428
[ERROR] [mipi_cam-1]: process has died [pid 110066, exit code -6, cmd ‘/opt/tros/humble/lib/mipi_cam/mipi_cam --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_8nalj2nf --params-file /tmp/launch_params_w1g5ixs8 --params-file /tmp/launch_params_r4zlz9_f --params-file /tmp/launch_params_68hs3yg9 --params-file /tmp/launch_params_t9yjrwup --params-file /tmp/launch_params_wfd__kos --params-file /tmp/launch_params_37vjtrxb --params-file /tmp/launch_params_tqvo4rpu --params-file /tmp/launch_params_dkl0hkc9 --params-file /tmp/launch_params_8e95dcyt --params-file /tmp/launch_params_xtaghjwi --params-file /tmp/launch_params_gxf7oqoa --params-file /tmp/launch_params_s2qcq53w --params-file /tmp/launch_params_1iez_a07 --params-file /tmp/launch_params_o_ig1l__ --params-file /tmp/launch_params_bnt42ejo --params-file /tmp/launch_params_7slyjnvh --params-file /tmp/launch_params_6u_8b97v --params-file /tmp/launch_params__m7921ze --params-file /tmp/launch_params_12ys0_x7 --params-file /tmp/launch_params_dkso1q5i --params-file /tmp/launch_params_tp7x357u --params-file /tmp/launch_params_8e461rk5 --params-file /tmp/launch_params_10n58hc1’].

识别不到摄像头

瓜仔 · 2026 年10 月 28 日 09:12

失败点在 mipi_cam 的采集初始化（[init]->cap capture init failture），也就是 sensor 没按参数出流；后面 could not create publisher 是 init 失败、node 被关掉后的连带崩溃，不用单独查。

1. 先按官方 SC132GS 双目参数启动。 日志里是 launch 默认的 1920x1080、gdc_enable: true 而 gdc_bin_file 为空；官方 SC132GS 双目模组（GS130W/GS130WI）给的是单目 1280x1088：

source /opt/tros/humble/setup.bash
ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=1280 mipi_image_height:=1088

仍报同样错误时，再补 gdc_enable:=false 跑一次，用来区分是分辨率/GDC 这类参数问题，还是更底层的 sensor 没起来。依据：GS130W 快速开始（“运行双目 MIPI 图像采集”一节）。

2. 再确认板端到底有没有认出这颗 sensor。 改参数前先看这几项，比反复换 launch 有用：

ls /dev/video*
dmesg | grep -i -E "sc132|mipi|sensor"
sudo i2cdetect -y -r <模组所在 i2c 总线号>    # 总线号按模组/板卡资料确认
apt show tros-humble | grep Version

dmesg 里没有任何 sc132 probe 记录、I2C 上也扫不到该地址：属于驱动/设备树层面没匹配上，调 launch 参数不会出流。
SC132GS 双目是 TROS 2.4.3（2025-9-15）起在 RDK X5 平台新增的支持，版本低于这条时这套双目配置本身不在，见 TROS 版本发布记录。

3. 微雪模组要和官方 GS130W 区分开。 官方 launch/驱动默认的是官方双目模组的硬件配置；第三方模组的 I2C 地址、RESET/PWDN 引脚、供电、lane 数、是否带 EEPROM 都可能不同，接的是哪个 MIPI host 也要按微雪资料核对。若核对下来确实是第三方模组需要重新适配驱动，论坛这边可以先结合资料帮你把方案梳理清楚，具体驱动适配/联调可以通过 DGP 项目对接与技术支持对接 FAE。

麻烦补两点：板型是 RDK X5 / X5 Module / S100 中的哪个，以及上面 dmesg | grep -i sc132 和 TROS 版本的实际输出，我据此判断是参数问题还是模组没被识别。