process has died when running launch files

Open osama-z-salah opened this issue 2 years ago • 21 comments

my platform is: Linux Ubuntu 22 (x86_64) + ROS Humble+ OAK-D-Pro

When I launch these launch files: ros2 launch depthai_ros_driver example_segmentation.launch.py ros2 launch depthai_ros_driver stereo_from_rosbag.launch.py

I have get the following error:

[ERROR] [component_container-2]: process has died [pid 58940, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

Jun 06 '23 09:06 osama-z-salah

Hi, thanks for the information, could you post more information according to bug report template?

Jun 06 '23 10:06 Serafadam

Describe the bug: [ERROR] [component_container-2]: process has died [pid 58940, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

Minimal Reproducible Example:

When i run the stereo_inertial_node in depthai_examples, it able to run succesfully without any error.
When i run camera in depthai_ros_driver, at 1st it able to run and in middle way, i got error where the process is died.

Is depthai-ros built from source or installed from apt? from source

Is depthai/depthai-core library installed from rosdep or manually? For rosdep install, check if ros--depthai package is installed, manual install can be checked with ldconfig -p | grep depthai

I install the depthai package, using sudo apt-get install ros-foxy-depthai

Please include versions of following packages - apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver

Package: ros-humble-depthai Version: 2.21.2-1jammy.20230425.234727

Package: ros-humble-depthai-ros Version: 2.7.2-1jammy.20230513.013547

Package: ros-humble-depthai-bridge Version: 2.7.2-1jammy.20230513.010952

Package: ros-humble-depthai-ros-msgs Version: 2.7.2-1jammy.20230513.003520

Package: ros-humble-depthai-ros-driver Version: 2.7.2-1jammy.20230513.012742

Jun 07 '23 02:06 osama-z-salah

I also had the process dying when using the 2.7.2 Humble built from source in Ubuntu 20.04 Focal in an Nvidia Jetson AGX Orin. I tried using the provided Docker version and the same happens. It launches fine and works for less than a minute and then finally dies. I rolled back to 2.7.1 and I don't have problem there , I tested 2.7.1 built from source and provided Docker container as well. I don't remember if the error message was the same as the person who opened this issue , but I can run it again tomorrow and share here if that helps.

Jun 07 '23 04:06 raitzjm

Could you run export DEPTHAI_DEBUG=1 and post logs that you get after running launch files?

Jun 07 '23 13:06 Serafadam

nanoamr@nanoamr:~/ros2_ws$ ros2 launch depthai_ros_driver camera.launch.py [INFO] [launch]: All log files can be found below /home/nanoamr/.ros/log/2023-06-14-18-57-40-522575-nanoamr-79330 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [79344] [INFO] [component_container-2]: process started with pid [79346] [component_container-2] [DEBUG] [1686740260.684359845] [rclcpp]: signal handler installed [component_container-2] [DEBUG] [1686740260.684390375] [rclcpp]: deferred_signal_handler(): waiting for SIGINT/SIGTERM or uninstall [component_container-2] [DEBUG] [1686740260.684402947] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services [component_container-2] [DEBUG] [1686740260.684430444] [rcl]: Initializing node 'ComponentManager' in namespace '' [component_container-2] [DEBUG] [1686740260.684438028] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1686740260.690127020] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1686740260.690141205] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1686740260.690814858] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.690824797] [rcl]: Node initialized [component_container-2] [DEBUG] [1686740260.690884019] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.690887178] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.691513083] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1686740260.691594846] [rcl]: Initializing service for service name '~/_container/load_node' [component_container-2] [DEBUG] [1686740260.691600232] [rcl]: Expanded and remapped service name '/oak_container/_container/load_node' [component_container-2] [DEBUG] [1686740260.691855190] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.691862105] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/load_nodeRequest [component_container-2] [DEBUG] [1686740260.691863950] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/load_nodeReply [component_container-2] [DEBUG] [1686740260.691865161] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.691892820] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.691902537] [rcl]: Initializing service for service name '~/_container/unload_node' [component_container-2] [DEBUG] [1686740260.691906810] [rcl]: Expanded and remapped service name '/oak_container/_container/unload_node' [component_container-2] [DEBUG] [1686740260.692021189] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.692024088] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/unload_nodeRequest [component_container-2] [DEBUG] [1686740260.692025461] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/unload_nodeReply [component_container-2] [DEBUG] [1686740260.692026607] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.692053658] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.692060410] [rcl]: Initializing service for service name '~/_container/list_nodes' [component_container-2] [DEBUG] [1686740260.692063730] [rcl]: Expanded and remapped service name '/oak_container/_container/list_nodes' [component_container-2] [DEBUG] [1686740260.692485525] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.692496768] [rmw_fastrtps_cpp]: Sub Topic rq/oak_container/_container/list_nodesRequest [component_container-2] [DEBUG] [1686740260.692500364] [rmw_fastrtps_cpp]: Pub Topic rr/oak_container/_container/list_nodesReply [component_container-2] [DEBUG] [1686740260.692502940] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.692544316] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.694447634] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694472844] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694616943] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694638960] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694649044] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694656222] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694659917] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694662031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694665204] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694666961] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694669960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694672191] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694685037] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694688361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694693381] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694699647] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694703126] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694705006] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694718272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694720236] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694723320] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694725131] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694728150] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694729971] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.694732962] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.694735003] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695474588] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695477617] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695480864] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695482784] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.695485949] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.695487888] [rcl]: Subscription take succeeded: true [robot_state_publisher-1] [INFO] [1686740260.696445361] [oak_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1686740260.696484734] [oak_state_publisher]: got segment oak [robot_state_publisher-1] [INFO] [1686740260.696488880] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-1] [INFO] [1686740260.696491365] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696494076] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1686740260.696496309] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1686740260.696498411] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696500449] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1686740260.696502653] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1686740260.696504632] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [DEBUG] [1686740260.696675872] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696690017] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.696698678] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696701002] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.696704442] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740260.696706487] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740260.929689049] [rcl]: Service server taking service request [component_container-2] [DEBUG] [1686740260.929752093] [rcl]: Service take request succeeded: true [component_container-2] [INFO] [1686740260.929859648] [oak_container]: Load Library: /home/nanoamr/ros2_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so [component_container-2] [DEBUG] [1686740260.960046900] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::PublisherPlugin, address = 0x55899a590bd0 [component_container-2] [DEBUG] [1686740260.960577810] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.960582628] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1686740260.960635780] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740260.960641512] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1686740260.960643534] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1686740260.960663922] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740260.960666586] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1686740260.960668355] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1686740260.960688243] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1686740260.960690885] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1686740260.960692611] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1686740260.960714167] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1686740260.960716558] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1686740260.960718310] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.960720113] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::PublisherPlugin, address = 0x55899a590bd0 [component_container-2] [DEBUG] [1686740260.960722731] [pluginlib.ClassLoader]: Creating ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55899a591950 [component_container-2] [DEBUG] [1686740260.961140590] [pluginlib.ClassLoader]: Entering determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.961151947] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_depth_image_transport/compressed_depth_plugins.xml... [component_container-2] [DEBUG] [1686740260.961171986] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740260.961174127] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressedDepth_sub. [component_container-2] [DEBUG] [1686740260.961176336] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/compressed_image_transport/compressed_plugins.xml... [component_container-2] [DEBUG] [1686740260.961192793] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740260.961194747] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/compressed_sub. [component_container-2] [DEBUG] [1686740260.961197000] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/image_transport/default_plugins.xml... [component_container-2] [DEBUG] [1686740260.961214716] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_pub. [component_container-2] [DEBUG] [1686740260.961216806] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/raw_sub. [component_container-2] [DEBUG] [1686740260.961219035] [pluginlib.ClassLoader]: Processing xml file /opt/ros/humble/share/theora_image_transport/theora_plugins.xml... [component_container-2] [DEBUG] [1686740260.961237879] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_pub. [component_container-2] [DEBUG] [1686740260.961239784] [pluginlib.ClassLoader]: XML file specifies lookup name (i.e. magic name) = image_transport/theora_sub. [component_container-2] [DEBUG] [1686740260.961242074] [pluginlib.ClassLoader]: Exiting determineAvailableClasses()... [component_container-2] [DEBUG] [1686740260.961243601] [pluginlib.ClassLoader]: Finished constructring ClassLoader, base = image_transport::SubscriberPlugin, address = 0x55899a591950 [component_container-2] [INFO] [1686740260.961661050] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [INFO] [1686740260.961684057] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera> [component_container-2] [DEBUG] [1686740260.961764237] [rcl]: Arg 1 (-r) is not a --param nor a -p flag. [component_container-2] [DEBUG] [1686740260.961769500] [rcl]: Got remap rule : __node:=oak [component_container-2] [component_container-2] [DEBUG] [1686740260.961775444] [rcl]: Initializing node 'camera' in namespace '' [component_container-2] [DEBUG] [1686740260.961781476] [rcl]: Using domain ID of '0' [component_container-2] [DEBUG] [1686740260.961832363] [rcl]: Initializing publisher for topic name '/rosout' [component_container-2] [DEBUG] [1686740260.961837287] [rcl]: Expanded and remapped topic name '/rosout' [component_container-2] [DEBUG] [1686740260.961995129] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.961998747] [rcl]: Node initialized [component_container-2] [DEBUG] [1686740260.962057887] [rcl]: Initializing service for service name 'oak/get_parameters' [component_container-2] [DEBUG] [1686740260.962061113] [rcl]: Expanded and remapped service name '/oak/get_parameters' [component_container-2] [DEBUG] [1686740260.962214277] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962217307] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parametersRequest [component_container-2] [DEBUG] [1686740260.962218973] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parametersReply [component_container-2] [DEBUG] [1686740260.962220340] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962244527] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962252786] [rcl]: Initializing service for service name 'oak/get_parameter_types' [component_container-2] [DEBUG] [1686740260.962255606] [rcl]: Expanded and remapped service name '/oak/get_parameter_types' [component_container-2] [DEBUG] [1686740260.962369369] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962371689] [rmw_fastrtps_cpp]: Sub Topic rq/oak/get_parameter_typesRequest [component_container-2] [DEBUG] [1686740260.962373396] [rmw_fastrtps_cpp]: Pub Topic rr/oak/get_parameter_typesReply [component_container-2] [DEBUG] [1686740260.962374811] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962394410] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962399525] [rcl]: Initializing service for service name 'oak/set_parameters' [component_container-2] [DEBUG] [1686740260.962409016] [rcl]: Expanded and remapped service name '/oak/set_parameters' [component_container-2] [DEBUG] [1686740260.962534199] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962537456] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parametersRequest [component_container-2] [DEBUG] [1686740260.962539048] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parametersReply [component_container-2] [DEBUG] [1686740260.962540452] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962560701] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962566904] [rcl]: Initializing service for service name 'oak/set_parameters_atomically' [component_container-2] [DEBUG] [1686740260.962569889] [rcl]: Expanded and remapped service name '/oak/set_parameters_atomically' [component_container-2] [DEBUG] [1686740260.962683852] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962686344] [rmw_fastrtps_cpp]: Sub Topic rq/oak/set_parameters_atomicallyRequest [component_container-2] [DEBUG] [1686740260.962687898] [rmw_fastrtps_cpp]: Pub Topic rr/oak/set_parameters_atomicallyReply [component_container-2] [DEBUG] [1686740260.962689298] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962708323] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962713638] [rcl]: Initializing service for service name 'oak/describe_parameters' [component_container-2] [DEBUG] [1686740260.962716447] [rcl]: Expanded and remapped service name '/oak/describe_parameters' [component_container-2] [DEBUG] [1686740260.962828875] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962831229] [rmw_fastrtps_cpp]: Sub Topic rq/oak/describe_parametersRequest [component_container-2] [DEBUG] [1686740260.962832625] [rmw_fastrtps_cpp]: Pub Topic rr/oak/describe_parametersReply [component_container-2] [DEBUG] [1686740260.962834025] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962851088] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962855994] [rcl]: Initializing service for service name 'oak/list_parameters' [component_container-2] [DEBUG] [1686740260.962858572] [rcl]: Expanded and remapped service name '/oak/list_parameters' [component_container-2] [DEBUG] [1686740260.962964805] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740260.962966913] [rmw_fastrtps_cpp]: Sub Topic rq/oak/list_parametersRequest [component_container-2] [DEBUG] [1686740260.962968386] [rmw_fastrtps_cpp]: Pub Topic rr/oak/list_parametersReply [component_container-2] [DEBUG] [1686740260.962969799] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740260.962988455] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740260.962996630] [rcl]: Initializing publisher for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.962999589] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963141341] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740260.963226575] [rcl]: Initializing subscription for topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963229924] [rcl]: Expanded and remapped topic name '/parameter_events' [component_container-2] [DEBUG] [1686740260.963351514] [rcl]: Subscription initialized [component_container-2] [DEBUG] [1686740260.963907157] [oak]: Setting param camera.i_pipeline_type with value RGBD [component_container-2] [DEBUG] [1686740260.963973044] [oak]: Setting param camera.i_nn_type with value spatial [component_container-2] [DEBUG] [1686740260.964049754] [oak]: Setting param camera.i_enable_imu with value 1 [component_container-2] [DEBUG] [1686740260.964101269] [oak]: Setting param camera.i_enable_ir with value 1 [component_container-2] [DEBUG] [1686740260.964118720] [oak]: Setting param camera.i_usb_speed with value SUPER_PLUS [component_container-2] [DEBUG] [1686740260.964134464] [oak]: Setting param camera.i_mx_id with value [component_container-2] [DEBUG] [1686740260.964145645] [oak]: Setting param camera.i_ip with value [component_container-2] [DEBUG] [1686740260.964158235] [oak]: Setting param camera.i_usb_port_id with value [component_container-2] [DEBUG] [1686740260.964176714] [oak]: Setting param camera.i_pipeline_dump with value 0 [component_container-2] [DEBUG] [1686740260.964189465] [oak]: Setting param camera.i_calibration_dump with value 0 [component_container-2] [DEBUG] [1686740260.964202864] [oak]: Setting param camera.i_external_calibration_path with value [component_container-2] [DEBUG] [1686740260.964269988] [oak]: Setting param camera.i_laser_dot_brightness with value 800 [component_container-2] [DEBUG] [1686740260.964289076] [oak]: Setting param camera.i_floodlight_brightness with value 0 [component_container-2] [2023-06-14 18:57:40.964] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug' [component_container-2] [2023-06-14 18:57:40.964] [debug] Library information - version: 2.21.2, commit: from , build: 2023-04-25 23:47:27 +0000 [component_container-2] [2023-06-14 18:57:40.965] [debug] Initialize - finished [component_container-2] [INFO] [1686740260.965412802] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [2023-06-14 18:57:41.021] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.24.tar.xz' open: 1ms, archive read: 55ms [component_container-2] [2023-06-14 18:57:41.189] [debug] Device - OpenVINO version: universal [component_container-2] [2023-06-14 18:57:41.189] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"maxSpeed":4,"pid":63035,"vid":999},"usb3PhyInternalClock":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} [component_container-2] libnop: [component_container-2] 0000: b9 11 b9 05 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 b9 02 00 01 ba 00 be be bb 00 bb 00 be be be [component_container-2] 0020: be be be 01 00 bb 00 be [component_container-2] [2023-06-14 18:57:41.277] [debug] Resources - Archive 'depthai-device-fwp-3575b77f20e796b4e79953bf3d2ba22f0416ee8b.tar.xz' open: 1ms, archive read: 311ms [component_container-2] [2023-06-14 18:57:42.243] [debug] Searching for booted device: DeviceInfo(name=1.13, mxid=1844301071C7AB0F00, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only [component_container-2] [1844301071C7AB0F00] [1.13] [0.880] [system] [warning] PRINT:LeonCss: BootloaderConfig.options1 checksum doesn't match. Is: 0x10304418 should be: 0x5E7D3A77 [component_container-2] GPIO boot mode 0x3, interface SPI_MASTER_EFF [component_container-2] Setting aons(0..4) back to boot from flash (offset = 0) [component_container-2] ====ENABLE WATCHDOG====1 [component_container-2] initial keepalive, countdown: 10 [component_container-2] PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000 [component_container-2] Board init ret 3 [component_container-2] DepthAI Firmware - version: 3575b77f20e796b4e79953bf3d2ba22f0416ee8b [component_container-2] eeprom configuration version: 55AA0007 [component_container-2] Reading VERSION 7 --- -> [component_container-2] eeprom configuration load from user area, status: 0 [component_container-2] Reading VERSION 7 --- -> [component_container-2] PMIC read reg 0x19, val 0xb8 [component_container-2] PMIC read reg 0x23, val 0x10 [component_container-2] PMIC read reg 0x31, val 0x08 [component_container-2] PMIC read reg 0x33, val 0x28 [component_container-2] Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device: [component_container-2] Board options: 00000004 [component_container-2] --> brdInit ... [component_container-2] brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK] [component_container-2] [component_container-2] spi_N25Q_init: Flash JEDEC ID: c2 25 3a [component_container-2] SR CR: 40 07 [component_container-2] QUAD mode already enabled. Dummy cfg: 0x00 [component_container-2] Initialized pin: 56, mode: 7, level: 1, pad: 0x00000010 [component_container-2] inited hal --- [component_container-2] def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 [component_container-2] val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06 [component_container-2] Opening bus for IR driver: 1 [component_container-2] Failed to probe IR driver LM3644 [component_container-2] Opening bus for IR driver: 2 [component_container-2] LM3644 detected, ID = 0x02 [component_container-2] ===== IR write bus 2: 0x07 = 0x89 [component_container-2] ===== IR write bus 2: 0x02 = 0x01 [component_container-2] ===== IR write bus 2: 0x03 = 0x00 [component_container-2] ===== IR write bus 2: 0x04 = 0x00 [component_container-2] ===== IR write bus 2: 0x05 = 0x00 [component_container-2] ===== IR write bus 2: 0x06 = 0x00 [component_container-2] ===== IR write bus 2: 0x07 = 0x09 [component_container-2] ===== IR write bus 2: 0x08 = 0x1a [component_container-2] ===== IR write bus 2: 0x09 = 0x08 [component_container-2] ===== IR write bus 2: 0x01 = 0x24 [component_container-2] Opening bus for IR driver: 3 [component_container-2] Failed to probe IR driver LM3644 [component_container-2] Closing EEPROm! [component_container-2] MyriaX board configuration [component_container-2] pll0 frequency: 700000, ref0 frequency: 24000 [component_container-2] Is booted from flash by bootloader: 0 [component_container-2] Networking not available... [component_container-2] === Enumerating on socket: Cam_A / RGB / Center [component_container-2] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378 [component_container-2] Probe failed I2C1 0x1a reg 0016: expected 0214, read 0378 [component_container-2] >> Registered camera A12N02A (imx378) as /dev/Camera_0 [component_container-2] camera socket: 0, name: color [component_container-2] config - w: 1920, h: 1080, type: COLOR [component_container-2] config - w: 3840, h: 2160, type: COLOR [component_container-2] config - w: 4056, h: 3040, type: COLOR [component_container-2] Adding socket 0: cam 2. Sen name: IMX378 [component_container-2] === Enumerating on socket: Cam_B / Left [component_container-2] >> Registered camera TG161B (ov9282) as /dev/Camera_1 [component_container-2] camera socket: 1, name: left [component_container-2] config - w: 1280, h: 720, type: MONO [component_container-2] config - w: 1280, h: 720, type: COLOR [component_container-2] config - w: 1280, h: 800, type: MONO [component_container-2] config - w: 1280, h: 800, type: COLOR [component_container-2] Adding socket 1: cam 5. Sen name: OV9282 [component_container-2] === Enumerating on socket: Cam_C / Right [component_container-2] >> Registered camera TG161B (ov9282) as /dev/Camera_2 [component_container-2] camera socket: 2, name: right [component_container-2] config - w: 1280, h: 720, type: MONO [component_container-2] config - w: 1280, h: 720, type: COLOR [component_container-2] config - w: 1280, h: 800, type: MONO [component_container-2] config - w: 1280, h: 800, type: COLOR [component_container-2] Adding socket 2: cam 5. Sen name: OV9282 [component_container-2] Found a device/board entry matching the eeprom data - Board: OAK-D S2/Pro (R6 - generic) Device: [component_container-2] Initializing XLink... [component_container-2] UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET [component_container-2] initial keepalive, countdown: 9 [component_container-2] UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP [component_container-2] Done! [component_container-2] Usb connection speed: Super - USB 3.0 [component_container-2] Temperature: Driver registered. [component_container-2] Temperature: Initialized driver. [component_container-2] Temperature: Sensor opened: CSS. [component_container-2] Temperature: Sensor opened: MSS. [component_container-2] Temperature: Sensor opened: UPA. [component_container-2] Temperature: Sensor opened: DSS. [component_container-2] [INFO] [1686740263.140933582] [oak]: Camera with MXID: 1844301071C7AB0F00 and Name: 1.13 connected! [component_container-2] [INFO] [1686740263.141666140] [oak]: USB SPEED: SUPER [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [system] [info] Memory Usage - DDR: 0.12 / 340.34 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.52 / 77.23 MiB, LeonRT Heap: 2.89 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [system] [info] Temperatures - Average: 39.40C, CSS: 40.28C, MSS 38.88C, UPA: 39.35C, DSS: 39.11C [component_container-2] [1844301071C7AB0F00] [1.13] [0.884] [system] [info] Cpu Usage - LeonOS 77.60%, LeonRT: 1.78% [component_container-2] [1844301071C7AB0F00] [1.13] [0.891] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 6676610] [XLin] startSync:130 Timesync | Callback not set [component_container-2] Reading from Factory EEPROM contents [component_container-2] Reading VERSION 7 --- -> [component_container-2] [INFO] [1686740263.162621264] [oak]: Device type: OAK-D-PRO-FF [component_container-2] [DEBUG] [1686740263.163619601] [oak]: Socket 1 - OV9282 [component_container-2] [DEBUG] [1686740263.163643151] [oak]: Socket 0 - IMX378 [component_container-2] [DEBUG] [1686740263.163651666] [oak]: Socket 2 - OV9282 [component_container-2] [DEBUG] [1686740263.164433986] [oak]: IR Drivers present [component_container-2] [INFO] [1686740263.164686428] [oak]: Pipeline type: RGBD [component_container-2] [DEBUG] [1686740263.165651604] [oak]: Creating node rgb base [component_container-2] [DEBUG] [1686740263.165806852] [oak]: Setting param rgb.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.165860904] [oak]: Setting param rgb.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.165899978] [oak]: Setting param rgb.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.165936142] [oak]: Setting param rgb.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.165971860] [oak]: Setting param rgb.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.166005455] [oak]: Setting param rgb.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.166091714] [oak]: Setting param rgb.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.166106808] [oak]: Setting param rgb.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.166117788] [oak]: Setting param rgb.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1686740263.167156513] [oak]: Node rgb has sensor IMX378 [component_container-2] [DEBUG] [1686740263.167201200] [oak]: Creating node rgb [component_container-2] [DEBUG] [1686740263.167447278] [oak]: Setting param rgb.i_publish_topic with value 1 [component_container-2] [DEBUG] [1686740263.167463666] [oak]: Setting param rgb.i_output_isp with value 1 [component_container-2] [DEBUG] [1686740263.167473965] [oak]: Setting param rgb.i_enable_preview with value 0 [component_container-2] [DEBUG] [1686740263.167515653] [oak]: Setting param rgb.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.167531149] [oak]: Setting param rgb.i_preview_size with value 300 [component_container-2] [DEBUG] [1686740263.167545630] [oak]: Setting param rgb.i_resolution with value 1080 [component_container-2] [DEBUG] [1686740263.167573262] [oak]: Setting param rgb.i_interleaved with value 0 [component_container-2] [DEBUG] [1686740263.167591607] [oak]: Setting param rgb.i_set_isp_scale with value 1 [component_container-2] [DEBUG] [1686740263.167611020] [oak]: Setting param rgb.i_isp_num with value 2 [component_container-2] [DEBUG] [1686740263.167664310] [oak]: Setting param rgb.i_isp_den with value 3 [component_container-2] [DEBUG] [1686740263.167706091] [oak]: Setting param rgb.i_height with value 720 [component_container-2] [DEBUG] [1686740263.167722280] [oak]: Setting param rgb.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.167737103] [oak]: Setting param rgb.i_keep_preview_aspect_ratio with value 1 [component_container-2] [DEBUG] [1686740263.167758280] [oak]: Setting param rgb.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.167770768] [oak]: Setting param rgb.r_exposure with value 20000 [component_container-2] [DEBUG] [1686740263.167783089] [oak]: Setting param rgb.r_whitebalance with value 3300 [component_container-2] [DEBUG] [1686740263.167794658] [oak]: Setting param rgb.r_focus with value 1 [component_container-2] [DEBUG] [1686740263.167808493] [oak]: Setting param rgb.r_set_man_focus with value 0 [component_container-2] [DEBUG] [1686740263.167821797] [oak]: Setting param rgb.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.167836417] [oak]: Setting param rgb.r_set_man_whitebalance with value 0 [component_container-2] [DEBUG] [1686740263.167850419] [oak]: Setting param rgb.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.167861896] [oak]: Setting param rgb.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.167979487] [oak]: Node rgb created [component_container-2] [DEBUG] [1686740263.168011085] [oak]: Base node rgb created [component_container-2] [DEBUG] [1686740263.168037770] [oak]: Creating node stereo [component_container-2] [DEBUG] [1686740263.168089993] [oak]: Creating node left base [component_container-2] [DEBUG] [1686740263.168111564] [oak]: Setting param left.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.168126177] [oak]: Setting param left.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.168139864] [oak]: Setting param left.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.168162800] [oak]: Setting param left.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.168174150] [oak]: Setting param left.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.168185374] [oak]: Setting param left.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.168194893] [oak]: Setting param left.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.168218096] [oak]: Setting param left.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.168227187] [oak]: Setting param left.i_board_socket_id with value 1 [component_container-2] [DEBUG] [1686740263.169066886] [oak]: Node left has sensor OV9282 [component_container-2] [DEBUG] [1686740263.169080493] [oak]: Creating node left [component_container-2] [DEBUG] [1686740263.169230311] [oak]: Setting param left.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.169246240] [oak]: Setting param left.i_publish_topic with value 0 [component_container-2] [DEBUG] [1686740263.169257892] [oak]: Setting param left.i_resolution with value 720 [component_container-2] [DEBUG] [1686740263.169283180] [oak]: Setting param left.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.169295979] [oak]: Setting param left.i_height with value 720 [component_container-2] [DEBUG] [1686740263.169313111] [oak]: Setting param left.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.169324530] [oak]: Setting param left.r_exposure with value 1000 [component_container-2] [DEBUG] [1686740263.169334258] [oak]: Setting param left.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.169346051] [oak]: Setting param left.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.169357426] [oak]: Setting param left.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.169369310] [oak]: Node left created [component_container-2] [DEBUG] [1686740263.169389471] [oak]: Base node left created [component_container-2] [DEBUG] [1686740263.169404675] [oak]: Creating node right base [component_container-2] [DEBUG] [1686740263.169420118] [oak]: Setting param right.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.169492514] [oak]: Setting param right.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.169506144] [oak]: Setting param right.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.169520613] [oak]: Setting param right.i_calibration_file with value [component_container-2] [DEBUG] [1686740263.169532172] [oak]: Setting param right.i_simulate_from_topic with value 0 [component_container-2] [DEBUG] [1686740263.169542103] [oak]: Setting param right.i_simulated_topic_name with value [component_container-2] [DEBUG] [1686740263.169555927] [oak]: Setting param right.i_disable_node with value 0 [component_container-2] [DEBUG] [1686740263.169568002] [oak]: Setting param right.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.169579411] [oak]: Setting param right.i_board_socket_id with value 2 [component_container-2] [DEBUG] [1686740263.170428090] [oak]: Node right has sensor OV9282 [component_container-2] [DEBUG] [1686740263.170447316] [oak]: Creating node right [component_container-2] [DEBUG] [1686740263.170527163] [oak]: Setting param right.i_fps with value 30 [component_container-2] [DEBUG] [1686740263.170544949] [oak]: Setting param right.i_publish_topic with value 0 [component_container-2] [DEBUG] [1686740263.170558735] [oak]: Setting param right.i_resolution with value 720 [component_container-2] [DEBUG] [1686740263.170573133] [oak]: Setting param right.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.170591521] [oak]: Setting param right.i_height with value 720 [component_container-2] [DEBUG] [1686740263.170608928] [oak]: Setting param right.r_iso with value 800 [component_container-2] [DEBUG] [1686740263.170623016] [oak]: Setting param right.r_exposure with value 1000 [component_container-2] [DEBUG] [1686740263.170642009] [oak]: Setting param right.r_set_man_exposure with value 0 [component_container-2] [DEBUG] [1686740263.170654177] [oak]: Setting param right.i_fsync_continuous with value 0 [component_container-2] [DEBUG] [1686740263.170665808] [oak]: Setting param right.i_fsync_trigger with value 0 [component_container-2] [DEBUG] [1686740263.170678471] [oak]: Node right created [component_container-2] [DEBUG] [1686740263.170684845] [oak]: Base node right created [component_container-2] [DEBUG] [1686740263.170930610] [oak]: Setting param stereo.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.170946168] [oak]: Setting param stereo.i_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.170959700] [oak]: Setting param stereo.i_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.170971896] [oak]: Setting param stereo.i_output_disparity with value 0 [component_container-2] [DEBUG] [1686740263.170987444] [oak]: Setting param stereo.i_get_base_device_timestamp with value 1 [component_container-2] [DEBUG] [1686740263.170999745] [oak]: Setting param stereo.i_publish_topic with value 1 [component_container-2] [DEBUG] [1686740263.171011921] [oak]: Setting param stereo.i_publish_left_rect with value 0 [component_container-2] [DEBUG] [1686740263.171025157] [oak]: Setting param stereo.i_left_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.171037309] [oak]: Setting param stereo.i_left_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.171061704] [oak]: Setting param stereo.i_publish_right_rect with value 0 [component_container-2] [DEBUG] [1686740263.171073986] [oak]: Setting param stereo.i_right_rect_low_bandwidth with value 0 [component_container-2] [DEBUG] [1686740263.171087223] [oak]: Setting param stereo.i_right_rect_low_bandwidth_quality with value 50 [component_container-2] [DEBUG] [1686740263.171106518] [oak]: Setting param stereo.i_lr_check with value 1 [component_container-2] [DEBUG] [1686740263.171122560] [oak]: Setting param stereo.i_align_depth with value 1 [component_container-2] [DEBUG] [1686740263.171141421] [oak]: Setting param stereo.i_board_socket_id with value 0 [component_container-2] [DEBUG] [1686740263.171154481] [oak]: Setting param stereo.i_set_input_size with value 0 [component_container-2] [DEBUG] [1686740263.171170758] [oak]: Setting param stereo.i_height with value 720 [component_container-2] [DEBUG] [1686740263.171182417] [oak]: Setting param stereo.i_width with value 1280 [component_container-2] [DEBUG] [1686740263.171195838] [oak]: Setting param stereo.i_depth_preset with value HIGH_ACCURACY [component_container-2] [DEBUG] [1686740263.171220494] [oak]: Setting param stereo.i_enable_distortion_correction with value 1 [component_container-2] [DEBUG] [1686740263.171239666] [oak]: Setting param stereo.i_bilateral_sigma with value 0 [component_container-2] [DEBUG] [1686740263.171252254] [oak]: Setting param stereo.i_lrc_threshold with value 10 [component_container-2] [DEBUG] [1686740263.171266278] [oak]: Setting param stereo.i_depth_filter_size with value 5 [component_container-2] [DEBUG] [1686740263.171279728] [oak]: Setting param stereo.i_stereo_conf_threshold with value 255 [component_container-2] [DEBUG] [1686740263.171293036] [oak]: Setting param stereo.i_subpixel with value 0 [component_container-2] [DEBUG] [1686740263.171306572] [oak]: Setting param stereo.i_extended_disp with value 0 [component_container-2] [DEBUG] [1686740263.171319804] [oak]: Setting param stereo.i_rectify_edge_fill_color with value 0 [component_container-2] [DEBUG] [1686740263.171333421] [oak]: Setting param stereo.i_disparity_width with value DISPARITY_96 [component_container-2] [DEBUG] [1686740263.171356653] [oak]: Setting param stereo.i_enable_companding with value 0 [component_container-2] [DEBUG] [1686740263.171388586] [oak]: Setting param stereo.i_enable_temporal_filter with value 0 [component_container-2] [DEBUG] [1686740263.171412723] [oak]: Setting param stereo.i_enable_speckle_filter with value 0 [component_container-2] [DEBUG] [1686740263.171431755] [oak]: Setting param stereo.i_enable_spatial_filter with value 0 [component_container-2] [DEBUG] [1686740263.171451166] [oak]: Setting param stereo.i_enable_threshold_filter with value 0 [component_container-2] [DEBUG] [1686740263.171471270] [oak]: Setting param stereo.i_enable_decimation_filter with value 0 [component_container-2] [DEBUG] [1686740263.171550774] [oak]: Node stereo created [component_container-2] [DEBUG] [1686740263.171582414] [oak]: Creating node nn base [component_container-2] [DEBUG] [1686740263.171764438] [oak]: Setting param nn.i_nn_config_path with value depthai_ros_driver/mobilenet [component_container-2] [INFO] [1686740263.172243252] [oak]: NN Family: mobilenet [component_container-2] [DEBUG] [1686740263.172338399] [oak]: Creating node nn [component_container-2] [DEBUG] [1686740263.172465032] [oak]: Setting param nn.i_disable_resize with value 0 [component_container-2] [DEBUG] [1686740263.172487615] [oak]: Setting param nn.i_enable_passthrough with value 0 [component_container-2] [DEBUG] [1686740263.172511705] [oak]: Setting param nn.i_enable_passthrough_depth with value 0 [component_container-2] [DEBUG] [1686740263.172528289] [oak]: Setting param nn.i_get_base_device_timestamp with value 0 [component_container-2] [DEBUG] [1686740263.172789571] [oak]: Setting param nn.i_model_path with value /home/nanoamr/ros2_ws/install/depthai_examples/share/depthai_examples/resources/mobilenet-ssd_openvino_2021.2_6shave.blob [component_container-2] [INFO] [1686740263.202341853] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions. [component_container-2] [DEBUG] [1686740263.225983546] [oak]: Setting param nn.i_num_pool_frames with value 4 [component_container-2] [DEBUG] [1686740263.226040244] [oak]: Setting param nn.i_num_inference_threads with value 2 [component_container-2] [DEBUG] [1686740263.226059893] [oak]: Setting param nn.i_max_q_size with value 30 [component_container-2] [DEBUG] [1686740263.226394808] [oak]: Setting param nn.i_label_map with value background aeroplane bicycle bird boat bottle bus car cat chair cow diningtable dog horse motorbike person pottedplant sheep sofa train tvmonitor [component_container-2] [DEBUG] [1686740263.226458067] [oak]: Node nn created [component_container-2] [DEBUG] [1686740263.226528010] [oak]: Base node nn created [component_container-2] [DEBUG] [1686740263.226664874] [oak]: Creating node imu [component_container-2] [1844301071C7AB0F00] [1.13] [0.979] [system] [warning] PRINT:LeonCss: Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read [component_container-2] [1844301071C7AB0F00] [1.13] [1.133] [system] [warning] PRINT:LeonCss: SH2 Reset. [component_container-2] [DEBUG] [1686740263.445320023] [oak]: Setting param imu.i_message_type with value IMU [component_container-2] [DEBUG] [1686740263.445389760] [oak]: Setting param imu.i_sync_method with value LINEAR_INTERPOLATE_ACCEL [component_container-2] [DEBUG] [1686740263.445440089] [oak]: Setting param imu.i_acc_cov with value 0 [component_container-2] [DEBUG] [1686740263.445460762] [oak]: Setting param imu.i_gyro_cov with value 0 [component_container-2] [DEBUG] [1686740263.445478966] [oak]: Setting param imu.i_rot_cov with value -1 [component_container-2] [DEBUG] [1686740263.445493422] [oak]: Setting param imu.i_mag_cov with value 0 [component_container-2] [DEBUG] [1686740263.445514196] [oak]: Setting param imu.i_enable_rotation with value 0 [component_container-2] [DEBUG] [1686740263.445542066] [oak]: Setting param imu.i_acc_freq with value 400 [component_container-2] [DEBUG] [1686740263.445568838] [oak]: Setting param imu.i_gyro_freq with value 400 [component_container-2] [DEBUG] [1686740263.445582782] [oak]: Setting param imu.i_batch_report_threshold with value 1 [component_container-2] [DEBUG] [1686740263.445604714] [oak]: Setting param imu.i_max_batch_reports with value 10 [component_container-2] [DEBUG] [1686740263.445661855] [oak]: Node imu created [component_container-2] [INFO] [1686740263.445704792] [oak]: Finished setting up pipeline. [component_container-2] [2023-06-14 18:57:43.450] [debug] Schema dump: 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[component_container-2] [2023-06-14 18:57:43.450] [debug] Asset map dump: {"map":{"/node/9/blob":{"alignment":64,"offset":0,"size":14510848}}} [component_container-2] [1844301071C7AB0F00] [1.13] [1.265] [system] [warning] PRINT:LeonCss: Calling IPC set assets [component_container-2] [1844301071C7AB0F00] [1.13] [1.375] [system] [warning] PRINT:LeonCss: Asset: /node/9/blob, pointer: 0x8abca200, size: 14510848, alignment: 64 [component_container-2] [1844301071C7AB0F00] [1.13] [1.377] [MonoCamera(4)] [info] Using board socket: 1, id: 1 [component_container-2] [1844301071C7AB0F00] [1.13] [1.378] [MonoCamera(6)] [info] Using board socket: 2, id: 2 [component_container-2] [1844301071C7AB0F00] [1.13] [1.380] [system] [info] SpatialLocationCalculator shave buffer size '54272'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.419] [system] [warning] PRINT:LeonCss: XLinkIn | Created plgPool as shared: 1 [component_container-2] XLinkIn | Created plgPool as shared: 1 [component_container-2] XLinkIn | Created plgPool as shared: 1 [component_container-2] [1844301071C7AB0F00] [1.13] [1.419] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created [component_container-2] [1844301071C7AB0F00] [1.13] [1.381] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.416] [system] [info] ImageManip internal buffer size '297984'B, shave buffer size '35840'B [component_container-2] [1844301071C7AB0F00] [1.13] [1.416] [system] [info] NeuralNetwork allocated resources: shaves: [0-11] cmx slices: [0-11] [component_container-2] ColorCamera allocated resources: no shaves; cmx slices: [13-15] [component_container-2] MonoCamera allocated resources: no shaves; cmx slices: [13-15] [component_container-2] StereoDepth allocated resources: shaves: [12-12] cmx slices: [12-12] [component_container-2] ImageManip allocated resources: shaves: [15-15] no cmx slices. [component_container-2] SpatialLocationCalculator allocated resources: shaves: [14-14] no cmx slices. [component_container-2] [component_container-2] [1844301071C7AB0F00] [1.13] [1.441] [system] [warning] PRINT:LeonMss: NeuralNetwork | Available resources: shaveStart: 0, numShaves: 12, mask: 00000FFF [component_container-2] Initing ImgPreproc system! [component_container-2] [component_container-2] Pre-proc Enc mem used: 46080 bytes. Available: 297984 [component_container-2] [1844301071C7AB0F00] [1.13] [1.432] [SpatialDetectionNetwork(9)] [info] Needed resources: shaves: 6, ddr: 7106432 [component_container-2] [1844301071C7AB0F00] [1.13] [1.447] [SpatialDetectionNetwork(9)] [info] Inference thread count: 2, number of shaves allocated per thread: 6, number of Neural Compute Engines (NCE) allocated per thread: 1 [component_container-2] [DEBUG] [1686740263.741300407] [rcl]: Initializing publisher for topic name '~/nn/spatial_detections' [component_container-2] [DEBUG] [1686740263.741320270] [rcl]: Expanded and remapped topic name '/oak/nn/spatial_detections' [component_container-2] [DEBUG] [1686740263.742261596] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.742550506] [rcl]: Initializing service for service name 'oak/rgb/set_camera_info' [component_container-2] [DEBUG] [1686740263.742557118] [rcl]: Expanded and remapped service name '/oak/rgb/set_camera_info' [component_container-2] [DEBUG] [1686740263.742822237] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.742827227] [rmw_fastrtps_cpp]: Sub Topic rq/oak/rgb/set_camera_infoRequest [component_container-2] [DEBUG] [1686740263.742829190] [rmw_fastrtps_cpp]: Pub Topic rr/oak/rgb/set_camera_infoReply [component_container-2] [DEBUG] [1686740263.742830677] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.742856340] [rcl]: Service initialized [component_container-2] [1844301071C7AB0F00] [1.13] [1.452] [system] [warning] PRINT:LeonCss: [1970-01-01 00:00:01.445] [info] Time taken to build the pipeline: 72ms [component_container-2] == FSYNC enabled for cam mask 0x0 [component_container-2] Broadcast9282: Successfully registered camera TG161B (ov9282) as /dev/Camera_bcast0 [component_container-2] == SW-SYNC: 1, cam mask 0x7 [component_container-2] !!! Master Slave config is: single_master_slave !!! [component_container-2] Starting camera 0 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 0" sent [component_container-2] [component_container-2] [1844301071C7AB0F00] [1.13] [1.452] [system] [warning] PRINT:LeonMss: LRT - build pipeline call [component_container-2] [1844301071C7AB0F00] [1.13] [1.474] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x881c72c0 [component_container-2] [E] hai_cm_driver_load_dtp():852: Features for camera A12N02A (imx378) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [1844301071C7AB0F00] [1.13] [1.485] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 0 started. [component_container-2] [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1920x1080 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [1844301071C7AB0F00] [1.13] [1.496] [system] [warning] PRINT:LeonCss: ============================ Configuring IMX378 with mode 0 [component_container-2] Reading..........Reading VERSION 7 --- -> [component_container-2] [1844301071C7AB0F00] [1.13] [1.507] [system] [warning] PRINT:LeonCss: ========== IMX378 /dev/i2c.Camera_0_sen, FSIN enable 0, output 0 [component_container-2] [DEBUG] [1686740263.822875135] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740263.822888819] [pluginlib.ClassLoader]: Class image_transport/compressedDepth_pub maps to library compressed_depth_image_transport in classes_available. [component_container-2] [DEBUG] [1686740263.823054569] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823057481] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823059126] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823060566] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823061976] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823063523] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823064952] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823066461] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823067875] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823069282] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823070690] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823082354] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823084070] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823085528] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823086973] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823088362] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823089791] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823091170] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823092549] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823093921] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823095330] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823096769] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823098172] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823099577] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823100964] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823102501] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823103899] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823105275] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823106649] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823108110] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823109492] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823110871] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823112248] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823115866] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823117378] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823118781] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823120168] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823121529] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823122887] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823124311] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/lib64/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823125675] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823127053] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823128424] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/libcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823129802] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/liblibcompressed_depth_image_transport.so' [component_container-2] [DEBUG] [1686740263.823131174] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823132566] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823133953] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/libcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823135335] [pluginlib.ClassLoader]: [search path for 'compressed_depth_image_transport']: '/opt/ros/humble/bin/compressed_depth_image_transport/liblibcompressed_depth_image_transportd.so' [component_container-2] [DEBUG] [1686740263.823136995] [pluginlib.ClassLoader]: Iterating through all possible paths where compressed_depth_image_transport could be located... [component_container-2] [DEBUG] [1686740263.823138725] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libcompressed_depth_image_transport.so [component_container-2] [DEBUG] [1686740263.823146161] [pluginlib.ClassLoader]: Library compressed_depth_image_transport found at explicit path /opt/ros/humble/lib/libcompressed_depth_image_transport.so. [component_container-2] [DEBUG] [1686740263.824157163] [pluginlib.ClassLoader]: image_transport/compressedDepth_pub maps to real class type compressed_depth_image_transport::CompressedDepthPublisher [component_container-2] [DEBUG] [1686740263.824170264] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_depth_image_transport::CompressedDepthPublisher created. [component_container-2] [DEBUG] [1686740263.824174982] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/compressedDepth [component_container-2] [DEBUG] [1686740263.824203439] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.824211991] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.824616435] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.824641138] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740263.824645919] [pluginlib.ClassLoader]: Class image_transport/compressed_pub maps to library compressed_image_transport in classes_available. [component_container-2] [DEBUG] [1686740263.824771333] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824773368] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824774964] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824776414] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824777801] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824779175] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824780552] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824781912] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824783289] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824784696] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824786142] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824787525] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824788885] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824790266] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824791629] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824793014] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824794375] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824795763] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824797295] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824798705] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824800082] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824801553] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824802959] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824808805] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824810370] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824811915] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824813415] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824814873] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824816307] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824817757] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824819177] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824820606] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824822019] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824823434] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824824842] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824826262] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824827663] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824829045] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824830445] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824831852] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/lib64/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824833764] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824835308] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824836704] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/libcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824838703] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/liblibcompressed_image_transport.so' [component_container-2] [DEBUG] [1686740263.824840145] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824842969] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824844512] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/libcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824846006] [pluginlib.ClassLoader]: [search path for 'compressed_image_transport']: '/opt/ros/humble/bin/compressed_image_transport/liblibcompressed_image_transportd.so' [component_container-2] [DEBUG] [1686740263.824847675] [pluginlib.ClassLoader]: Iterating through all possible paths where compressed_image_transport could be located... [component_container-2] [DEBUG] [1686740263.824849326] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libcompressed_image_transport.so [component_container-2] [DEBUG] [1686740263.824854364] [pluginlib.ClassLoader]: Library compressed_image_transport found at explicit path /opt/ros/humble/lib/libcompressed_image_transport.so. [component_container-2] [DEBUG] [1686740263.825799604] [pluginlib.ClassLoader]: image_transport/compressed_pub maps to real class type compressed_image_transport::CompressedPublisher [component_container-2] [DEBUG] [1686740263.825808989] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_image_transport::CompressedPublisher created. [component_container-2] [DEBUG] [1686740263.825814518] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/compressed [component_container-2] [DEBUG] [1686740263.825827134] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.825830944] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.825940178] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.826079567] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/raw_pub. [component_container-2] [DEBUG] [1686740263.826084006] [pluginlib.ClassLoader]: Class image_transport/raw_pub maps to library image_transport_plugins in classes_available. [component_container-2] [DEBUG] [1686740263.826189696] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826191817] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826193374] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826194836] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826196304] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826197720] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826199145] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826200562] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826201981] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826203431] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826204838] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826206354] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826207736] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826214500] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826216227] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826217677] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826219081] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826220467] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826221889] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826223272] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826224648] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826226045] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826227415] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826228814] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826230192] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826231665] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826233069] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826234487] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826235915] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826237276] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826238742] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826240105] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826241486] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826242849] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826244220] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826245581] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826246943] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826248321] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826253518] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826255029] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/lib64/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826256434] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826257848] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826259236] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/libimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826260631] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/liblibimage_transport_plugins.so' [component_container-2] [DEBUG] [1686740263.826262050] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826263437] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826264809] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/libimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826266174] [pluginlib.ClassLoader]: [search path for 'image_transport_plugins']: '/opt/ros/humble/bin/image_transport/liblibimage_transport_pluginsd.so' [component_container-2] [DEBUG] [1686740263.826267783] [pluginlib.ClassLoader]: Iterating through all possible paths where image_transport_plugins could be located... [component_container-2] [DEBUG] [1686740263.826269362] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libimage_transport_plugins.so [component_container-2] [DEBUG] [1686740263.826274213] [pluginlib.ClassLoader]: Library image_transport_plugins found at explicit path /opt/ros/humble/lib/libimage_transport_plugins.so. [component_container-2] [DEBUG] [1686740263.826572555] [pluginlib.ClassLoader]: image_transport/raw_pub maps to real class type image_transport::RawPublisher [component_container-2] [DEBUG] [1686740263.826580936] [pluginlib.ClassLoader]: std::unique_ptr to object of real type image_transport::RawPublisher created. [component_container-2] [DEBUG] [1686740263.826583905] [oak]: getTopicToAdvertise: /oak/rgb/image_raw [component_container-2] [DEBUG] [1686740263.826595195] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw' [component_container-2] [DEBUG] [1686740263.826598730] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw' [component_container-2] [DEBUG] [1686740263.826761025] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.826771210] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/theora_pub. [component_container-2] [DEBUG] [1686740263.826775161] [pluginlib.ClassLoader]: Class image_transport/theora_pub maps to library theora_image_transport_component in classes_available. [component_container-2] [DEBUG] [1686740263.826876574] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826878430] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826879917] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826881338] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826882731] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826884106] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826890239] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826891771] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826893187] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826894607] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826895979] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826897363] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826898732] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826900096] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826901495] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826902858] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826904247] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826905604] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826907026] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826909071] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826910479] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826911864] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826913242] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826914612] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826915996] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826917483] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826918920] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826920338] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826921750] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826924605] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826926132] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826927558] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826928927] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826930298] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826931667] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826933022] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826934376] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826935776] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826937144] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826938529] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/lib64/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826940411] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826941796] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826943188] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/libtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826944579] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/liblibtheora_image_transport_component.so' [component_container-2] [DEBUG] [1686740263.826945943] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826947299] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826948687] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/libtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826950049] [pluginlib.ClassLoader]: [search path for 'theora_image_transport_component']: '/opt/ros/humble/bin/theora_image_transport/liblibtheora_image_transport_componentd.so' [component_container-2] [DEBUG] [1686740263.826951700] [pluginlib.ClassLoader]: Iterating through all possible paths where theora_image_transport_component could be located... [component_container-2] [DEBUG] [1686740263.826953213] [pluginlib.ClassLoader]: Checking path /opt/ros/humble/lib/libtheora_image_transport_component.so [component_container-2] [DEBUG] [1686740263.826959121] [pluginlib.ClassLoader]: Library theora_image_transport_component found at explicit path /opt/ros/humble/lib/libtheora_image_transport_component.so. [component_container-2] [DEBUG] [1686740263.829040052] [pluginlib.ClassLoader]: image_transport/theora_pub maps to real class type theora_image_transport::TheoraPublisher [component_container-2] [DEBUG] [1686740263.829055708] [pluginlib.ClassLoader]: std::unique_ptr to object of real type theora_image_transport::TheoraPublisher created. [component_container-2] [DEBUG] [1686740263.829060148] [oak]: getTopicToAdvertise: /oak/rgb/image_raw/theora [component_container-2] [DEBUG] [1686740263.829074154] [rcl]: Initializing publisher for topic name '/oak/rgb/image_raw/theora' [component_container-2] [DEBUG] [1686740263.829077799] [rcl]: Expanded and remapped topic name '/oak/rgb/image_raw/theora' [component_container-2] [DEBUG] [1686740263.829359296] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829380663] [rcl]: Initializing publisher for topic name '/oak/rgb/camera_info' [component_container-2] [DEBUG] [1686740263.829384363] [rcl]: Expanded and remapped topic name '/oak/rgb/camera_info' [component_container-2] [DEBUG] [1686740263.829539235] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829691072] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressedDepth_pub. [component_container-2] [DEBUG] [1686740263.829697037] [pluginlib.ClassLoader]: image_transport/compressedDepth_pub maps to real class type compressed_depth_image_transport::CompressedDepthPublisher [component_container-2] [DEBUG] [1686740263.829702261] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_depth_image_transport::CompressedDepthPublisher created. [component_container-2] [DEBUG] [1686740263.829704789] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/compressedDepth [component_container-2] [DEBUG] [1686740263.829711448] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.829714158] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/compressedDepth' [component_container-2] [DEBUG] [1686740263.829784466] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829790808] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/compressed_pub. [component_container-2] [DEBUG] [1686740263.829794356] [pluginlib.ClassLoader]: image_transport/compressed_pub maps to real class type compressed_image_transport::CompressedPublisher [component_container-2] [DEBUG] [1686740263.829799464] [pluginlib.ClassLoader]: std::unique_ptr to object of real type compressed_image_transport::CompressedPublisher created. [component_container-2] [DEBUG] [1686740263.829801766] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/compressed [component_container-2] [DEBUG] [1686740263.829807298] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.829809835] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/compressed' [component_container-2] [DEBUG] [1686740263.829868746] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.829971706] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/raw_pub. [component_container-2] [DEBUG] [1686740263.829975813] [pluginlib.ClassLoader]: image_transport/raw_pub maps to real class type image_transport::RawPublisher [component_container-2] [DEBUG] [1686740263.829981234] [pluginlib.ClassLoader]: std::unique_ptr to object of real type image_transport::RawPublisher created. [component_container-2] [DEBUG] [1686740263.829983359] [oak]: getTopicToAdvertise: /oak/stereo/image_raw [component_container-2] [DEBUG] [1686740263.829988986] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw' [component_container-2] [DEBUG] [1686740263.829991665] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw' [component_container-2] [DEBUG] [1686740263.830057700] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830062527] [pluginlib.ClassLoader]: Attempting to create managed (unique) instance for class image_transport/theora_pub. [component_container-2] [DEBUG] [1686740263.830066093] [pluginlib.ClassLoader]: image_transport/theora_pub maps to real class type theora_image_transport::TheoraPublisher [component_container-2] [DEBUG] [1686740263.830072761] [pluginlib.ClassLoader]: std::unique_ptr to object of real type theora_image_transport::TheoraPublisher created. [component_container-2] [DEBUG] [1686740263.830074951] [oak]: getTopicToAdvertise: /oak/stereo/image_raw/theora [component_container-2] [DEBUG] [1686740263.830079480] [rcl]: Initializing publisher for topic name '/oak/stereo/image_raw/theora' [component_container-2] [DEBUG] [1686740263.830089219] [rcl]: Expanded and remapped topic name '/oak/stereo/image_raw/theora' [component_container-2] [DEBUG] [1686740263.830149322] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830154535] [rcl]: Initializing publisher for topic name '/oak/stereo/camera_info' [component_container-2] [DEBUG] [1686740263.830156769] [rcl]: Expanded and remapped topic name '/oak/stereo/camera_info' [component_container-2] [DEBUG] [1686740263.830208307] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.830233655] [rcl]: Initializing service for service name 'oak/stereo/set_camera_info' [component_container-2] [DEBUG] [1686740263.830236638] [rcl]: Expanded and remapped service name '/oak/stereo/set_camera_info' [component_container-2] [DEBUG] [1686740263.830337346] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.830339915] [rmw_fastrtps_cpp]: Sub Topic rq/oak/stereo/set_camera_infoRequest [component_container-2] [DEBUG] [1686740263.830341500] [rmw_fastrtps_cpp]: Pub Topic rr/oak/stereo/set_camera_infoReply [component_container-2] [DEBUG] [1686740263.830342842] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.830361296] [rcl]: Service initialized [component_container-2] [1844301071C7AB0F00] [1.13] [1.518] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [1844301071C7AB0F00] [1.13] [1.529] [system] [warning] PRINT:LeonCss: [E] callback():123: Camera CB START_DONE event. [component_container-2] [E] app_guzzi_command_callback():173: command->id:5 [component_container-2] [E] camera_control_focus_trigger():591: Focus trigger succeeded camera_id = 0. [component_container-2] [component_container-2] [E] app_guzzi_command_callback():218: command "5 0" sent [component_container-2] [component_container-2] Starting camera 1 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 1" sent [component_container-2] [component_container-2] [1844301071C7AB0F00] [1.13] [1.551] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87d208c0 [component_container-2] [E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [1844301071C7AB0F00] [1.13] [1.562] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 1 started. [component_container-2] [component_container-2] [E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()! [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] === osDrvOV9282Control: set mode for Camera_1_sen [component_container-2] [1844301071C7AB0F00] [1.13] [1.573] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] initial keepalive, countdown: 8 [component_container-2] [1844301071C7AB0F00] [1.13] [1.584] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- -> [component_container-2] [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [1844301071C7AB0F00] [1.13] [1.595] [system] [warning] PRINT:LeonCss: [E] callback():123: Camera CB START_DONE event. [component_container-2] Starting camera 2 [component_container-2] [E] app_guzzi_command_callback():173: command->id:1 [component_container-2] [E] app_guzzi_command_callback():193: command "1 2" sent [component_container-2] [component_container-2] [1844301071C7AB0F00] [1.13] [1.606] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x87888100 [component_container-2] [1844301071C7AB0F00] [1.13] [1.617] [system] [warning] PRINT:LeonCss: [E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received [component_container-2] [E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0 [component_container-2] [E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0 [component_container-2] [E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0 [component_container-2] [E] camera_control_start():347: Camera_id = 2 started. [component_container-2] [component_container-2] [E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()! [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] [E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x720 at 0x0 fps min 0.000000 max 30.000000 [component_container-2] === osDrvOV9282Control: set mode for Camera_2_sen [component_container-2] [1844301071C7AB0F00] [1.13] [1.628] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain [component_container-2] Reading..........Reading VERSION 7 --- -> [component_container-2] [DEBUG] [1686740263.896403455] [rcl]: Initializing publisher for topic name '~/imu/data' [component_container-2] [DEBUG] [1686740263.896421056] [rcl]: Expanded and remapped topic name '/oak/imu/data' [component_container-2] [DEBUG] [1686740263.896714826] [rcl]: Publisher initialized [component_container-2] [DEBUG] [1686740263.900254148] [rcl]: Initializing service for service name '~/start_camera' [component_container-2] [DEBUG] [1686740263.900267719] [rcl]: Expanded and remapped service name '/oak/start_camera' [component_container-2] [DEBUG] [1686740263.900587245] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.900593826] [rmw_fastrtps_cpp]: Sub Topic rq/oak/start_cameraRequest [component_container-2] [DEBUG] [1686740263.900595730] [rmw_fastrtps_cpp]: Pub Topic rr/oak/start_cameraReply [component_container-2] [DEBUG] [1686740263.900597114] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.900630575] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900696028] [rcl]: Initializing service for service name '~/stop_camera' [component_container-2] [DEBUG] [1686740263.900699966] [rcl]: Expanded and remapped service name '/oak/stop_camera' [component_container-2] [DEBUG] [1686740263.900788525] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.900791070] [rmw_fastrtps_cpp]: Sub Topic rq/oak/stop_cameraRequest [component_container-2] [DEBUG] [1686740263.900792578] [rmw_fastrtps_cpp]: Pub Topic rr/oak/stop_cameraReply [component_container-2] [DEBUG] [1686740263.900793916] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.900814209] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900823259] [rcl]: Initializing service for service name '~/save_pipeline' [component_container-2] [DEBUG] [1686740263.900826078] [rcl]: Expanded and remapped service name '/oak/save_pipeline' [component_container-2] [DEBUG] [1686740263.900897009] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.900899114] [rmw_fastrtps_cpp]: Sub Topic rq/oak/save_pipelineRequest [component_container-2] [DEBUG] [1686740263.900900599] [rmw_fastrtps_cpp]: Pub Topic rr/oak/save_pipelineReply [component_container-2] [DEBUG] [1686740263.900901955] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.900919234] [rcl]: Service initialized [component_container-2] [DEBUG] [1686740263.900926191] [rcl]: Initializing service for service name '~/save_calibration' [component_container-2] [DEBUG] [1686740263.900928671] [rcl]: Expanded and remapped service name '/oak/save_calibration' [component_container-2] [DEBUG] [1686740263.900992877] [rmw_fastrtps_cpp]: ************ Service Details ********* [component_container-2] [DEBUG] [1686740263.900994726] [rmw_fastrtps_cpp]: Sub Topic rq/oak/save_calibrationRequest [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-2] [DEBUG] [1686740263.900996196] [rmw_fastrtps_cpp]: Pub Topic rr/oak/save_calibrationReply [component_container-2] [DEBUG] [1686740263.900997557] [rmw_fastrtps_cpp]: *********** [component_container-2] [DEBUG] [1686740263.901015446] [rcl]: Service initialized [component_container-2] [INFO] [1686740263.901019650] [oak]: Camera ready! [component_container-2] [DEBUG] [1686740263.901100691] [rcl]: Sending service response [component_container-2] [DEBUG] [1686740263.901158483] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901167258] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901172423] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901175135] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901191683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901194031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901206351] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901208612] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901217371] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901219447] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901222510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901225518] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901233984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901235957] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901238092] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901240111] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901247832] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901249793] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901251760] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901253800] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901261224] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901263168] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901265136] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901266994] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901274304] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901276202] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901278223] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901280069] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901287446] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901289432] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901291409] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901293300] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901300747] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901302689] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901304650] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901306610] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901313950] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901315854] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901317830] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901319782] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901327180] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901329082] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901331100] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901332951] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901340265] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901342143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901344110] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901345988] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901353321] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901355326] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901358229] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901360351] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901367822] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901369720] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901371730] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901375026] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901382683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901384581] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901386554] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901388463] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901395878] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901398518] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901400593] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901402507] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901409913] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901413876] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901415889] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901417724] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901432005] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901434187] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901436162] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901437984] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901445541] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901447528] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901449496] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901451361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901458673] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901460604] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901462542] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901464501] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901471800] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901473728] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901475690] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901477624] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901485011] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901486996] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901488954] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901490876] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901498236] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901500268] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901502307] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901504254] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901511787] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901513747] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901515698] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901517548] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901524826] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901526760] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901528741] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901530815] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901538143] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901540063] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901542088] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901544000] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901551401] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901553384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901555335] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901557213] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901564529] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901566596] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901568709] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901570728] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901578149] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901580669] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901584170] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901586346] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901593730] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901595626] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901597582] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901600665] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901608683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901610664] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901612703] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901614598] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901623845] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901625726] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901627675] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901629710] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901637009] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901638977] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901640925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901642713] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901650100] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901652088] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901655129] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901657426] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901664874] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901666760] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901668731] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901670629] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901677933] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901679845] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901681830] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901683707] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901691079] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901693061] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901695010] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901696910] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901704282] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901706162] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901708076] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901710015] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901717347] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901719252] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901722306] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901724411] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901731954] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901733942] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901735903] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901737921] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901745276] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901747178] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901749130] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901750983] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901758341] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901760217] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901762176] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901764072] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901771399] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901773280] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901775240] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901777172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901784451] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901786335] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901788313] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901790264] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901798458] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901800700] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901802665] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901804905] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901812346] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901814212] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901816187] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901818111] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901826973] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901828909] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901830856] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901832656] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901840058] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901841910] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901843853] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901845702] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901853072] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901855005] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901856960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901858885] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901866480] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901868380] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901870358] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901872193] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901879560] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901881552] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901883532] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901885422] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901892720] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901894602] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901896536] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901898363] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901905699] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901907572] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901909506] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901911380] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901918689] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901920586] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901923508] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901925675] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901933049] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901935030] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901936999] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901938828] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901946152] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901948058] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901950017] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901951884] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901959210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901961094] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901963035] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901964860] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901972132] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901974037] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901975986] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901978054] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901985468] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901987503] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901989517] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.901991461] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.901998796] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902000707] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902003138] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902004966] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902012329] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902014332] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902016286] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902021544] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902028922] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902030864] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902032819] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902034670] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902041970] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902043856] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902045806] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902047666] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902054997] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902056880] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902058832] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902060643] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902067925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902069803] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902071784] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902073698] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902081033] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902082977] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902084925] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902086738] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902094011] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902096019] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902097998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902099806] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902107083] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902108953] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902110890] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902112697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902119966] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902121837] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902123880] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902125919] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902133302] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902135209] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902137185] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902138982] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902146314] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902148217] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902150150] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902152017] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902159350] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902161352] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902163313] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902165155] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902172467] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902174327] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902176250] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902178164] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902185481] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902187329] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902189293] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902191188] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902198529] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902200432] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902202362] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902204277] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902211589] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902213592] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902217009] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902219079] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902226382] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902228288] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902230233] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902232104] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902239357] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902241350] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902243310] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902245232] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902252620] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902254574] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902256584] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902258408] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902265736] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902267599] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902269587] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902271482] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902278759] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902280648] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902282594] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902284445] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902291776] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902293667] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902295668] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902297513] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902304866] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902306766] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902308727] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902310539] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902317852] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902319767] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902321732] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902323549] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902330865] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902332829] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902334768] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902336699] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902343984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902346015] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902347998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902349809] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902357130] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902359035] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902361001] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902362894] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902370129] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902372012] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902373987] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902378143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902385544] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902387619] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902389596] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902391516] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902398921] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902400984] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902402923] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902404747] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902412083] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902413998] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902417349] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902419260] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902426570] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902428484] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902430437] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902432225] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902439947] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902441962] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902443928] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902445854] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902453178] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902455095] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902457046] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902458888] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902466233] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902468105] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902470042] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902471904] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902479242] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902481099] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902483054] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902484842] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902493032] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902495172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902497120] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902499040] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902506448] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902508325] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902510284] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902512101] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902519342] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902521455] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902523416] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902525228] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902532567] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902534468] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902536398] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902538201] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902545509] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902547384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902549351] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902551172] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902558557] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902560441] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902562380] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902565597] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902573099] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902574950] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902576887] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902578859] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902586240] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902588110] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902590063] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902591889] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902599272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902601173] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902603128] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902605063] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902612450] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902615827] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902617800] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902619733] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902627089] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902629004] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902630983] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902633238] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902640550] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902642485] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902644426] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902646274] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902653669] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902655590] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902657524] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902659397] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902666742] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902668633] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902670608] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902672506] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902679877] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902681727] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902683666] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902685524] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902693006] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902694889] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902696840] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902698646] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902705998] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902707897] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902709810] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902711703] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902718960] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902720846] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902722813] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902724750] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902732042] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902733909] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902735847] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902737796] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902745112] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902747027] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902748976] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902750812] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902758113] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902759989] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902761926] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902763845] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902771126] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902773003] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902774939] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902776824] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902784138] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902786031] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902787974] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902789858] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902797140] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902799041] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902800994] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902802974] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902810285] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902813541] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902815555] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902817384] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902824693] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902826847] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902829326] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902831275] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902838766] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902840665] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902842630] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902844566] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902852173] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902854124] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902856111] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902858076] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902865543] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902867521] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902869517] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902871553] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902878847] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902880777] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902882734] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902884549] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902891885] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902893767] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902895697] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902897560] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902904851] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902906805] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902909253] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902911840] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902919281] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902921168] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902923210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902925268] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902932622] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902934536] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902936510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902938459] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902945790] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902947690] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902949635] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902951514] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902958802] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902960697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902962660] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902964479] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902971845] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902973724] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902975683] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902978285] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902985722] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902988062] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902990053] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.902991929] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.902999210] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903001221] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903003189] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903005121] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903013888] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903015862] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903017842] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903019671] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903027062] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903029247] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903031191] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903033142] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903040496] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903042501] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903044458] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903046322] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903053653] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903055643] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903057574] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903059361] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903066658] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903068533] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903070510] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903072440] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903079759] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903081660] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903083629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903085513] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903094108] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903096267] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903098219] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903100011] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903107460] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903109313] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903111272] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903113055] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903120418] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903122323] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903124284] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903126078] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903133505] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903135399] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903137333] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903139242] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903146767] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903148678] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903150629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903152552] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903159984] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903161861] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903163833] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903165614] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903173107] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903175039] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903177137] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903179068] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903186665] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903188934] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903190941] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903192794] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903200347] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903202228] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903204149] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903207439] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903214955] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903216874] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903218841] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903220676] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903228441] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903230397] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903232352] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903234148] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903241449] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903243340] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903245276] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903247222] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903254798] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903256697] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903258666] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903260664] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903268161] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903270092] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903272032] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903274143] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903281629] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903284105] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903286692] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903288821] [rcl]: Subscription take succeeded: true [component_container-2] [DEBUG] [1686740263.903296492] [rcl]: Subscription taking message [component_container-2] [DEBUG] [1686740263.903298722] [rcl]: Subscription take succeeded: true [component_container-2] [1844301071C7AB0F00] [1.13] [1.639] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok [component_container-2] [E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient [component_container-2] [E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient [component_container-2] [E] callback():123: Camera CB START_DONE event. [component_container-2] Starting Guzzi command handling loop... [component_container-2] inc_camera_process set exposure and gain [component_container-2] [1844301071C7AB0F00] [1.13] [1.650] [system] [warning] PRINT:LeonCss: SH2 Reset. [component_container-2] 800.000 mA -> 67 [component_container-2] dot: 800.00 mA, flood: 0.00 mA, duty = 0.28 [component_container-2] ===== IR write bus 2: 0x04 = 0x43 [component_container-2] ===== IR write bus 2: 0x01 = 0x26 [component_container-2] 0.000 mA -> 0 [component_container-2] dot: 800.00 mA, flood: 0.00 mA, duty = 0.28 [component_container-2] ===== IR write bus 2: 0x03 = 0x00 [component_container-2] ===== IR write bus 2: 0x01 = 0x26 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] IMU product ID: [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004563 : Version 3.9.9 Build 2 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10003606 : Version 1.8.0 Build 338 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004135 : Version 5.5.3 Build 162 [component_container-2] [1844301071C7AB0F00] [1.13] [1.669] [IMU(12)] [info] Part 10004149 : Version 5.1.12 Build 183 [component_container-2] [1844301071C7AB0F00] [1.13] [1.672] [system] [warning] PRINT:LeonCss: waited for reset 0 ms [component_container-2] [1844301071C7AB0F00] [1.13] [1.683] [system] [warning] PRINT:LeonMss: finishe [component_container-2] [1844301071C7AB0F00] [1.13] [1.694] [system] [warning] PRINT:LeonMss: d sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Rectification mesh loaded, will override camera intrinsics/extrinsics matrices [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Depth baseline: '7.5000005' cm, focal length: '801.56976' [component_container-2] [1844301071C7AB0F00] [1.13] [1.743] [StereoDepth(3)] [info] Depth horizontal FOV: '63.94461', vertical FOV: '38.693478' [component_container-2] [1844301071C7AB0F00] [1.13] [1.749] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.771] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.804] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT [component_container-2] finished sippPrePrepareLinesFreeRT [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.66 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Temperatures - Average: 43.04C, CSS: 43.96C, MSS 42.35C, UPA: 43.50C, DSS: 42.35C [component_container-2] [1844301071C7AB0F00] [1.13] [1.886] [system] [info] Cpu Usage - LeonOS 50.88%, LeonRT: 39.90% [component_container-2] [1844301071C7AB0F00] [1.13] [2.860] [system] [warning] PRINT:LeonCss: [E] inc_cam_evt_notify():332: Lens move command received while lens is in progress [component_container-2] [1844301071C7AB0F00] [1.13] [2.882] [system] [warning] PRINT:LeonCss: [E] inc_cam_evt_notify():332: Lens move command received while lens is in progress [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Temperatures - Average: 44.92C, CSS: 46.23C, MSS 44.18C, UPA: 45.32C, DSS: 43.96C [component_container-2] [1844301071C7AB0F00] [1.13] [2.887] [system] [info] Cpu Usage - LeonOS 88.15%, LeonRT: 54.20% [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Temperatures - Average: 45.32C, CSS: 46.68C, MSS 45.09C, UPA: 45.32C, DSS: 44.18C [component_container-2] [1844301071C7AB0F00] [1.13] [3.888] [system] [info] Cpu Usage - LeonOS 86.19%, LeonRT: 53.17% [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Temperatures - Average: 46.23C, CSS: 46.90C, MSS 46.00C, UPA: 46.90C, DSS: 45.09C [component_container-2] [1844301071C7AB0F00] [1.13] [4.890] [system] [info] Cpu Usage - LeonOS 86.48%, LeonRT: 52.08% [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Temperatures - Average: 46.45C, CSS: 46.90C, MSS 46.45C, UPA: 46.90C, DSS: 45.55C [component_container-2] [1844301071C7AB0F00] [1.13] [5.892] [system] [info] Cpu Usage - LeonOS 87.12%, LeonRT: 52.50% [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Temperatures - Average: 46.39C, CSS: 47.58C, MSS 45.77C, UPA: 46.90C, DSS: 45.32C [component_container-2] [1844301071C7AB0F00] [1.13] [6.893] [system] [info] Cpu Usage - LeonOS 86.03%, LeonRT: 51.17% [component_container-2] [1844301071C7AB0F00] [1.13] [7.894] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [7.895] [system] [info] Temperatures - Average: 47.18C, CSS: 48.03C, MSS 47.13C, UPA: 47.80C, DSS: 45.77C [component_container-2] [1844301071C7AB0F00] [1.13] [7.895] [system] [info] Cpu Usage - LeonOS 87.30%, LeonRT: 50.41% [component_container-2] [1844301071C7AB0F00] [1.13] [8.897] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [8.897] [system] [info] Temperatures - Average: 47.52C, CSS: 47.80C, MSS 47.13C, UPA: 48.47C, DSS: 46.68C [component_container-2] [1844301071C7AB0F00] [1.13] [8.898] [system] [info] Cpu Usage - LeonOS 86.54%, LeonRT: 51.22% [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Temperatures - Average: 47.46C, CSS: 48.47C, MSS 47.13C, UPA: 48.03C, DSS: 46.23C [component_container-2] [1844301071C7AB0F00] [1.13] [9.899] [system] [info] Cpu Usage - LeonOS 87.57%, LeonRT: 50.19% [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Temperatures - Average: 48.02C, CSS: 48.47C, MSS 48.25C, UPA: 49.37C, DSS: 46.00C [component_container-2] [1844301071C7AB0F00] [1.13] [10.901] [system] [info] Cpu Usage - LeonOS 87.03%, LeonRT: 52.33% [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Temperatures - Average: 47.91C, CSS: 49.59C, MSS 47.35C, UPA: 48.25C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [11.903] [system] [info] Cpu Usage - LeonOS 87.67%, LeonRT: 53.69% [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Temperatures - Average: 47.52C, CSS: 48.70C, MSS 46.90C, UPA: 48.47C, DSS: 46.00C [component_container-2] [1844301071C7AB0F00] [1.13] [12.905] [system] [info] Cpu Usage - LeonOS 86.69%, LeonRT: 51.16% [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.34 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Temperatures - Average: 48.19C, CSS: 48.70C, MSS 48.03C, UPA: 48.92C, DSS: 47.13C [component_container-2] [1844301071C7AB0F00] [1.13] [13.907] [system] [info] Cpu Usage - LeonOS 86.71%, LeonRT: 51.44% [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Temperatures - Average: 48.36C, CSS: 49.81C, MSS 48.25C, UPA: 48.92C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [14.909] [system] [info] Cpu Usage - LeonOS 87.19%, LeonRT: 52.60% [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Temperatures - Average: 48.13C, CSS: 49.59C, MSS 47.58C, UPA: 48.92C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [15.911] [system] [info] Cpu Usage - LeonOS 86.76%, LeonRT: 51.22% [component_container-2] [1844301071C7AB0F00] [1.13] [16.912] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [16.913] [system] [info] Temperatures - Average: 48.70C, CSS: 49.81C, MSS 48.25C, UPA: 48.92C, DSS: 47.80C [component_container-2] [1844301071C7AB0F00] [1.13] [16.913] [system] [info] Cpu Usage - LeonOS 86.86%, LeonRT: 51.44% [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Temperatures - Average: 48.30C, CSS: 49.59C, MSS 47.35C, UPA: 49.81C, DSS: 46.45C [component_container-2] [1844301071C7AB0F00] [1.13] [17.915] [system] [info] Cpu Usage - LeonOS 86.82%, LeonRT: 49.90% [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Temperatures - Average: 49.14C, CSS: 50.03C, MSS 49.14C, UPA: 50.03C, DSS: 47.35C [component_container-2] [1844301071C7AB0F00] [1.13] [18.917] [system] [info] Cpu Usage - LeonOS 87.46%, LeonRT: 50.46% [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Temperatures - Average: 49.03C, CSS: 50.25C, MSS 48.70C, UPA: 49.59C, DSS: 47.58C [component_container-2] [1844301071C7AB0F00] [1.13] [19.919] [system] [info] Cpu Usage - LeonOS 86.42%, LeonRT: 51.05% [component_container-2] [1844301071C7AB0F00] [1.13] [20.920] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [20.921] [system] [info] Temperatures - Average: 48.75C, CSS: 50.25C, MSS 48.47C, UPA: 49.14C, DSS: 47.13C [component_container-2] [1844301071C7AB0F00] [1.13] [20.921] [system] [info] Cpu Usage - LeonOS 87.17%, LeonRT: 53.18% [component_container-2] [1844301071C7AB0F00] [1.13] [21.922] [system] [info] Memory Usage - DDR: 201.46 / 340.34 MiB, CMX: 2.47 / 2.50 MiB, LeonOS Heap: 49.92 / 77.23 MiB, LeonRT Heap: 6.33 / 41.14 MiB [component_container-2] [1844301071C7AB0F00] [1.13] [21.923] [system] [info] Temperatures - Average: 48.86C, CSS: 49.81C, MSS 48.70C, UPA: 49.59C, DSS: 47.35C [component_container-2] [1844301071C7AB0F00] [1.13] [21.923] [system] [info] Cpu Usage - LeonOS 86.95%, LeonRT: 49.77% [ERROR] [component_container-2]: process has died [pid 79346, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level debug --ros-args -r __node:=oak_container -r __ns:=/']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-1] [INFO] [1686740343.198757355] [rclcpp]: signal_handler(signum=2) [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 79344]

Jun 14 '23 11:06 osama-z-salah

Could you run export DEPTHAI_DEBUG=1 and post logs that you get after running launch files?

SOrry for my late reply. Would you like my logs as well?

Jun 15 '23 21:06 raitzjm

Hi,

I am getting the same error when I launch the camera.launch.py in any mode.

How do I solve this?

The following is the debug output link: Link

Jul 01 '24 21:07 Shivam7Sharma

Hi @Shivam7Sharma , could you run the camera node with gdb to find the exact point of error? You can try using use_gdb:=true launch argument which should make it easier

Jul 02 '24 15:07 Serafadam

@Serafadam Thank you for the quick reply. The following is the output with the gdb:

shivam157@ubuntu:~/dai_ws_non_prod$ ros2 launch depthai_ros_driver camera.launch.py use_gdb:=true
[INFO] [launch]: All log files can be found below /home/shivam157/.ros/log/2024-07-02-11-21-14-677889-ubuntu-9096
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gdb-1]: process started with pid [9113]
[gdb-1] GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
[gdb-1] Copyright (C) 2022 Free Software Foundation, Inc.
[gdb-1] License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
[gdb-1] This is free software: you are free to change and redistribute it.
[gdb-1] There is NO WARRANTY, to the extent permitted by law.
[gdb-1] Type "show copying" and "show warranty" for details.
[gdb-1] This GDB was configured as "aarch64-linux-gnu".
[gdb-1] Type "show configuration" for configuration details.
[gdb-1] For bug reporting instructions, please see:
[gdb-1] <https://www.gnu.org/software/gdb/bugs/>.
[gdb-1] Find the GDB manual and other documentation resources online at:
[gdb-1]     <http://www.gnu.org/software/gdb/documentation/>.
[gdb-1] 
[gdb-1] For help, type "help".
[gdb-1] Type "apropos word" to search for commands related to "word"...
[gdb-1] Reading symbols from /opt/ros/humble/lib/rclcpp_components/component_container...
[gdb-1] (No debugging symbols found in /opt/ros/humble/lib/rclcpp_components/component_container)
[gdb-1] Starting program: /opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/
[gdb-1] [Thread debugging using libthread_db enabled]
[gdb-1] Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
[gdb-1] [New Thread 0xfffff667e8e0 (LWP 9134)]
[gdb-1] [New Thread 0xfffff5e6e8e0 (LWP 9135)]
[gdb-1] [New Thread 0xfffff55d78e0 (LWP 9136)]
[gdb-1] [New Thread 0xfffff4dc78e0 (LWP 9137)]
[gdb-1] [New Thread 0xfffff45b78e0 (LWP 9138)]
[gdb-1] [New Thread 0xfffff3da78e0 (LWP 9139)]
[gdb-1] [New Thread 0xfffff35978e0 (LWP 9140)]
[gdb-1] [New Thread 0xfffff2cc78e0 (LWP 9141)]
[gdb-1] [New Thread 0xfffff249e8e0 (LWP 9154)]
[gdb-1] [INFO] [1719933676.666819772] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[gdb-1] [INFO] [1719933676.828926148] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1719933676.829058808] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1719933676.889019062] [oak_state_publisher]: got segment oak
[gdb-1] [INFO] [1719933676.889169257] [oak_state_publisher]: got segment oak-d-base-frame
[gdb-1] [INFO] [1719933676.889189095] [oak_state_publisher]: got segment oak_imu_frame
[gdb-1] [INFO] [1719933676.889198855] [oak_state_publisher]: got segment oak_left_camera_frame
[gdb-1] [INFO] [1719933676.889207590] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[gdb-1] [INFO] [1719933676.889216229] [oak_state_publisher]: got segment oak_model_origin
[gdb-1] [INFO] [1719933676.889224580] [oak_state_publisher]: got segment oak_rgb_camera_frame
[gdb-1] [INFO] [1719933676.889234851] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[gdb-1] [INFO] [1719933676.889243555] [oak_state_publisher]: got segment oak_right_camera_frame
[gdb-1] [INFO] [1719933676.889251362] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[gdb-1] [INFO] [1719933676.912779848] [oak_container]: Load Library: /home/shivam157/dai_ws_non_prod/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[gdb-1] [New Thread 0xffffceffe8e0 (LWP 9173)]
[gdb-1] [New Thread 0xffffce7ee8e0 (LWP 9174)]
[gdb-1] [New Thread 0xffffc9fde8e0 (LWP 9175)]
[gdb-1] [New Thread 0xffffc97ce8e0 (LWP 9176)]
[gdb-1] [New Thread 0xffffc6fbe8e0 (LWP 9177)]
[gdb-1] [INFO] [1719933679.188285504] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [INFO] [1719933679.188433331] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [New Thread 0xffffc274e8e0 (LWP 9178)]
[gdb-1] [New Thread 0xffffc1f3e8e0 (LWP 9179)]
[gdb-1] [New Thread 0xffffbbffe8e0 (LWP 9180)]
[gdb-1] [INFO] [1719933679.224965184] [oak]: No ip/mxid specified, connecting to the next available device.
[gdb-1] [Thread 0xffffc1f3e8e0 (LWP 9179) exited]
[gdb-1] [Thread 0xffffc274e8e0 (LWP 9178) exited]
[gdb-1] [New Thread 0xffffc172e8e0 (LWP 9243)]
[gdb-1] [New Thread 0xffffc0f1e8e0 (LWP 9244)]
[gdb-1] [New Thread 0xffffbb7ee8e0 (LWP 9248)]
[gdb-1] [New Thread 0xffffbafde8e0 (LWP 9249)]
[gdb-1] [New Thread 0xffffba7ce8e0 (LWP 9251)]
[gdb-1] [New Thread 0xffffb976b8e0 (LWP 9253)]
[gdb-1] [INFO] [1719933683.890287715] [oak]: Camera with MXID: 14442C10E14FCBD600 and Name: 1.2.1 connected!
[gdb-1] [INFO] [1719933683.891209364] [oak]: USB SPEED: SUPER
[gdb-1] [INFO] [1719933683.925123486] [oak]: Device type: OAK-FFC-3P
[gdb-1] [INFO] [1719933683.928247922] [oak]: Pipeline type: Depth
[gdb-1] 
[gdb-1] Thread 1 "component_conta" received signal SIGSEGV, Segmentation fault.
[gdb-1] 0x0000fffff79adbf4 in __GI___libc_free (mem=0x7468676972) at ./malloc/malloc.c:3368
[gdb-1] 3368    ./malloc/malloc.c: No such file or directory.

Jul 02 '24 15:07 Shivam7Sharma

Could you install additional debug symbols?

sudo apt install -y ros-humble-rclcpp-dbgsym ros-humble-rclcpp-components-dbgsym ros-humble-depthai-ros-driver-dbgsym

Jul 04 '24 09:07 Serafadam

@Serafadam I installed the things you said. What should I do now?

Jul 04 '24 17:07 Shivam7Sharma

Hi, sorry for the delay, if you installed them you should be able to get more debug output from running those commands

Jul 10 '24 07:07 Serafadam

@Serafadam Thank for your reply. The following is the output which I think is the same as before:

shivam157@ubuntu:~/dai_ws_non_prod/src$ sudo apt install -y ros-humble-rclcpp-dbgsym ros-humble-rclcpp-components-dbgsym ros-humble-depthai-ros-driver-dbgsym
[sudo] password for shivam157: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-rclcpp-components-dbgsym is already the newest version (16.0.9-1jammy.20240524.033335).
ros-humble-rclcpp-dbgsym is already the newest version (16.0.9-1jammy.20240524.023929).
The following packages were automatically installed and are no longer required:
  cppcheck libbullet-dev libbullet3.06 libdecor-0-dev libibus-1.0-dev libpulse-dev libsdl2-dev libsndio-dev libxv-dev
  libxxf86vm-dev libz3-4 pybind11-dev pydocstyle pyflakes3 python3-flake8 python3-mccabe python3-netifaces
  python3-pycodestyle python3-pydocstyle python3-pyflakes python3-snowballstemmer ros-humble-action-tutorials-cpp
  ros-humble-action-tutorials-interfaces ros-humble-action-tutorials-py ros-humble-actionlib-msgs
  ros-humble-ament-cmake-copyright ros-humble-ament-cmake-cppcheck ros-humble-ament-cmake-cpplint
  ros-humble-ament-cmake-flake8 ros-humble-ament-cmake-lint-cmake ros-humble-ament-cmake-pep257
  ros-humble-ament-cmake-uncrustify ros-humble-ament-cmake-xmllint ros-humble-ament-copyright ros-humble-ament-cppcheck
  ros-humble-ament-cpplint ros-humble-ament-flake8 ros-humble-ament-lint ros-humble-ament-lint-cmake
  ros-humble-ament-lint-common ros-humble-ament-pep257 ros-humble-ament-uncrustify ros-humble-ament-xmllint
  ros-humble-common-interfaces ros-humble-composition ros-humble-demo-nodes-cpp ros-humble-demo-nodes-cpp-native
  ros-humble-demo-nodes-py ros-humble-depthimage-to-laserscan ros-humble-dummy-map-server
  ros-humble-dummy-robot-bringup ros-humble-dummy-sensors ros-humble-example-interfaces
  ros-humble-examples-rclcpp-minimal-action-client ros-humble-examples-rclcpp-minimal-action-server
  ros-humble-examples-rclcpp-minimal-client ros-humble-examples-rclcpp-minimal-composition
  ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-service
  ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-timer
  ros-humble-examples-rclcpp-multithreaded-executor ros-humble-examples-rclpy-executors
  ros-humble-examples-rclpy-minimal-action-client ros-humble-examples-rclpy-minimal-action-server
  ros-humble-examples-rclpy-minimal-client ros-humble-examples-rclpy-minimal-publisher
  ros-humble-examples-rclpy-minimal-service ros-humble-examples-rclpy-minimal-subscriber ros-humble-geometry2
  ros-humble-image-tools ros-humble-intra-process-demo ros-humble-joy ros-humble-keyboard-handler
  ros-humble-launch-testing-ros ros-humble-lifecycle ros-humble-logging-demo ros-humble-pendulum-control
  ros-humble-pendulum-msgs ros-humble-pybind11-vendor ros-humble-qt-dotgraph ros-humble-qt-gui-py-common
  ros-humble-quality-of-service-demo-cpp ros-humble-quality-of-service-demo-py ros-humble-ros-base ros-humble-ros-core
  ros-humble-ros2action ros-humble-ros2bag ros-humble-ros2cli ros-humble-ros2cli-common-extensions
  ros-humble-ros2component ros-humble-ros2doctor ros-humble-ros2interface ros-humble-ros2launch
  ros-humble-ros2lifecycle ros-humble-ros2multicast ros-humble-ros2node ros-humble-ros2param ros-humble-ros2pkg
  ros-humble-ros2run ros-humble-ros2service ros-humble-ros2topic ros-humble-rosbag2 ros-humble-rosbag2-compression
  ros-humble-rosbag2-compression-zstd ros-humble-rosbag2-interfaces ros-humble-rosbag2-py ros-humble-rosbag2-transport
  ros-humble-rosidl-runtime-py ros-humble-rqt-action ros-humble-rqt-bag ros-humble-rqt-bag-plugins
  ros-humble-rqt-console ros-humble-rqt-graph ros-humble-rqt-gui ros-humble-rqt-gui-cpp ros-humble-rqt-gui-py
  ros-humble-rqt-msg ros-humble-rqt-plot ros-humble-rqt-publisher ros-humble-rqt-py-common ros-humble-rqt-py-console
  ros-humble-rqt-reconfigure ros-humble-rqt-service-caller ros-humble-rqt-shell ros-humble-rqt-srv ros-humble-rqt-topic
  ros-humble-rttest ros-humble-rviz2 ros-humble-sdl2-vendor ros-humble-shape-msgs ros-humble-sros2
  ros-humble-sros2-cmake ros-humble-teleop-twist-joy ros-humble-teleop-twist-keyboard ros-humble-tf2-bullet
  ros-humble-tf2-eigen-kdl ros-humble-tf2-kdl ros-humble-tf2-tools ros-humble-tlsf ros-humble-tlsf-cpp
  ros-humble-topic-monitor ros-humble-trajectory-msgs ros-humble-turtlesim ros-humble-uncrustify-vendor
  ros-humble-zstd-vendor uncrustify
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
  ros-humble-compressed-depth-image-transport ros-humble-compressed-image-transport ros-humble-depth-image-proc
  ros-humble-depthai ros-humble-depthai-bridge ros-humble-depthai-descriptions ros-humble-depthai-examples
  ros-humble-depthai-ros-driver ros-humble-depthai-ros-msgs ros-humble-image-pipeline ros-humble-image-proc
  ros-humble-image-publisher ros-humble-image-rotate ros-humble-image-transport-plugins ros-humble-image-view
  ros-humble-stereo-image-proc ros-humble-theora-image-transport ros-humble-tracetools-image-pipeline
The following NEW packages will be installed:
  ros-humble-compressed-depth-image-transport ros-humble-compressed-image-transport ros-humble-depth-image-proc
  ros-humble-depthai ros-humble-depthai-bridge ros-humble-depthai-descriptions ros-humble-depthai-examples
  ros-humble-depthai-ros-driver ros-humble-depthai-ros-driver-dbgsym ros-humble-depthai-ros-msgs
  ros-humble-image-pipeline ros-humble-image-proc ros-humble-image-publisher ros-humble-image-rotate
  ros-humble-image-transport-plugins ros-humble-image-view ros-humble-stereo-image-proc
  ros-humble-theora-image-transport ros-humble-tracetools-image-pipeline
0 upgraded, 19 newly installed, 0 to remove and 0 not upgraded.
Need to get 75.3 MB of archives.
After this operation, 168 MB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-compressed-depth-image-transport arm64 2.5.1-1jammy.20240524.084021 [112 kB]
Get:2 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-compressed-image-transport arm64 2.5.1-1jammy.20240524.085140 [120 kB]
Get:3 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depth-image-proc arm64 3.0.4-1jammy.20240530.101455 [243 kB]
Get:4 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai arm64 2.26.1-1jammy.20240612.131125 [11.0 MB]
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Get:19 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-depthai-ros-driver-dbgsym arm64 2.9.0-1jammy.20240627.193934 [18.2 MB]
Fetched 75.3 MB in 7s (10.3 MB/s)                                                                                       
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Processing triggers for libc-bin (2.35-0ubuntu3.8) ...
shivam157@ubuntu:~/dai_ws_non_prod/src$ cd ..
shivam157@ubuntu:~/dai_ws_non_prod$ source install/setup.py
bash: install/setup.py: No such file or directory
shivam157@ubuntu:~/dai_ws_non_prod$ source install/setup.bash
shivam157@ubuntu:~/dai_ws_non_prod$ ros2 launch depthai_ros_driver camera.launch.py use_gdb:=true
[INFO] [launch]: All log files can be found below /home/shivam157/.ros/log/2024-07-19-14-04-09-811704-ubuntu-21331
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gdb-1]: process started with pid [21356]
[gdb-1] GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
[gdb-1] Copyright (C) 2022 Free Software Foundation, Inc.
[gdb-1] License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
[gdb-1] This is free software: you are free to change and redistribute it.
[gdb-1] There is NO WARRANTY, to the extent permitted by law.
[gdb-1] Type "show copying" and "show warranty" for details.
[gdb-1] This GDB was configured as "aarch64-linux-gnu".
[gdb-1] Type "show configuration" for configuration details.
[gdb-1] For bug reporting instructions, please see:
[gdb-1] <https://www.gnu.org/software/gdb/bugs/>.
[gdb-1] Find the GDB manual and other documentation resources online at:
[gdb-1]     <http://www.gnu.org/software/gdb/documentation/>.
[gdb-1] 
[gdb-1] For help, type "help".
[gdb-1] Type "apropos word" to search for commands related to "word"...
[gdb-1] Reading symbols from /opt/ros/humble/lib/rclcpp_components/component_container...
[gdb-1] Reading symbols from /usr/lib/debug/.build-id/be/0fd12c6345e483aa9d5c337ebab12877b4e146.debug...
[gdb-1] Starting program: /opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/
[gdb-1] [Thread debugging using libthread_db enabled]
[gdb-1] Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
[gdb-1] [New Thread 0xfffff667e8e0 (LWP 21402)]
[gdb-1] [New Thread 0xfffff5e6e8e0 (LWP 21403)]
[gdb-1] [New Thread 0xfffff55d78e0 (LWP 21404)]
[gdb-1] [New Thread 0xfffff4dc78e0 (LWP 21405)]
[gdb-1] [New Thread 0xfffff45b78e0 (LWP 21406)]
[gdb-1] [New Thread 0xfffff3da78e0 (LWP 21407)]
[gdb-1] [New Thread 0xfffff35978e0 (LWP 21408)]
[gdb-1] [New Thread 0xfffff2cc78e0 (LWP 21409)]
[gdb-1] [New Thread 0xfffff249e8e0 (LWP 21410)]
[gdb-1] [INFO] [1721412253.335695607] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[gdb-1] [INFO] [1721412253.475968321] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1721412253.476139204] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1721412253.540933995] [oak_state_publisher]: got segment oak
[gdb-1] [INFO] [1721412253.541093390] [oak_state_publisher]: got segment oak-d-base-frame
[gdb-1] [INFO] [1721412253.541110574] [oak_state_publisher]: got segment oak_imu_frame
[gdb-1] [INFO] [1721412253.541121007] [oak_state_publisher]: got segment oak_left_camera_frame
[gdb-1] [INFO] [1721412253.541130831] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[gdb-1] [INFO] [1721412253.541139471] [oak_state_publisher]: got segment oak_model_origin
[gdb-1] [INFO] [1721412253.541147855] [oak_state_publisher]: got segment oak_rgb_camera_frame
[gdb-1] [INFO] [1721412253.541156111] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[gdb-1] [INFO] [1721412253.541165007] [oak_state_publisher]: got segment oak_right_camera_frame
[gdb-1] [INFO] [1721412253.541173551] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[gdb-1] [INFO] [1721412253.574464243] [oak_container]: Load Library: /home/shivam157/dai_ws_non_prod/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[gdb-1] [New Thread 0xffffceffe8e0 (LWP 21426)]
[gdb-1] [New Thread 0xffffce7ee8e0 (LWP 21427)]
[gdb-1] [New Thread 0xffffcbfde8e0 (LWP 21428)]
[gdb-1] [New Thread 0xffffc97ce8e0 (LWP 21429)]
[gdb-1] [New Thread 0xffffc6fbe8e0 (LWP 21430)]
[gdb-1] [INFO] [1721412256.118837858] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [INFO] [1721412256.118990628] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [New Thread 0xffffc274e8e0 (LWP 21431)]
[gdb-1] [New Thread 0xffffc1f3e8e0 (LWP 21432)]
[gdb-1] [New Thread 0xffffbbffe8e0 (LWP 21433)]
[gdb-1] [INFO] [1721412256.147343858] [oak]: No ip/mxid specified, connecting to the next available device.
[gdb-1] [Thread 0xffffc1f3e8e0 (LWP 21432) exited]
[gdb-1] [Thread 0xffffc274e8e0 (LWP 21431) exited]
[gdb-1] [New Thread 0xffffc172e8e0 (LWP 21502)]
[gdb-1] [New Thread 0xffffc0f1e8e0 (LWP 21503)]
[gdb-1] [New Thread 0xffffbb7ee8e0 (LWP 21505)]
[gdb-1] [New Thread 0xffffbafde8e0 (LWP 21506)]
[gdb-1] [New Thread 0xffffba7ce8e0 (LWP 21509)]
[gdb-1] [New Thread 0xffffb976b8e0 (LWP 21511)]
[gdb-1] [INFO] [1721412260.835496335] [oak]: Camera with MXID: 14442C10E14FCBD600 and Name: 1.2.1 connected!
[gdb-1] [INFO] [1721412260.839200025] [oak]: USB SPEED: SUPER
[gdb-1] [INFO] [1721412260.875123464] [oak]: Device type: OAK-FFC-3P
[gdb-1] [INFO] [1721412260.879013526] [oak]: Pipeline type: Depth
[gdb-1] 
[gdb-1] Thread 1 "component_conta" received signal SIGSEGV, Segmentation fault.
[gdb-1] 0x0000fffff79adbf4 in __GI___libc_free (mem=0x6570007468676972) at ./malloc/malloc.c:3368
[gdb-1] 3368    ./malloc/malloc.c: No such file or directory.

Jul 19 '24 18:07 Shivam7Sharma

Hi, sorry for the late reply, could you output the logs after running export DEPTHAI_DEBUG=1? Additionally, does it work if you change pipeline type to stereo?

Aug 05 '24 11:08 Serafadam

Hi, sorry for the late reply, could you output the logs after running export DEPTHAI_DEBUG=1? Additionally, does it work if you change pipeline type to stereo?

After I install the ros-humble-rclcpp-dbgsym ros-humble-rclcpp-components-dbgsym ros-humble-depthai-ros-driver-dbgsym packages: the depthai library is linked to a different OpenCV (installed from source Opencv 4.10) than the Cvbridge OpenCV (ROS 2 Opencv4.5). It could be the other way around. So it gives an error when I run the pipeline in my own ROS 2 driver. I don't want this to happen. This only happens when I install the packages you mentioned. Is there a way to avoid this so that it doesn't mess up with my code?

Aug 05 '24 16:08 Shivam7Sharma

Hi, these packages ros-humble-rclcpp-dbgsym ros-humble-rclcpp-components-dbgsym ros-humble-depthai-ros-driver-dbgsym are debug packages only and are not required for the driver to work so you can uninstall them. Additionally, depthai-core library ideally should be linked to the same OpenCV library that ROS libraries use otherwise there might be some undefined behavior

Aug 05 '24 17:08 Serafadam

I have uninstalled those packages. I gave the depthai debug output in my previous reply: https://github.com/luxonis/depthai-ros/issues/328#issuecomment-2201073920

Does the following mean depthai core is linked to Opencv 4.5?:

shivam157@ubuntu:~$ cd ros2_ws/
shivam157@ubuntu:~/ros2_ws$ source install/setup.bash
shivam157@ubuntu:~/ros2_ws$ python3
Python 3.10.12 (main, Jul 29 2024, 16:56:48) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import depthai
>>> import cv2
>>> depthai_version = depthai.__version__
>>> opencv_version = cv2.__version__
>>> (depthai_version, opencv_version)
('2.26.0.0', '4.5.5')
>>>

4.5 is the Opencv version used by ROS 2. If this is not the correct way to check, then let me know how to find the version linked to depthai Core. My system also has Opencv 4.8 that is being used in my ROS 2 driver

Aug 05 '24 18:08 Shivam7Sharma

These are Python libraries which can differ from ROS libraries. Since it seems gdb needs to be run separately, here are steps that you can do to get better information:

sudo apt install xterm

Edit this line to following xterm -e gdb -ex run --args Run the driver with use_gdb:=true. A new console window should pop out with debug information coming from the driver. After the crash, you can type in bt to get more information on where exactly it crashed in the code, it would be great if you could share that information.

Aug 06 '24 12:08 Serafadam

These are Python libraries which can differ from ROS libraries. Since it seems gdb needs to be run separately, here are steps that you can do to get better information:
sudo apt install xterm
Edit this line to following xterm -e gdb -ex run --args Run the driver with use_gdb:=true. A new console window should pop out with debug information coming from the driver. After the crash, you can type in bt to get more information on where exactly it crashed in the code, it would be great if you could share that information.

I made the changes, but no new window opened up. I saw the following output on the terminals:

 shivam157@ubuntu:~/dai_ws_non_prod$ ros2 launch depthai_ros_driver camera.launch.py use_gdb:=true
[INFO] [launch]: All log files can be found below /home/shivam157/.ros/log/2024-08-06-11-51-32-809983-ubuntu-11805
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gdb-1]: process started with pid [11826]
[gdb-1] GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
[gdb-1] Copyright (C) 2022 Free Software Foundation, Inc.
[gdb-1] License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
[gdb-1] This is free software: you are free to change and redistribute it.
[gdb-1] There is NO WARRANTY, to the extent permitted by law.
[gdb-1] Type "show copying" and "show warranty" for details.
[gdb-1] This GDB was configured as "aarch64-linux-gnu".
[gdb-1] Type "show configuration" for configuration details.
[gdb-1] For bug reporting instructions, please see:
[gdb-1] <https://www.gnu.org/software/gdb/bugs/>.
[gdb-1] Find the GDB manual and other documentation resources online at:
[gdb-1]     <http://www.gnu.org/software/gdb/documentation/>.
[gdb-1] 
[gdb-1] For help, type "help".
[gdb-1] Type "apropos word" to search for commands related to "word"...
[gdb-1] Reading symbols from /opt/ros/humble/lib/rclcpp_components/component_container...
[gdb-1] (No debugging symbols found in /opt/ros/humble/lib/rclcpp_components/component_container)
[gdb-1] Starting program: /opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/
[gdb-1] [Thread debugging using libthread_db enabled]
[gdb-1] Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
[gdb-1] [New Thread 0xfffff667e8e0 (LWP 11863)]
[gdb-1] [New Thread 0xfffff5e6e8e0 (LWP 11864)]
[gdb-1] [New Thread 0xfffff55d78e0 (LWP 11865)]
[gdb-1] [New Thread 0xfffff4dc78e0 (LWP 11866)]
[gdb-1] [New Thread 0xfffff45b78e0 (LWP 11867)]
[gdb-1] [New Thread 0xfffff3da78e0 (LWP 11868)]
[gdb-1] [New Thread 0xfffff35978e0 (LWP 11869)]
[gdb-1] [New Thread 0xfffff2cc78e0 (LWP 11870)]
[gdb-1] [New Thread 0xfffff249e8e0 (LWP 11871)]
[gdb-1] [INFO] [1722959494.227844711] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[gdb-1] [INFO] [1722959494.349106073] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1722959494.349302717] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[gdb-1] [INFO] [1722959494.419471109] [oak_state_publisher]: got segment oak
[gdb-1] [INFO] [1722959494.419600616] [oak_state_publisher]: got segment oak-d-base-frame
[gdb-1] [INFO] [1722959494.419621352] [oak_state_publisher]: got segment oak_imu_frame
[gdb-1] [INFO] [1722959494.419633512] [oak_state_publisher]: got segment oak_left_camera_frame
[gdb-1] [INFO] [1722959494.419643401] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[gdb-1] [INFO] [1722959494.419652233] [oak_state_publisher]: got segment oak_model_origin
[gdb-1] [INFO] [1722959494.419660841] [oak_state_publisher]: got segment oak_rgb_camera_frame
[gdb-1] [INFO] [1722959494.419669065] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[gdb-1] [INFO] [1722959494.419677673] [oak_state_publisher]: got segment oak_right_camera_frame
[gdb-1] [INFO] [1722959494.419685322] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[gdb-1] [INFO] [1722959494.450183378] [oak_container]: Load Library: /home/shivam157/dai_ws_non_prod/install/depthai_ros_driver/lib/libdepthai_ros_driver.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container'
[gdb-1] [New Thread 0xffffc9e6e8e0 (LWP 11913)]
[gdb-1] [New Thread 0xffffc965e8e0 (LWP 11914)]
[gdb-1] [New Thread 0xffffc8e4e8e0 (LWP 11915)]
[gdb-1] [New Thread 0xffffbfffe8e0 (LWP 11916)]
[gdb-1] [New Thread 0xffffbb7ee8e0 (LWP 11917)]
[gdb-1] [INFO] [1722959499.855914297] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [INFO] [1722959499.856067517] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[gdb-1] [New Thread 0xffffb8fde8e0 (LWP 11918)]
[gdb-1] [New Thread 0xffffb87ce8e0 (LWP 11919)]
[gdb-1] [New Thread 0xffffb6fbc8e0 (LWP 11920)]
[gdb-1] [INFO] [1722959499.879174652] [oak]: No ip/mxid specified, connecting to the next available device.
[gdb-1] [Thread 0xffffb87ce8e0 (LWP 11919) exited]
[gdb-1] [Thread 0xffffb8fde8e0 (LWP 11918) exited]
[gdb-1] [New Thread 0xffffb7fbe8e0 (LWP 11984)]
[gdb-1] [New Thread 0xffffb67ac8e0 (LWP 11985)]
[gdb-1] [New Thread 0xffffb5f9c8e0 (LWP 11987)]
[gdb-1] [New Thread 0xffffb578c8e0 (LWP 11991)]
[gdb-1] [New Thread 0xffffacd828e0 (LWP 12000)]
[gdb-1] [New Thread 0xffffa4d828e0 (LWP 12001)]
[gdb-1] [INFO] [1722959504.509267053] [oak]: Camera with MXID: 14442C10E14FCBD600 and Name: 1.2.1 connected!
[gdb-1] [INFO] [1722959504.510668847] [oak]: USB SPEED: SUPER
[gdb-1] [INFO] [1722959504.552905237] [oak]: Device type: OAK-FFC-3P
[gdb-1] [INFO] [1722959504.557032214] [oak]: Pipeline type: Depth
[gdb-1] 
[gdb-1] Thread 1 "component_conta" received signal SIGSEGV, Segmentation fault.
[gdb-1] __memcpy_generic () at ../sysdeps/aarch64/multiarch/../memcpy.S:111
[gdb-1] 111     ../sysdeps/aarch64/multiarch/../memcpy.S: No such file or directory.

The following looks like it is related to VNC:

shivam157@ubuntu:~$ thunar-volman: Unsupported USB device type "usb".
thunar-volman: Unsupported USB device type "usbfs".
thunar-volman: Unsupported USB device type "usb".
thunar-volman: Unsupported USB device type "(null)".
thunar-volman: Unsupported USB device type "usb".
thunar-volman: Unsupported input device type "/dev/input/event10".
thunar-volman: Unsupported input device type "/dev/input/event11".
thunar-volman: Unsupported input device type "(null)".
thunar-volman: Unsupported input device type "(null)".
thunar-volman: Unsupported USB device type "usbhid".
thunar-volman: Unsupported USB device type "usbhid".

Aug 06 '24 16:08 Shivam7Sharma

Hi @Shivam7Sharma, did you rebuild the workspace after editing the launch file? I've found that sometimes that is needed even with symlink-install. You could also try adding some print statement to verify that you are launching the modified version of launch file.

Aug 07 '24 06:08 Serafadam

I didn't get this error after building and sourcing the workspace (I have tried this before, but it didn't work before). Can we please solve other issues, like:

https://discuss.luxonis.com/d/4963-low-and-drop-in-fps-and-unsynchronized/4 And Poor depth on the depthAI ROS 2 driver

Aug 07 '24 19:08 Shivam7Sharma