Driver doesn't respect `trigger_timeout`

Open diablo1281 opened this issue 6 months ago • 3 comments

Describe what you want to implement and what the issue & the steps to reproduce it are:

I am trying to set up a Basler Ace 2 USB camera with ROS2. I want to use an external trigger to sync multiple cameras on a drone and take pictures at a given moment of the flight, dictated by the autopilot. Most important is that the constant rate can't be set in my situation.

Testing with a single camera - it is configured to accept a trigger on Line 1, and it works like a charm.

During the start of the ROS2 driver pylon_ros2_camera_wrapper, I need to spam the trigger. If not, I get an error and the thread shuts down, giving output:

[pylon_ros2_camera_wrapper-1] 1748550317.880437163 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Waiting for Trigger signal
[pylon_ros2_camera_wrapper-1] 1748550317.880509997 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] PylonROS2Camera not ready because the result of the initial grab is invalid
[pylon_ros2_camera_wrapper-1] 1748550317.880528205 [basler.pylon.ros2.pylon_ros2_camera_node] [ERROR] Error when trying to start grabbing. Shutting down now.
[pylon_ros2_camera_wrapper-1] Impossible to spin
[pylon_ros2_camera_wrapper-1] failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67

I tried to set trigger_timeout to some big number, but it doesn't make any difference.

In case I manage to spam trigger to get to launch driver - there is second problem. If there is any subscriber to the camera topic, it keep to output message:

[pylon_ros2_camera_wrapper-1] 1748551306.421796720 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Waiting for Trigger signal
[pylon_ros2_camera_wrapper-1] 1748551306.421867345 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Error: Grab was not successful
[pylon_ros2_camera_wrapper-1] 1748551306.926431561 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Waiting for Trigger signal
[pylon_ros2_camera_wrapper-1] 1748551306.926495915 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Error: Grab was not successful
[pylon_ros2_camera_wrapper-1] 1748551307.430591448 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Waiting for Trigger signal
[pylon_ros2_camera_wrapper-1] 1748551307.430720603 [basler.pylon.ros2.pylon_ros2_camera_base] [ERROR] Error: Grab was not successful

I would like to have a camera thread publishing data only then the photo was taken (by trigger) and the driver to initialize properly without the need to make a capture.

Hardware setup description

Jetson Orin NX 16GB
Auvidea JNX45 carrier board
Bassler ace 2 a2A4508-20ucBAS
ROS2 humble (running in docker)

Runtime information

pylon info: 9.0.3.215 64-Bit
----------------------------------------
pylon Setup info: 8.0.1.16188 
----------------------------------------
pylon Application info: 3.3.0.16267 64-Bit
----------------------------------------
pylon Viewer info: 9.0.2.16267 64-Bit
----------------------------------------
Host system infos:

CPU architecture: arm64
Kernel type: linux
Kernel version: 5.15.148-tegra
OS type: ubuntu
OS version: 22.04
Render Backend: OpenGL
----------------------------------------
Screen(s):

Screen 0 scale factor: 1
Screen 0 resolution: 2560x1440
----------------------------------------
Window(s):

"pylon Viewer 64-Bit" on screen 0
----------------------------------------
Host network infos:

Host network adapter enP8p1s0:
    Name: enP8p1s0
    MAC address: 
    IP address: 10.41.10.1
    Subnet mask: 255.255.255.0

Host network adapter l4tbr0:
    Name: l4tbr0
    MAC address: 

Host network adapter usb0:
    Name: usb0
    MAC address:

Host network adapter usb1:
    Name: usb1
    MAC address: 

Host network adapter wlP7p1s0:
    Name: wlP7p1s0
    MAC address: 
    IP address: 192.168.1.144
    Subnet mask: 255.255.255.0

Host network adapter docker0:
    Name: docker0
    MAC address: 
    IP address: 172.17.0.1
    Subnet mask: 255.255.0.0
----------------------------------------
Device infos:

USB3 Vision device:
    Model name: a2A4508-20ucBAS
    Manufacturer name: Basler
    Serial number: 
    Device GUID: 267601CBA0FE
    Product ID: 0xBA05
    Vendor ID: 0x2676
    USB version: 3.2.0
    Device path: 2676:ba05:2:4:4

USB3 Vision device:
    Model name: a2A4508-20ucBAS
    Manufacturer name: Basler
    Serial number: 
    Device GUID: 267601CBA0FB
    Product ID: 0xBA05
    Vendor ID: 0x2676
    USB version: 3.2.0
    Device path: 2676:ba05:2:3:5

USB3 Vision device:
    Model name: a2A4508-20ucBAS
    Manufacturer name: Basler
    Serial number: 
    Device GUID: 267601CB202E
    Product ID: 0xBA05
    Vendor ID: 0x2676
    USB version: 3.2.0
    Device path: 2676:ba05:2:2:3

Is your camera operational with the Basler pylon Viewer on your platform?

Yes

May 29 '25 21:05 diablo1281