Issues with SceneScan Pro and ROS driver

[carstenb]

Starting with SceneScan Pro firmware v9.0.0 , the current ROS driver throws a ParameterException:

Code: Select all

$ roslaunch nerian_stereo nerian_stereo.launch device_address:=192.168.10.10 node_name:=nerian_stereo_01
... logging to /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/roslaunch-odroid-8757.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://odroid:33669/

SUMMARY
========

PARAMETERS
 * /nerian_stereo_01/calibration_file: /tmp/nerian_calib...
 * /nerian_stereo_01/color_code_disparity_map: none
 * /nerian_stereo_01/color_code_legend: True
 * /nerian_stereo_01/delay_execution: 2.0
 * /nerian_stereo_01/frame: map
 * /nerian_stereo_01/max_depth: -1.0
 * /nerian_stereo_01/point_cloud_intensity_channel: mono8
 * /nerian_stereo_01/remote_host: 192.168.10.10
 * /nerian_stereo_01/remote_port: 7681
 * /nerian_stereo_01/ros_coordinate_system: True
 * /nerian_stereo_01/ros_timestamps: True
 * /nerian_stereo_01/use_tcp: False
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    download_calib (nerian_stereo/download_calibration.sh)
    nerian_stereo_01 (nerian_stereo/nerian_stereo_node)

auto-starting new master
process[master]: started with pid [8831]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5256aba6-fd2d-11ec-9374-001e064322c7
process[rosout-1]: started with pid [8880]
started core service [/rosout]
process[download_calib-2]: started with pid [8892]
process[nerian_stereo_01-3]: started with pid [8899]
  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
                                 Dload  Upload   Total   Spent    Left  Speed
100  3185  100  3185    0     0  1555k      0 --:--:-- --:--:-- --:--:-- 1555k
[download_calib-2] process has finished cleanly
log file: /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/download_calib-2*.log
[ INFO] [1657113167.520943330]: Connecting to 192.168.10.10 for parameter service
[ERROR] [1657113167.528672926]: ParameterException while connecting to parameter service: Protocol version mismatch! Expected 6 but received 1342781194
[nerian_stereo_01-3] process has died [pid 8899, exit code 1, cmd /opt/ros/noetic/lib/nerian_stereo/nerian_stereo_node __name:=nerian_stereo_01 __log:=/home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/nerian_stereo_01-3.log].
log file: /home/odroid/.ros/log/5256aba6-fd2d-11ec-9374-001e064322c7/nerian_stereo_01-3*.log

The ROS driver works with FW versions <= 8.1.9. This is the most urgent problem for me at the moment. Any idea how to fix this quickly?

The log files mentioned in the error message also never get created, at least not in this path (they did not get created before with FW 8.0.1 either).

Frame rate is rather low; while the data sheet suggests 32fps for Karmin3 Color at 1024x768 with 256 disparities (presumably with JumboFrames enabled; there's also a 15 fps preset for Karmin3 Color at 1024x768 with 256 disparity without Jumbo Frames, which gives roughly the same frame rate, maybe 0.5 - 1 fps lower), SceneScan Pro reports only ~ 7 fps. The low frame rate remains low regardless of firmware version (at least >= 8.0.1). It's not too important right now, but I'd like to fix this in the near future.

SceneScan settings are attached for examination, if this is helpful.

Thanks in advance, best regards
Carsten

[k.schauwecker]

Unfortunately, the parameter protocol has changed with this firmware release, which means that you need to update your ROS node to the new version 3.10

The new version of our ROS node is already in our git repository and we have submitted our releases to the ROS build-servers. There should be binary packages available from the ROS package servers soon, when there is the next ROS update cycle.

In the meantime you can build our ROS node from sources. The git repositories are:
ROS1: https://github.com/nerian-vision/nerian_stereo
ROS2: https://github.com/nerian-vision/nerian_stereo_ros2

[carstenb]

Thank you, the ROS node works now.

But frame rate is still very low. With FW 9.0.1, nerian_stereo v3.10.0 and Karmin3 Color in 1024x768, 256 disparities, and JumboFrames disabled, I'm getting only 7.5 fps (consistently reported by ROS driver and "System Logs" in web interface). According to the data sheet, it should be 15 fps. Using a ThinkPad X260 (which supports MTU size of 9000) instead of Odroid N2+ and activating JumboFrames does not help, either.

Can you give me a hint how to improve frame rate? Please find the current settings (after FW update) attached.

[k.schauwecker]

I apologize for the late reply. I have checked your settings and there is nothing wrong with the configuration. The problem is that the cameras are operated in USB2-mode rather than USB3. Could you please check the USB cable?

This could also be an electrical issue with the camera hardware. Do you have the camera's serial number?