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flir_camera_driver's Issues

hello, Is there someone know how to trigger image use ros ?

Timestamp set incorrectly?

These lines don't make sense to me. Since GetTimeStamp() is just the nanoseconds, but the ROS timestamp wants the nsec field to be the nanoseconds since sec, more arithmetic needs to be done here, no?

flir_camera_driver/spinnaker_camera_driver/src/SpinnakerCamera.cpp

Line 344 in 8c2c238

image->header.stamp.sec = image_ptr->GetTimeStamp() * 1e-9;

[image_format_encoding] The driver cannot work well with 24-pixel encoding

I am running this ros driver in Ubuntu18.04 using spinnaker SDK version 1.23.0.27 and a GigE Flir camera which can support encoding BGR8.

The driver outputs the following error. But using encoding BayerRG8 has no issues.

auto-starting new master
process[master]: started with pid [21484]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f56c62dc-aaef-11ea-bf3f-4c1d96b04f6e
process[rosout-1]: started with pid [21495]
started core service [/rosout]
process[wide_angle_camera/camera_nodelet_manager-2]: started with pid [21498]
process[wide_angle_camera/spinnaker_camera_nodelet-3]: started with pid [21503]
process[wide_angle_camera/image_proc_debayer-4]: started with pid [21504]
[ INFO] [1591775818.511763483]: Loader::Impl::advertiseRosApi Initializing nodelet with 12 worker threads.
[ INFO] [1591775821.087440826]: SpinnakerCamera::connect [SpinnakerCamera]: Detected device type: GEV. Camera model name: 'Blackfly S BFS-GE-16S2C-BD' with serial '20064260'.
[ERROR] [1591775821.473754766]: SpinnakerCameraNodelet::paramCallback Reconfigure Callback failed with error: [Camera::setNewConfiguration] Failed to set configuration: Spinnaker: GenICam::OutOfRangeException= Value 25.843523 must be smaller than or equal 25.843522. : OutOfRangeException thrown in node 'AcquisitionFrameRate' while calling 'AcquisitionFrameRate.SetValue()' (file 'FloatT.h', line 85) [-2002]

I also tested the encoding BGR8 in Ubuntu18.04 using spinnaker SDK version 1.23.0.27 and a USB Flir camera. This results in blue and red colors being inverted in the published image. Using BayerRG8 has no issues.

So i think there is something wrong to handle the encoding in the ros driver.

Diagnostics Implementation

Current driver is not feeding diagnostics aggregator.

"Something still holds a reference to a camera" error with multiple Blackfly S cameras

Setup:

Ubuntu 16.04, ROS Kinetic
Two FLIR Blackfly S cameras
Spinnaker 1.13.0.31

Problem Description:

On first launch, ROS driver works fine with one or two cameras
After terminating the launch file with Ctrl+C, the first nodelet is able to unload, but the second one is not. The error encountered is:

[camera_nodelet_manager-1] killing on exit
terminate called after throwing an instance of 'Spinnaker::Exception'
  what():  Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004]

On subsequent launches, the nodelet manager will crash and the error comes up again:

terminate called after throwing an instance of 'Spinnaker::Exception'
  what():  Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004]
================================================================================REQUIRED process [camera_nodelet_manager-1] has died!

When launching only one camera, the error does not happen

Is it an issue to download `Spinnaker SDK 1.27.0.48` but trying to install `1.13.0.31`?

I'm on Ubuntu 18.04. I noticed the file spinnaker_camera_driver/cmake/install_files installs libSpinnaker.so.1.13.0.31, but download_spinnaker downloads spinnaker-1.27.0.48:

URL_TEMPLATE = URL_TEMPLATES = {
    'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-1.27.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
    'src': None         # if we ever have non-deb archives that require manual extraction, those package URLS will go here.
}

I downloaded the Spinnaker 1.27.0.48 .deb files and installed them via apt manually. Then CMake could find them so it didn't automatically download them again:

catkin_make -DCATKIN_BUILD_BINARY_PACKAGE=1 -DCMAKE_INSTALL_PREFIX=/tmp/ros/install/opt/ros/melodic -DCMAKE_PREFIX_PATH="/tmp/ros/install/opt/ros/melodic;/opt/ros/melodic" install --only-pkg-with-deps flir_camera_driver --cmake-args -Wno-dev

...
...

-- libSpinnaker library: /usr/lib/libSpinnaker.so
-- libSpinnaker include: /usr/include/spinnaker

But at the end of the installation, I got this error:

CMake Error at flir_camera_driver/spinnaker_camera_driver/cmake_install.cmake:224 (file):
  file INSTALL cannot find "/usr/lib/libSpinnaker.so.1.13.0.31".

If I updated the install_files to use 1.27.0.48, everything would be good. Just want to confirm if this is an issue or if I overlooked and did something wrong.

Compliling with catkin make

Hi,
Is there any way to install the driver in the ROS workpace?, I have tried to install it without success. After adding the libraries it keeps displaying the following error:
CMakeFiles/Makefile2:9024: recipe for target 'flir_camera_driver/spinnaker_camera_driver/CMakeFiles/SpinnakerCameraLib.dir/all' failed
make[1]: *** [flir_camera_driver/spinnaker_camera_driver/CMakeFiles/SpinnakerCameraLib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Thank you

Auto-download no longer works

Pointgrey has merged their site with FLIR's, and as a result the ptgrey.com links no longer download properly, and instead all redirect to flir.com

Spinnaker FLIR Camera (ROS Driver) - Doesn't give me RGB data

Hi peeps, Diwakar here. I am a bit kinda beginner in ROS. I am right now working in a project where we are using FLIR Cameras for the data streaming.

I have used this ROS driver for getting the data inside my ROS environment.

For that, I have installed the Spinnaker version (spinnaker-2.4.0.143-amd64).

But, the problem is that I am only able to get the gray scale image at the fps of close to 57 Hz.

I poked around the source code inside the ROS driver and understood that they are using .cfg file to set the 'image_coding' parameter. So, I adjusted that to default to 'rgb8packed' from 'mono8'.

But, it results in two issues: 1) When I run the camera.launch file, it gives me an error for the fps, says that the fps shoots higher than the limit possible. And then, I lowered the fps rate to 10 Hz, and then it works.

But, the resulting image in the topic /camera/image_raw is kinda tinted red. (It feels as if it is a filtered image). How do I recover a colored image, that which I can get from a normal camera?

So, I need to recover the image (normal color image) and then also I would like to get a increased frame rate , because 10 Hz is very low, I feel. Is there a work around for my issue?

If possible, could someone try reproduce the issue and see how it works for you and let me know? It would be really great, if I could solve this issue, as my Master thesis really depends on whether I can get it working as soon as possible.

Thank you very much in advance. Diwakar.

Problem with roslaunching the acquisition.launch file

Hi there,

I am currently working on a new project using ROS to get data from a FLIR Blackfly camera(I am still quite new to this language). I followed the instructions written on the ROS wiki web page (including changing the serial number) but still couldn't launch the acquisition.launch file. Here are the FATAL errors that I have:

[FATAL] [1563449758.815448351]: Error: Spinnaker: GenICam::OutOfRangeException= Value = 1 must be equal or greater than Min = 2. : OutOfRangeException thrown in node 'BinningHorizontal' while calling 'BinningHorizontal.SetValue()' (file 'IntegerT.h', line 79) [-2002]
[ WARN] [1563449758.815547185]: Most likely cause for this error is if your camera can't support color and your are trying to set it to color mode
[FATAL] [1563449758.934733561]: Failed to load nodelet '/acquisition_nodeof typeacquisition/capture_nodeletto managervision_nodelet_manager'
terminate called after throwing an instance of 'Spinnaker::Exception'
what(): Spinnaker: Camera is not started. [-1002]
[vision_nodelet_manager-2] process has died [pid 31124, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=vision_nodelet_manager __log:=/home/dell8116/.ros/log/3345535e-a950-11e9-b8e9-c8f750384496/vision_nodelet_manager-2.log].
log file: /home/dell8116/.ros/log/3345535e-a950-11e9-b8e9-c8f750384496/vision_nodelet_manager-2*.log
[acquisition_node-3] process has died [pid 31125, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load acquisition/capture_nodelet vision_nodelet_manager __name:=acquisition_node __log:=/home/dell8116/.ros/log/3345535e-a950-11e9-b8e9-c8f750384496/acquisition_node-3.log].
log file: /home/dell8116/.ros/log/3345535e-a950-11e9-b8e9-c8f750384496/acquisition_node-3*.log

And here is the text in test_params.yaml:
cam_ids:

19138453
cam_aliases:
cam0
master_cam: 19138453
skip: 20
delay: 1.0

Assign all the follwing via launch file to prevent confusion and conflict

#save_path: ~/projects/data
#save_type: .bmp #binary or .tiff or .bmp
#binning: 1 # going from 2 to 1 requires cameras to be unplugged and replugged
#color: false
#frames: 50
#soft_framerate: 20 # this frame rate reflects to the software frame rate set using ros::rate
#exp: 997
#to_ros: true #When to_ros is not selected, but live is selected, pressing 'space' exports single image to ROS

#Camera info message details
distortion_model: plumb_bob
image_height: 1536
image_width: 2048
distortion_coeffs:

[-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]

#specified as [fx 0 cx 0 fy cy 0 0 1]
intrinsic_coeffs:

[1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]

rectification_coeffs:

[1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]

projection_coeffs:

[913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

Currently I am using ros melodic (Ubuntu 18.04 Bionic) and I know that that package is written for kinetic but are there ways to fix these problems and get it working? It would mean so much to me.

Many thanks.

Add Gige Support to Driver

Currently Gige cameras are not supported. Discuss here about implementing Gige.

Trigger two cameras

Hi
I Trigger two Blackfly S with a 5V signal. Is it possible to set this up in this ros-driver?
In the spinview GUI I have to choose:

TriggerSource: Line0
TriggerMode : On

Thanks in advance

Firefly S driver support

Has this driver been tested with the Firefly S model FFY-U3-16S2M: 1.6 MP, 60 FPS, SONY IMX296, MONO. Connection through USB3 cable on a Linux system.

Build issues : Not able to find Spinnaker.h

Hi,

I am trying to build the flir_camera_driver in my repo to use chameleon3 cameras. The following error pops up.

Errors     << spinnaker_camera_driver:make /home/server/catkin_ws/logs/spinnaker_camera_driver/build.make.000.log                                                                                          
In file included from /home/server/catkin_ws/src/camera/flir_camera_driver/spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h:32:0,
                 from /home/server/catkin_ws/src/camera/flir_camera_driver/spinnaker_camera_driver/src/camera.cpp:25:
/home/server/catkin_ws/src/camera/flir_camera_driver/spinnaker_camera_driver/include/spinnaker_camera_driver/set_property.h:29:10: fatal error: Spinnaker.h: No such file or directory
 #include "Spinnaker.h"

Also, Will this driver work with multiple cameras if I want to run more than one cameras(with different namespaces?)

In ubuntu20.04+Noetic, System::GetInstance() fails from spinnaker_test_node.cpp

Hi all,

Background

Coming from #58, I wanted to focus the issue much more.

Description

when I launch :
roslaunch spinnaker_camera_driver test_spinnaker.launch
the node crashes at line:
Spinnaker::SystemPtr system = Spinnaker::System::GetInstance();

and If I launch:
roslaunch spinnaker_camera_driver camera.launch
the nodelet fails to be loaded, due also to a crash at line:
system_(Spinnaker::System::GetInstance())

Additional Checks

So , I wanted to directly check with a non-ROS program calling the Spinnaker library, such as the example one at opt/spinnaker/src/Acquisition/Acquisition.cpp. This program also calls Spinnaker::System::GetInstance() at line 431. In this case, Acquisition program runs correctly. Spinview program also runs ok.

My system

Ubuntu 20.04
Kernel 5.8.0-50
Spinnaker 2.3.0.77
ROS Noetic
Camera BlackFly S, GigE
libspinnaker.conf file at /etc/ld.so.conf.d/, with the entry "/opt/spinnaker/lib"

Any idea will be welcome!

Thanks to all

Andreu

[Feature] Add TargetGreyValue parameters

Not sure if relevant, I understand that this node follows GenICam.
Currently, there is no way of specifying the target illumination or grey value when setting all params to automatic.

Target Grey Value is a parameter that helps to compensate for various lighting conditions by adjusting brightness to achieve optimal imaging results. The value is linear and is a percentage of the maximum pixel value.

When Target Grey Value is set to automatic (continuous) allows camera to determine the best mean based on the image variance. Code example:

//Automatic Target Grey Value
CEnumerationPtr, ptrAutoXTargetGreyValueAuto = nodeMap.GetNode("AutoExposureTargetGreyValueAuto");
CEnumEntryPtr ptrAutoXTargetGreyValueAutoCts = ptrAutoXTargetGreyValueAuto ->GetEntryByName("Continuous");
ptrAutoXTargetGreyValueAuto -> ptrAutoXTargetGreyValueAutoCts ->GetValue());

//Automatic Target Grey Value limits
CFloatPtr ptrAutoXGreyValueLowerLimit = nodeMap.GetNode("AutoExposureGreyValueLowerLimit");
ptrAutoXGreyValueLowerLimit->SetValue([insert lower limit]);
CFloatPtr ptrAutoXGreyValueUpperLimit = nodeMap.GetNode("AutoExposureGreyValueUpperLimit");
ptrAutoXGreyValueUpperLimit->SetValue([insert upper limit]);

This would allow users to set exposure and gain to automatic, without fear of overexposed or underexposed images.

Source: https://www.flir.co.uk/support-center/iis/machine-vision/application-note/using-auto-exposure-in-blackfly-s/

Varous runtime errors, not able to get colour etc.

Blackfly BFLY-PGE-31S4C a number of features are not writable or not implemented:

The camera basically works in that I can see images but I can't get colour, high resolution or set the frame-rate.

Warnings:
BinningHorizontal, DecimationHorizontal, AcquisitionFrameRate, LineSource, GainSelector

Not implemented errors:
AcquisitionFrameRateEnable, AutoExposureExposureTimeUpperLimit, GammaEnable

Full output:

process[camera/camera_nodelet_manager-1]: started with pid [2098]
process[camera/spinnaker_camera_nodelet-2]: started with pid [2099]
process[camera/image_proc_debayer-3]: started with pid [2100]
[ INFO] [1574784402.353763089]: Initializing nodelet with 12 worker threads.
[ INFO] [1574784408.701658810]: [SpinnakerCamera]: Number of cameras detected: 1
[ INFO] [1574784408.867011834]: [SpinnakerCamera::connect]: Using Serial: 19095433
[ INFO] [1574784408.867087172]: [SpinnakerCamera::connect]: Detected device type: GEV
[ INFO] [1574784409.656906252]: [SpinnakerCamera::connect]: Camera model name: Blackfly BFLY-PGE-31S4C
[ INFO] [1574784409.671622500]: [SpinnakerCamera]: (19095433) DeviceLinkThroughputLimit set to 125000000.
[ WARN] [1574784409.671769296]: SpinnakerCamera::connect: Could not detect camera model name.
[ WARN] [1574784409.899066243]: [SpinnakerCamera]: (19095433) Feature BinningHorizontal not writable.
[ INFO] [1574784409.902410337]: [SpinnakerCamera]: (19095433) BinningVertical set to 1.
[ WARN] [1574784409.903575022]: [SpinnakerCamera]: (19095433) Feature DecimationHorizontal not writable.
[ INFO] [1574784409.907756162]: [SpinnakerCamera]: (19095433) DecimationVertical set to 1.
[ INFO] [1574784409.913556481]: [SpinnakerCamera]: (19095433) OffsetX set to 0.
[ INFO] [1574784409.914956894]: [SpinnakerCamera]: (19095433) OffsetY set to 0.
[ INFO] [1574784409.917245078]: [SpinnakerCamera]: (19095433) Width set to 2048.
[ INFO] [1574784409.918432521]: [SpinnakerCamera]: (19095433) Height set to 1536.
[ INFO] [1574784409.919768754]: [SpinnakerCamera]: (19095433) OffsetX set to 0.
[ INFO] [1574784409.921089129]: [SpinnakerCamera]: (19095433) OffsetY set to 0.
[ INFO] [1574784409.928689112]: [SpinnakerCamera]: (19095433) PixelFormat set to Mono8.
[ERROR] [1574784409.928819828]: [SpinnakerCamera]: (19095433) Feature name AcquisitionFrameRateEnable not implemented.
[ WARN] [1574784409.934272066]: [SpinnakerCamera]: (19095433) Feature AcquisitionFrameRate not writable.
[ERROR] [1574784409.934426260]: [SpinnakerCamera]: (19095433) Feature name AcquisitionFrameRateEnable not implemented.
[ INFO] [1574784409.937633064]: [SpinnakerCamera]: (19095433) TriggerMode set to Off.
[ INFO] [1574784409.939980283]: [SpinnakerCamera]: (19095433) TriggerSource set to Line0.
[ INFO] [1574784409.941372040]: [SpinnakerCamera]: (19095433) TriggerSelector set to FrameStart.
[ INFO] [1574784409.942596100]: [SpinnakerCamera]: (19095433) TriggerActivation set to FallingEdge.
[ INFO] [1574784409.944807673]: [SpinnakerCamera]: (19095433) TriggerMode set to Off.
[ INFO] [1574784409.947047021]: [SpinnakerCamera]: (19095433) LineSelector set to Line0.
[ INFO] [1574784409.954509834]: [SpinnakerCamera]: (19095433) LineMode set to Input.
[ WARN] [1574784409.967091959]: [SpinnakerCamera]: (19095433) Enumeration LineSource not available.
[ INFO] [1574784409.969333417]: [SpinnakerCamera]: (19095433) ExposureMode set to Timed.
[ INFO] [1574784409.976590234]: [SpinnakerCamera]: (19095433) ExposureAuto set to Continuous.
[ERROR] [1574784409.976761286]: [SpinnakerCamera]: (19095433) Feature name AutoExposureExposureTimeUpperLimit not implemented.
[ WARN] [1574784409.976894345]: [SpinnakerCamera]: (19095433) Enumeration GainSelector not writable.
[ INFO] [1574784409.988170583]: [SpinnakerCamera]: (19095433) GainAuto set to Continuous.
[ INFO] [1574784409.998541485]: [SpinnakerCamera]: (19095433) BlackLevel set to 1.70898.
[ERROR] [1574784409.998633443]: [SpinnakerCamera]: (19095433) Feature name GammaEnable not implemented.
[ WARN] [1574784410.003143493]: [SpinnakerCamera]: (19095433) Feature Gamma not writable.

crashes when you subscribe to /diagnostics

When I run rostopic echo /diagnostics in a terminal this nodelet crashes.

[192.168.1.2-0]: [camera/camera_nodelet_manager-2] process has died [pid 3811, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/ashkan/.ros/log/bcb69b0e-a5ce-11ea-a3de-1c1b0d9218ad/camera-camera_nodelet_manager-2.log].
log file: /home/ashkan/.ros/log/bcb69b0e-a5ce-11ea-a3de-1c1b0d9218ad/camera-camera_nodelet_manager-2*.log
[192.168.1.2-0]: [camera/spinnaker_camera_nodelet-3] process has finished cleanly
log file: /home/ashkan/.ros/log/bcb69b0e-a5ce-11ea-a3de-1c1b0d9218ad/camera-spinnaker_camera_nodelet-3*.log
[192.168.1.2-0]: [camera/image_proc_debayer-4] process has finished cleanly
log file: /home/ashkan/.ros/log/bcb69b0e-a5ce-11ea-a3de-1c1b0d9218ad/camera-image_proc_debayer-4*.log

My actual use case was doing rosbag record -a when it crashed. So I found exactly which topic caused it to crash and then switched to more rostopic echo as simplest test case.

Note the driver is running on different computer than roscore, but as this is pretty standard in ROS it shouldnt matter.

Build issues

Hello,

I'm trying to build the flir_camera_driver package, however have been running into the below error.
I have also tried building the ETH ASL fork of this driver with the same error.

Would anyone have any ideas on what is going wrong/how I might fix it?

I'm running Ubuntu 16.04 on an ARM64 system (Nvidia TX2).

Any help would be greatly appreciated.
Thanks!

nvidia@tegra-ubuntu:~/flir2_ws/src$ catkin build
----------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/kinetic
Workspace:                   /home/nvidia/flir2_ws
----------------------------------------------------------
Build Space:        [exists] /home/nvidia/flir2_ws/build
Devel Space:        [exists] /home/nvidia/flir2_ws/devel
Install Space:      [unused] /home/nvidia/flir2_ws/install
Log Space:         [missing] /home/nvidia/flir2_ws/logs
Source Space:       [exists] /home/nvidia/flir2_ws/src
DESTDIR:            [unused] None
----------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
----------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
----------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
----------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
----------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                                                                                                                                                                            
[build] Updating package table.                                                                                                                                                                                                       
Starting  >>> catkin_tools_prebuild                                                                                                                                                                                                   
Finished  <<< catkin_tools_prebuild                  [ 4.4 seconds ]                                                                                                                                                                  
Starting  >>> spinnaker_camera_driver                                                                                                                                                                                                 
______________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << spinnaker_camera_driver:make /home/nvidia/flir2_ws/logs/spinnaker_camera_driver/build.make.000.log                                                                                                                      
CMakeFiles/spinnaker_test_node.dir/src/spinnaker_test_node.cpp.o:(.rodata._ZTVN9Spinnaker9CameraPtrE[_ZTVN9Spinnaker9CameraPtrE]+0x30): undefined reference to `Spinnaker::BasePtr<Spinnaker::Camera, Spinnaker::ICameraBase>::operator=(long)'
CMakeFiles/spinnaker_test_node.dir/src/spinnaker_test_node.cpp.o:(.rodata._ZTVN9Spinnaker9CameraPtrE[_ZTVN9Spinnaker9CameraPtrE]+0x38): undefined reference to `Spinnaker::BasePtr<Spinnaker::Camera, Spinnaker::ICameraBase>::operator=(decltype(nullptr))'
CMakeFiles/spinnaker_test_node.dir/src/spinnaker_test_node.cpp.o:(.rodata._ZTVN9Spinnaker9CameraPtrE[_ZTVN9Spinnaker9CameraPtrE]+0x68): undefined reference to `Spinnaker::BasePtr<Spinnaker::Camera, Spinnaker::ICameraBase>::operator==(decltype(nullptr)) const'
CMakeFiles/spinnaker_test_node.dir/src/spinnaker_test_node.cpp.o:(.rodata._ZTVN9Spinnaker9CameraPtrE[_ZTVN9Spinnaker9CameraPtrE]+0x78): undefined reference to `Spinnaker::BasePtr<Spinnaker::Camera, Spinnaker::ICameraBase>::operator==(long) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/nvidia/flir2_ws/devel/.private/spinnaker_camera_driver/lib/spinnaker_camera_driver/spinnaker_test_node] Error 1
make[1]: *** [CMakeFiles/spinnaker_test_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/nvidia/flir2_ws/build/spinnaker_camera_driver; catkin build --get-env spinnaker_camera_driver | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
......................................................................................................................................................................................................................................
Failed     << spinnaker_camera_driver:make           [ Exited with code 2 ]                                                                                                                                                           
Failed    <<< spinnaker_camera_driver                [ 33.7 seconds ]                                                                                                                                                                 
[build] Summary: 1 of 2 packages succeeded.                                                                                                                                                                                           
[build]   Ignored:   1 packages were skipped or are blacklisted.                                                                                                                                                                      
[build]   Warnings:  None.                                                                                                                                                                                                            
[build]   Abandoned: None.                                                                                                                                                                                                            
[build]   Failed:    1 packages failed.                                                                                                                                                                                               
[build] Runtime: 38.1 seconds total.                                                                                                                                                                                                  
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Runtime issue with Spinnaker SDK 2.3.0.77

I have been trying to get this driver to work in Ubuntu 20.04 (focal) / ROS noetic with the Spinnaker SDK version 2.3.0.77.
After applying the patch from #63 compilation works fine but running spinnaker_test_node or camera_node results in a segmentation fault.

gdb backtrace:

Thread 2 "spinnaker_test_" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7ffff1cdf700 (LWP 8294)]
0x00007ffff535d540 in boost::detail::thread_data_base::~thread_data_base() () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
(gdb) bt
#0  0x00007ffff535d540 in boost::detail::thread_data_base::~thread_data_base() () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
#1  0x00007ffff1f1ce37 in ?? () from /opt/spinnaker/lib/flir-gentl/FLIR_GenTL.cti
#2  0x00007ffff535c19a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
#3  0x00007ffff535d959 in boost::thread::join_noexcept() () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
#4  0x00007ffff1f14a28 in ?? () from /opt/spinnaker/lib/flir-gentl/FLIR_GenTL.cti
#5  0x00007ffff535d43b in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
#6  0x00007ffff7daf609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#7  0x00007ffff5562293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

Running the shipped example /opt/spinnaker/bin/Acquisition works fine.

To test if my build environment is the culprit, I copied the source file from /opt/spinnaker/src/Acquisition/Acquisition.cpp into flir_camera_driver/spinnaker_camera_driver/src and adapted the flir_camera_driver/spinnaker_camera_driver/CMakeLists.txt to build it. The resulting executable runs fine.
Now comes the sorcery: If I just adapt that Acquisition.cpp to initialize ROS by adding #include <ros/ros.h> at the top and ros::init(argc, argv, "spinnaker_test_node"); to main(), the resulting binary crashes.

Investigating further, I found that the same with Spinnaker SDK version 2.2.0.48 works fine (which is enough for me, so I won't dig into this more).

[ERROR] [1618405746.078545182]: [SpinnakerCamera::grabImage] Failed to retrieve buffer with error: Spinnaker: Failed waiting for EventData on NEW_BUFFER_DATA event. [-1011]

roslauch file:

<?xml version="1.0"?>
<!--
Software License Agreement (BSD)

\file      stereo.launch
\authors   Michael Hosmar <[email protected]>
\copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
 * Redistributions of source code must retain the above copyright notice, this list of conditions and the
   following disclaimer.
 * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
   following disclaimer in the documentation and/or other materials provided with the distribution.
 * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
   products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
  <!-- Common parameters -->
  <arg name="camera_name"               default="stereo" />

  <!-- When unspecified, the driver will use the default framerate as given by the
      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
      rate control, and 'frame_rate' to set the frame rate value. -->
  <arg name="control_frame_rate"        default="false" />
  <arg name="frame_rate"                default="15" />

  <arg name="left_camera_serial"        default="20535906" />
  <arg name="left_camera_calibrated"    default="true" />

  <arg name="right_camera_serial"       default="19381267" />
  <arg name="right_camera_calibrated"   default="true" />

  <arg name="run_stereo_image_proc"     default="true" />

  <!-- Nodelet manager -->
  <!-- Both cameras are not loaded into one nodelet manager to avoid the namespacing issue. -->
  <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />

  <group ns="$(arg camera_name)" >
    <group ns="left" >
      <!-- Camera nodelet -->
      <node pkg="nodelet" type="nodelet" name="camera_nodelet"
            args="load spinnaker_camera_driver/SpinnakerCameraNodelet /camera_nodelet_manager" >
        <param name="frame_id"                        value="camera_left" />
        <param name="serial"                          value="$(arg left_camera_serial)" />

        <!-- Frame rate -->
        <param name="acquisition_frame_rate_enable"   value="$(arg control_frame_rate)" />
        <param name="acquisition_frame_rate"          value="$(arg frame_rate)" />
	
	<!-- Triggering -->
	<param name="line_source" value="ExposureActive" />	
	<param name="line_selector" value="Line2" />
	<param name="line_mode" value="Output" />
	
        <!-- Use the camera_calibration package to create this file -->
        <param name="camera_info_url" if="$(arg left_camera_calibrated)"
               value="file://$(env HOME)/.ros/camera_info/$(arg left_camera_serial).yaml" />
        <!-- <remap from="image_raw" to="image" /> -->
      </node>

      <!-- Debayering nodelet -->
      <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
          args="load image_proc/debayer /camera_nodelet_manager">
      </node>
    </group>

    <group ns="right" >
      <!-- Camera nodelet -->
      <node pkg="nodelet" type="nodelet" name="camera_nodelet"
            args="load spinnaker_camera_driver/SpinnakerCameraNodelet /camera_nodelet_manager" >
        <param name="frame_id"                        value="camera_right" />
        <param name="serial"                          value="$(arg right_camera_serial)" />

        <!-- Frame rate -->
        <param name="acquisition_frame_rate_enable"   value="$(arg control_frame_rate)" />
        <param name="acquisition_frame_rate"          value="$(arg frame_rate)" />
	
	<!-- Triggering -->
	<param name="enable_trigger" value="On" />
	<param name="trigger_source" value="Line3" />
	<param name="trigger_activation_mode" value="RisingEdge" />
	<param name="trigger_overlap_mode" value="ReadOut" />

        <!-- Use the camera_calibration package to create this file -->
        <param name="camera_info_url" if="$(arg right_camera_calibrated)"
               value="file://$(env HOME)/.ros/camera_info/$(arg right_camera_serial).yaml" />
        <!-- <remap from="image_raw" to="image" /> -->
      </node>

      <!-- Debayering nodelet -->
      <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
          args="load image_proc/debayer /camera_nodelet_manager">
      </node>
    </group>

    <!-- Stereo image processing nodelet -->
    <group if="$(arg run_stereo_image_proc)" >
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
        <!-- <remap from="left/image_raw" to="left/image"/>
        <remap from="right/image_raw" to="right/image"/> -->
        <param name="approximate_sync" value="true"/>
      </node>
    </group>

  </group>
</launch>

When I output the right/camera_raw, it shows [ERROR] [1618405746.078545182]: [SpinnakerCamera::grabImage] Failed to retrieve buffer with error: Spinnaker: Failed waiting for EventData on NEW_BUFFER_DATA event. [-1011]
[ERROR] [1618405746.079345705]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]

Packaging broken?

On Ubuntu 16.04 LTS using ROS Kinetic repos, it looks like the ros-kinetic-spinnaker-camera-driver package is gone (http://packages.ros.org/ros/ubuntu/dists/xenial/main/binary-amd64/Packages)

Checking deps on flir-camera-driver:

$ apt-cache show ros-kinetic-flir-camera-driver
Package: ros-kinetic-flir-camera-driver
Version: 0.1.3-0xenial-20190611-170844-0800
Architecture: amd64
Maintainer: Michael Hosmar <[email protected]>
Installed-Size: 13
Depends: ros-kinetic-spinnaker-camera-driver
Priority: extra
Section: misc
Filename: pool/main/r/ros-kinetic-flir-camera-driver/ros-kinetic-flir-camera-driver_0.1.3-0xenial-20190611-170844-0800_amd64.deb
Size: 1614
SHA256: d7e7d9e37763881eaef742011b2bfe06d87ba9a3156b249df38b31d6d80bc2f1
SHA1: 51aaaff73660cc61701ec46b428e278000673ad3
MD5sum: 1e123e25e615eb07114fc06b1ccaa264
Description: A set of drivers for Flir cameras based on the Spinnaker SDK.
Description-md5: 496d4a2ccda1ea660050d4747c3aecb2

Checking packages.ros.org under Xenial Packages list (http://packages.ros.org/ros/ubuntu/dists/xenial/main/binary-amd64/Packages) shows that, while the dependency is captures on ros-kinetic-flir-camera-driver needing ros-kinetic-spinnaker-camera-driver, the actual driver is not listed as available in the packages!

Error [FATAL]: [FATAL] [1614359058.096805384]: Failed to load nodelet '/camera/spinnaker_camera_nodelet` of type `spinnaker_camera_driver/SpinnakerCameraNodelet` to manager `camera_nodelet_manager'

Hello,

I am currently trying to run the spinnaker_camera_driver package on my Ubuntu 16.04 machine and when I run the launch file camera.launch I receive this error. I am not sure why this is coming up, as I've configured the serial no. correctly and the cmaera is recognized in SpinView. Any insight into what is causing this issue would be appreciated, thank you.

user@OKED8383:~/ws/autoware.ai/install/spinnaker_camera_driver/share/spinnaker_camera_driver$ roslaunch spinnaker_camera_driver camera.launch
... logging to /home/user/.ros/log/3591bb5e-7846-11eb-93ca-34e894a5e365/roslaunch-OKED8012-13505.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://OKED8012:42425/

SUMMARY
========

PARAMETERS
 * /camera/spinnaker_camera_nodelet/acquisition_frame_rate: 30
 * /camera/spinnaker_camera_nodelet/acquisition_frame_rate_enable: False
 * /camera/spinnaker_camera_nodelet/frame_id: camera
 * /camera/spinnaker_camera_nodelet/serial: 19194339
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    image_proc_debayer (nodelet/nodelet)
    spinnaker_camera_nodelet (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/camera_nodelet_manager-1]: started with pid [13613]
process[camera/spinnaker_camera_nodelet-2]: started with pid [13614]
process[camera/image_proc_debayer-3]: started with pid [13617]
[ INFO] [1614359057.983425859]: Initializing nodelet with 16 worker threads.
[ERROR] [1614359058.096454925]: Exception thrown while processing service call: Spinnaker: System instance cannot be acquired. [-1012]
[ERROR] [1614359058.096733078]: Service call failed: service [/camera/camera_nodelet_manager/load_nodelet] responded with an error: Spinnaker: System instance cannot be acquired. [-1012]
[FATAL] [1614359058.096805384]: Failed to load nodelet '/camera/spinnaker_camera_nodelet` of type `spinnaker_camera_driver/SpinnakerCameraNodelet` to manager `camera_nodelet_manager'
[camera/spinnaker_camera_nodelet-2] process has died [pid 13614, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager __name:=spinnaker_camera_nodelet __log:=/home/user/.ros/log/3591bb5e-7846-11eb-93ca-34e894a5e365/camera-spinnaker_camera_nodelet-2.log].
log file: /home/user/.ros/log/3591bb5e-7846-11eb-93ca-34e894a5e365/camera-spinnaker_camera_nodelet-2*.log

/image_color remains gray scale.

I display /image_color with blackflyS(GigE), but it remains gray scale.
I also check display image with spinview, it was rgb scale.
Do you have any thoought about this?
image_proc/debayer cannot convert bayer into rgb?

Blackfly (BFLY, not BFS) resets to default settings

I work on two Blackfly cameras (not the Blackfly S cameras) on a linux platform and after some debugging, it seems like the model name is not recognized (it only look for Blackfly s and Chameleon). Consequently, the cameras resets to default parameters (see line 236 in SpinnakerCamera.cpp). This also involves to set throughput to max (see line 47 in camera.cpp) which is not desirable as you want to share GIGE bandwidth between the two cameras. See more about the problem in general in the last comment here: neufieldrobotics/spinnaker_sdk_camera_driver#10.

Obviously the default parameters does not fit to stereo setup (two simultataneous streams). My solution until now is to comment line 47 in camera.cpp and manually adjust GEV SCPD (packet delay to insert between each packet for the stream) to 10000 (or another sufficient high number) in Spinview. Consequently, DeviceLinKThroughput is updated to a lower number (than max aka 125 000 000). The stereo setup works nicely with this configuration.

Since the code seems to work for Blackfly cameras and not only Blackfly S/Chameleon, I guess the solution is simply to add a " if (model_name_str.find("Blackfly") != ... " in SpinnakerCamera.cpp? I haven't tested my blackfly cameras too much with this driver yet, is there other people that struggles with them?

Flir Tau 2 support

Does this repo support Flir Tau 2 Cameras? If not, is there any that someone knows about? Thanks in Advance.

Failed to set configuration

Hello,
After having installed the driver in my ROS workspace I am trying to run the camera.launch file. The camera is being detected but it displays an error, so the topics of the camera are empty. Here is the outcome:
SUMMARY

PARAMETERS

/camera/spinnaker_camera_nodelet/frame_id: camera
/camera/spinnaker_camera_nodelet/serial: 0
/rosdistro: kinetic
/rosversion: 1.12.13

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
image_proc_debayer (nodelet/nodelet)
spinnaker_camera_nodelet (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [11922]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 15d2bd2a-9a0b-11e8-9546-c85b76a8f2ac
process[rosout-1]: started with pid [11935]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [11942]
process[camera/spinnaker_camera_nodelet-3]: started with pid [11953]
process[camera/image_proc_debayer-4]: started with pid [11954]
[ INFO] [1533623304.401713233]: Initializing nodelet with 4 worker threads.
[ INFO] [1533623306.203160039]: [SpinnakerCamera]: Number of cameras detected: 1
[ INFO] [1533623306.303620179]: [SpinnakerCamera::connect]: Using Serial: 18013295
[ INFO] [1533623306.303692870]: [SpinnakerCamera::connect]: Detected device type: GEV
[ INFO] [1533623306.740861063]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-PGE-50S5C
[ INFO] [1533623306.751486209]: [SpinnakerCamera]: (18013295) DeviceLinkThroughputLimit set to 12500000.
[ INFO] [1533623306.990190413]: [SpinnakerCamera]: (18013295) BinningHorizontal set to 2.
[ INFO] [1533623307.004701024]: [SpinnakerCamera]: (18013295) BinningVertical set to 2.
[ WARN] [1533623307.006970626]: [SpinnakerCamera]: (18013295) Feature DecimationHorizontal not writable.
[ WARN] [1533623307.008475084]: [SpinnakerCamera]: (18013295) Feature DecimationVertical not writable.
[ INFO] [1533623307.020437135]: [SpinnakerCamera]: (18013295) OffsetX set to 0.
[ INFO] [1533623307.029691618]: [SpinnakerCamera]: (18013295) OffsetY set to 0.
[ INFO] [1533623307.040225700]: [SpinnakerCamera]: (18013295) Width set to 1224.
[ INFO] [1533623307.048865311]: [SpinnakerCamera]: (18013295) Height set to 1024.
[ INFO] [1533623307.055117262]: [SpinnakerCamera]: (18013295) OffsetX set to 0.
[ INFO] [1533623307.061442761]: [SpinnakerCamera]: (18013295) OffsetY set to 0.
[ INFO] [1533623307.074728797]: [SpinnakerCamera]: (18013295) PixelFormat set to Mono8.
[ INFO] [1533623307.079206047]: [SpinnakerCamera]: (18013295) AcquisitionFrameRateEnable set to 1.
[ERROR] [1533623307.082655973]: Reconfigure Callback failed with error: [Camera::setNewConfiguration] Failed to set configuration: Spinnaker: GenICam::OutOfRangeException= Value 9.619247 must be smaller than or equal 9.619247. : OutOfRangeException thrown in node 'AcquisitionFrameRate' while calling 'AcquisitionFrameRate.SetValue()' (file 'FloatT.h', line 85) [-2002]

Any help on this?

Thank you very much!

Failed to load nodelet

Hi,
I have downloaded and compiled the package on Ubuntu 16.04 with Kinetic. After installing, I ran the spin-conf script to set udev permissions and rebooted.

Whenever I run the camera.launch file, the camera is detected but I get the following error about the nodelet not being loaded. It happens both with a BFS-U3-51S5C and a BFS-U3-51S5M. Any ideas?

SUMMARY

PARAMETERS

/camera/spinnaker_camera_nodelet/frame_id: camera

/camera/spinnaker_camera_nodelet/serial: 0

/rosdistro: kinetic

/rosversion: 1.12.13

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
spinnaker_camera_nodelet (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [9679]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd4411e2-a265-11e8-88c1-9cb6d0f4ddf5
process[rosout-1]: started with pid [9692]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [9699]
process[camera/spinnaker_camera_nodelet-3]: started with pid [9708]
[ INFO] [1534541956.363345983]: Initializing nodelet with 4 worker threads.
[ INFO] [1534541957.856720197]: [SpinnakerCamera]: Number of cameras detected: 1
[ INFO] [1534541957.979883873]: [SpinnakerCamera::connect]: Using Serial: 18284882
[ INFO] [1534541957.979983317]: [SpinnakerCamera::connect]: Detected device type: U3V
[ INFO] [1534541958.145472911]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-U3-51S5M
[ INFO] [1534541958.148914877]: [SpinnakerCamera]: (18284882) DeviceLinkThroughputLimit set to 500000000.
[FATAL] [1534541958.259820636]: Failed to load nodelet '/camera/spinnaker_camera_nodeletof typespinnaker_camera_driver/SpinnakerCameraNodeletto managercamera_nodelet_manager'
[camera/camera_nodelet_manager-2] process has died [pid 9699, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/eiscar/.ros/log/fd4411e2-a265-11e8-88c1-9cb6d0f4ddf5/camera-camera_nodelet_manager-2.log].
log file: /home/eiscar/.ros/log/fd4411e2-a265-11e8-88c1-9cb6d0f4ddf5/camera-camera_nodelet_manager-2*.log
[camera/spinnaker_camera_nodelet-3] process has died [pid 9708, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager __name:=spinnaker_camera_nodelet __log:=/home/eiscar/.ros/log/fd4411e2-a265-11e8-88c1-9cb6d0f4ddf5/camera-spinnaker_camera_nodelet-3.log].
log file: /home/eiscar/.ros/log/fd4411e2-a265-11e8-88c1-9cb6d0f4ddf5/camera-spinnaker_camera_nodelet-3*.log

Configure the Cameras

Hi, I am setting up hardware trigger with using GPIO connector and I tried to synchronize two cameras.
I referred this document : What is Synchronized Capture?

In my case, I use two GS3.
So I thought left node's parameters is like this:

<!-- Triggering -->
<param name="enable_trigger" value="On"/>
<param name="trigger_source" value="Line2"/>
<param name="trigger_overlap_mode" value="Off"/>
<param name="line_mode" value="Output"/>

and right node's parameters is like this:

<!-- Triggering -->
<param name="line_selector" value="Line3"/>
<param name="trigger_overlap_mode" value="Read-out"/>
<param name="trigger_activation_mode" value="RisingEdge"/>
<param name="trigger_overlap_mode" value="Off"/>

However, from above document, to set trigger mode On is wrote and I cannot find this mode in SpinnakerConfig.dox.

I ran stereo.launch and rosrun rqt_image_view rqt_image_view.
Then I received the following errors:

$ roslaunch spinnaker_camera_driver stereo.launch 
... logging to /home/harvester/.ros/log/bc9aceb2-8406-11eb-b351-c809a83c11d5/roslaunch-PAV-15969.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://PAV:41163/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /stereo/left/camera_nodelet/acquisition_frame_rate: 15
 * /stereo/left/camera_nodelet/acquisition_frame_rate_enable: True
 * /stereo/left/camera_nodelet/enable_trigger: On
 * /stereo/left/camera_nodelet/frame_id: camera_left
 * /stereo/left/camera_nodelet/line_mode: Output
 * /stereo/left/camera_nodelet/serial: 16400096
 * /stereo/left/camera_nodelet/trigger_overlap_mode: Off
 * /stereo/left/camera_nodelet/trigger_source: Line2
 * /stereo/right/camera_nodelet/acquisition_frame_rate: 15
 * /stereo/right/camera_nodelet/acquisition_frame_rate_enable: True
 * /stereo/right/camera_nodelet/frame_id: camera_right
 * /stereo/right/camera_nodelet/line_selector: Line3
 * /stereo/right/camera_nodelet/serial: 16400106
 * /stereo/right/camera_nodelet/trigger_activation_mode: RisingEdge
 * /stereo/right/camera_nodelet/trigger_overlap_mode: Off

NODES
  /
    camera_nodelet_manager (nodelet/nodelet)
  /stereo/left/
    camera_nodelet (nodelet/nodelet)
    image_proc_debayer (nodelet/nodelet)
  /stereo/right/
    camera_nodelet (nodelet/nodelet)
    image_proc_debayer (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [15979]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bc9aceb2-8406-11eb-b351-c809a83c11d5
process[rosout-1]: started with pid [15990]
started core service [/rosout]
process[camera_nodelet_manager-2]: started with pid [15997]
process[stereo/left/camera_nodelet-3]: started with pid [15998]
process[stereo/left/image_proc_debayer-4]: started with pid [15999]
process[stereo/right/camera_nodelet-5]: started with pid [16001]
process[stereo/right/image_proc_debayer-6]: started with pid [16010]
[ WARN] [1615645007.256783102]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRateEnabled not available.
[ WARN] [1615645007.256913717]: [SpinnakerCamera]: (16400096) Enumeration AcquisitionFrameRateAuto not writable.
[ WARN] [1615645007.256995197]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRate not available.
[ WARN] [1615645007.257051115]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRateEnabled not available.
[ WARN] [1615645007.258710696]: [SpinnakerCamera]: (16400096) Entry name Output not available.
[ WARN] [1615645007.258728498]: Available:
[ WARN] [1615645007.258817728]:  - EnumEntry_LineMode_Input (display Input, symbolic Input)
[ WARN] [1615645025.594640195]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRateEnabled not available.
[ WARN] [1615645025.594782485]: [SpinnakerCamera]: (16400096) Enumeration AcquisitionFrameRateAuto not writable.
[ WARN] [1615645025.594947018]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRate not available.
[ WARN] [1615645025.595078206]: [SpinnakerCamera]: (16400096) Feature AcquisitionFrameRateEnabled not available.
[ WARN] [1615645025.597947894]: [SpinnakerCamera]: (16400096) Entry name Output not available.
[ WARN] [1615645025.598023713]: Available:
[ WARN] [1615645025.598104601]:  - EnumEntry_LineMode_Input (display Input, symbolic Input)
[ERROR] [1615645026.625712181]: [SpinnakerCamera::grabImage] Failed to retrieve buffer with error: Spinnaker: Failed waiting for EventData on NEW_BUFFER_DATA event. [-1011]
[ERROR] [1615645026.626271536]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]

Does anyone know this solution?

Note:

stereo.launch worked without both node's parameters but received images with different frame rate like this:

$ rostopic hz /stereo/left/image_raw
subscribed to [/stereo/left/image_raw]
average rate: 30.015
	min: 0.024s max: 0.053s std dev: 0.00532s window: 26
average rate: 29.826
	min: 0.024s max: 0.053s std dev: 0.00462s window: 56
average rate: 29.999
	min: 0.024s max: 0.053s std dev: 0.00508s window: 86

$ rostopic hz /stereo/right/image_raw
subscribed to [/stereo/right/image_raw]
average rate: 15.218
	min: 0.053s max: 0.070s std dev: 0.00417s window: 13
average rate: 15.125
	min: 0.053s max: 0.077s std dev: 0.00464s window: 28
average rate: 15.096
	min: 0.052s max: 0.084s std dev: 0.00582s window: 43

Skipped loading plugin with error: XML Document

After building the package and attempting to run roslaunch spinnaker_camera_driver stereo.launch I get this error [ERROR] [1612989245.972185417]: Skipped loading plugin with error: XML Document '/home/me/ws/autoware.ai/install/spinnaker_sdk_camera_driver/share/spinnaker_sdk_camera_driver/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..

However, when I look into the directory the nodelet_plugins.xml is there. Additionally, when I take a "nodelet_plugins.xml" file from another desktop (where the package is built and configured to interface with the same cameras) and copy the contents of it and place it into the desktop in question, I still get this error. I am not sure how to resolve, any guidance would be useful.

USBFS Too Small by Default

Increasing the USB buffer is outlined here: Using Linux with USB 3.1 But isn't mentioned in the readme.

Plan:

Add note to readme.
~~Have deb automatically increase USBFS size.~~ Include runtime check for USBFS size.

Question about handling image transport

@mhosmar-cpr We had written up a ROS driver for BFS before this driver was available. I tried for a while trying to make image transport work with ROS, but I couldnt succeed. The code would compile fine, but on runtime it would crash immediately. I was curious to know if you experienced this issue and how you were able to handle it.

Thanks,
Vikrant

can i see live video from camera with this ?

i want to have live video with Blackfly S GIGE can this one do it for me ?

i alreaye have Spinnaker SDK can i do this work with spin view ?

Feature name BalanceRatioSelector not implemented

hi, thanks for your driver, it works well when i get the stereo camera video stream.

But when i change the image_color_coding to BayerRG8, i met this error
[ERROR] [1562752443.834753711]: [SpinnakerCamera]: (18012381) Feature name BalanceRatioSelector not implemented.
I can change this value to get the right color image in spinview, how can I fix that?

U3VMessageChannelID doesn't exist on GigE

On a Blackfly S GigE camera, the spinnaker_camera_driver adds a parameter to the DiagnosticsManager of name "U3VMessageChannelID", which does not exist on the GigE cameras. This causes an exception:

terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to get parmeter U3VMessageChannelID

Fixed this with a change to the driver to have a parameter for USB3 vs GigE. Patch is below.

diff --git a/spinnaker_camera_driver/launch/camera.launch b/spinnaker_camera_driver/launch/camera.launch
index 68576f3..b8227ad 100644
--- a/spinnaker_camera_driver/launch/camera.launch
+++ b/spinnaker_camera_driver/launch/camera.launch
@@ -29,6 +29,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
   <arg name="camera_name" default="camera" />
   <arg name="camera_serial" default="0" />
   <arg name="calibrated" default="0" />
+  <arg name="device_type" default="USB3" /> <!-- USB3 or GigE -->
 
   <group ns="$(arg camera_name)">
     <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
@@ -38,7 +39,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 
       <param name="frame_id" value="camera" />
       <param name="serial" value="$(arg camera_serial)" />
-
+      <param name="device_type" value="$(arg device_type)" />
+      
       <!-- When unspecified, the driver will use the default framerate as given by the
            camera itself. Use this parameter to override that value for cameras capable of
            other framerates. -->
diff --git a/spinnaker_camera_driver/src/nodelet.cpp b/spinnaker_camera_driver/src/nodelet.cpp
index b5263a0..c835b08 100644
--- a/spinnaker_camera_driver/src/nodelet.cpp
+++ b/spinnaker_camera_driver/src/nodelet.cpp
@@ -334,6 +334,8 @@ private:
 
     // Set up a diagnosed publisher
     double desired_freq;
+    std::string device_type;
+    pnh.param<std::string>("device_type", device_type, "USB3");
     pnh.param<double>("desired_freq", desired_freq, 30.0);
     pnh.param<double>("min_freq", min_freq_, desired_freq);
     pnh.param<double>("max_freq", max_freq_, desired_freq);
@@ -370,7 +372,10 @@ private:
     diag_man->addDiagnostic("PowerSupplyVoltage", true, std::make_pair(4.5f, 5.2f), 4.4f, 5.3f);
     diag_man->addDiagnostic("PowerSupplyCurrent", true, std::make_pair(0.4f, 0.6f), 0.3f, 1.0f);
     diag_man->addDiagnostic<int>("DeviceUptime");
-    diag_man->addDiagnostic<int>("U3VMessageChannelID");
+    if( device_type.compare("USB3") == 0 )
+    {
+      diag_man->addDiagnostic<int>("U3VMessageChannelID");
+    }
   }
 
   /**

spinnaker camera driver for ROS Melodic on Ubuntu 18.04

The driver for spinnaker camera available on github is for ROS Kinetic. The same driver can't run in ROS Melodic because the packages, image_exposure_msgs and wfov_camera_msgs are not available in Melodic.

Is there a driver available that's compatible with ROS Melodic Ubuntu 18.04?

How to get color images using spinnaker driver?

I have a Blackfly BFLY-PGE-31S4C, Sensor: Sony IMX265 (1/1.8" Color CMOS), Resolution: 2048x1536, Color: true, Firmware Version: 1.61.3.0, ubuntu 16.04

This works well with: the pointgrey ros drivers. https://github.com/ros-drivers/pointgrey_camera_driver
and also works in spinview

I've been advised to switch to the spinnaker SDK - I just can't get a basic color image using the spinnaker ros drivers.

If, in the launch file, I set "image_format_color_coding" to Mono8 then I can see a black and white image as expected. If I set it to BGR8 (as in the .cfg https://github.com/ros-drivers/flir_camera_driver/blob/kinetic-devel/spinnaker_camera_driver/cfg/Spinnaker.cfg )
I get:

[ WARN] [1615812241.947065644]: [SpinnakerCamera]: (18379334) Entry name RGB8 not available.
[ WARN] [1615812241.947108001]: Available:
[ WARN] [1615812241.947241881]: - EnumEntry_PixelFormat_Mono8 (display Mono 8, symbolic Mono8)
[ WARN] [1615812241.947287883]: - EnumEntry_PixelFormat_Mono12Packed (display Mono 12 Packed, symbol
ic Mono12Packed)
[ WARN] [1615812241.947359275]: - EnumEntry_PixelFormat_Mono16 (display Mono 16, symbolic Mono16)
[ WARN] [1615812241.948309211]: - EnumEntry_PixelFormat_BayerRG8 (display Bayer RG 8, symbolic BayerRG8)
[ WARN] [1615812241.948398358]: - EnumEntry_PixelFormat_BayerRG12Packed (display BayerRG 12 Packed,
symbolic BayerRG12Packed)
[ WARN] [1615812241.948454560]: - EnumEntry_PixelFormat_BayerRG16 (display BayerRG 16, symbolic Baye
rRG16)
[ WARN] [1615812241.948498959]: - EnumEntry_PixelFormat_YUV411Packed (display YUV 411 Packed, symbol
ic YUV411Packed)
[ WARN] [1615812241.948532322]: - EnumEntry_PixelFormat_YUV422Packed (display YUV 422 Packed, symbol
ic YUV422Packed)
[ WARN] [1615812241.948557183]: - EnumEntry_PixelFormat_YUV444Packed (display YUV 444 Packed, symbol
ic YUV444Packed)
[ WARN] [1615812241.948580843]: - EnumEntry_PixelFormat_RGB8Packed (display RGB 8 Packed, symbolic R
GB8Packed)

how can I get an RGB image using the spinnaker drivers?

Launchfile parameters out of date

HI,
Thank you for writing this driver.

I'm currently using it with a set of BlackFly cameras, and it works really well.

Nonetheless, setting it up at first was a bit confusing due to two parameter names which are not correctly refered in the launchfiles.

frame_rate, which should be acquisition_frame_rate
https://github.com/ros-drivers/flir_camera_driver/blob/kinetic-devel/spinnaker_camera_driver/launch/camera.launch#L45
acquisition_frame_rate_enable, which doesn't appear at all in the launchfiles, and enables manual frame rate settings.

I could write a PR in the near future to fix this.

Best,
Yoshua Nava

Not able to set BinningHorizontal for Chamaleon chameras

Hi,

I tried to launch Acquisition but I am running into an obscure error that the cameras do not support color.

[FATAL] [1559835607.362157355]: Unable to set BinningHorizontal to 2 (ptr retrieval). Aborting...
[FATAL] [1559835607.362460003]: Error: Spinnaker: GenICam::AccessException= Node is not writable. : AccessException thrown in node 'BinningHorizontal' while calling 'BinningHorizontal.SetValue()' (file 'IntegerT.h', line 77) [-2006]
[ WARN] [1559835607.362504777]: Most likely cause for this error is if your camera can't support color and your are trying to set it to color mode
terminate called after throwing an instance of 'Spinnaker::Exception'
  what():  Spinnaker: GenICam::AccessException= Node is not writable. : AccessException thrown in node 'TriggerSoftware' while calling 'TriggerSoftware.Execute()' (file 'CommandT.h', line 61) [-2006]

Also, I am trying to use two cameras and this is the modified configuration file :
`cam_ids:

15508253
16466237
cam_aliases:
cam0
cam1
master_cam: 16466237

Assign all the follwing via launch file to prevent confusion and conflict

save_path: ~/catkin_ws
save_type: .bmp #binary or .tiff or .bmp
binning: 1 # going from 2 to 1 requires cameras to be unplugged and replugged
color: true
#frames: 50
soft_framerate: 4 # this frame rate reflects to the software frame rate set using ros::rate
exp: 997
#to_ros: true #When to_ros is not selected, but live is selected, pressing 'space' exports single image to ROS`

The cameras are these :
https://www.flir.com/products/chameleon3-usb3/?model=CM3-U3-13Y3C-CS

Which I am pretty sure are color cameras

Failed to load nodelet

hello, when i run the command of roslaunch " spinnaker_camera_driver camera.launch " the following error occured, is there someone know how to solve it,thanks.

[ERROR] [1605011572.432740699]: Failed to load nodelet [/camera/spinnaker_camera_nodelet] of type [spinnaker_camera_driver/SpinnakerCameraNodelet] even after refreshing the cache: Failed to load library /home/yong/catkin_ws/devel/lib//libSpinnakerCameraNodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libSpinnaker.so.1: cannot open shared object file: No such file or directory)
[ERROR] [1605011572.432760831]: The error before refreshing the cache was: Failed to load library /home/yong/catkin_ws/devel/lib//libSpinnakerCameraNodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libSpinnaker.so.1: cannot open shared object file: No such file or directory)
[FATAL] [1605011572.432879403]: Failed to load nodelet '/camera/spinnaker_camera_nodeletof typespinnaker_camera_driver/SpinnakerCameraNodeletto managercamera_nodelet_manager'
[camera/spinnaker_camera_nodelet-3] process has died [pid 8548, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager __name:=spinnaker_camera_nodelet __log:=/home/yong/.ros/log/d9758ff2-2350-11eb-9fb1-a4bb6dc92670/camera-spinnaker_camera_nodelet-3.log].
log file: /home/yong/.ros/log/d9758ff2-2350-11eb-9fb1-a4bb6dc92670/camera-spinnaker_camera_nodelet-3*.log
^C[camera/image_proc_debayer-4] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
^X[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

feature upgrade for ubuntu 20.04 and ROS noetic

Hi, thanks for contribution to this driver.

I am using Ubuntu 20.04 and ROS noetic. Before I install this ros driver, I've installed GUI Spinnaker SDK - SpinView and played FLIR BFS camera. It's will install lib and header in /opt/spinnaker. Since Ubuntu 20.04 not install python2 by default, the download_spinnaker script will not work.

So I am suggesting to modify the FindSpinnaker.cmake by following:

find_path(Spinnaker_INCLUDE_DIRS NAMES
  ...
  /opt/spinnaker/include
) 
find_library(Spinnaker_LIBRARIES NAMES Spinnaker
 ...
 /opt/spinnaker/lib/
)

It's easy for people who using Ubuntu 20.04. And SpinView is always good to play for beginners.

Camera crash on trigger timeout

The driver crashes when the camera times out on a trigger. If set to external triggering, and no trigger is received, the driver crashes. Hard to provide a more detailed description.

[ERROR] [1534454603.501352073]: [SpinnakerCamera::grabImage] Failed to retrieve buffer with error: Spinnaker: Failed waiting for EventData on NEW_BUFFER_DATA event [-1011]
[ERROR] [1534454603.501684359]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]

Launch config:

<param name="enable_trigger" value="On" />
<param name="trigger_source" value="Line2" />
<param name="trigger_activation_mode" value="RisingEdge" />
<param name="trigger_overlap_mode" value="Off" />

Image incomplete with image status Image data is incomplete

@mhosmar-cpr Hello,

I use three BFS-U3-28S5C-C cameras and try to trigger them simultaneously, but it crashed sometimes(not every time) when I launch the driver and try to display the images. I also tried to adjust the official Trigger.cpp and make it work with multi-cameras, and I don't meet any similar error so far.

PARAMETERS

/center/camera/spinnaker_camera_nodelet/acquisition_frame_rate: 30

/center/camera/spinnaker_camera_nodelet/auto_exposure_time_upper_limit: 15000

/center/camera/spinnaker_camera_nodelet/auto_gain: Continuous

/center/camera/spinnaker_camera_nodelet/auto_white_balance: Continuous

/center/camera/spinnaker_camera_nodelet/enable_trigger: On

/center/camera/spinnaker_camera_nodelet/exposure_auto: Continuous

/center/camera/spinnaker_camera_nodelet/frame_id: blackflys_FC

/center/camera/spinnaker_camera_nodelet/gamma: 0.8

/center/camera/spinnaker_camera_nodelet/image_format_color_coding: BayerRG8

/center/camera/spinnaker_camera_nodelet/line_mode: Output

/center/camera/spinnaker_camera_nodelet/line_selector: Line2

/center/camera/spinnaker_camera_nodelet/line_source: ExposureActive

/center/camera/spinnaker_camera_nodelet/serial: 19075864

/center/camera/spinnaker_camera_nodelet/trigger_activation_mode: RisingEdge

/center/camera/spinnaker_camera_nodelet/trigger_overlap_mode: Off

/center/camera/spinnaker_camera_nodelet/trigger_selector: FrameStart

/center/camera/spinnaker_camera_nodelet/trigger_source: Line3

/left/camera/spinnaker_camera_nodelet/acquisition_frame_rate: 30

/left/camera/spinnaker_camera_nodelet/auto_exposure_time_upper_limit: 15000

/left/camera/spinnaker_camera_nodelet/auto_gain: Continuous

/left/camera/spinnaker_camera_nodelet/auto_white_balance: Continuous

/left/camera/spinnaker_camera_nodelet/enable_trigger: On

/left/camera/spinnaker_camera_nodelet/exposure_auto: Continuous

/left/camera/spinnaker_camera_nodelet/frame_id: blackflys_FL

/left/camera/spinnaker_camera_nodelet/gamma: 0.8

/left/camera/spinnaker_camera_nodelet/image_format_color_coding: BayerRG8

/left/camera/spinnaker_camera_nodelet/line_mode: Output

/left/camera/spinnaker_camera_nodelet/line_selector: Line2

/left/camera/spinnaker_camera_nodelet/line_source: ExposureActive

/left/camera/spinnaker_camera_nodelet/serial: 19075863

/left/camera/spinnaker_camera_nodelet/trigger_activation_mode: RisingEdge

/left/camera/spinnaker_camera_nodelet/trigger_overlap_mode: Off

/left/camera/spinnaker_camera_nodelet/trigger_selector: FrameStart

/left/camera/spinnaker_camera_nodelet/trigger_source: Line3

/right/camera/spinnaker_camera_nodelet/acquisition_frame_rate: 30

/right/camera/spinnaker_camera_nodelet/auto_exposure_time_upper_limit: 15000

/right/camera/spinnaker_camera_nodelet/auto_gain: Continuous

/right/camera/spinnaker_camera_nodelet/auto_white_balance: Continuous

/right/camera/spinnaker_camera_nodelet/enable_trigger: On

/right/camera/spinnaker_camera_nodelet/exposure_auto: Continuous

/right/camera/spinnaker_camera_nodelet/frame_id: blackflys_FC

/right/camera/spinnaker_camera_nodelet/gamma: 0.8

/right/camera/spinnaker_camera_nodelet/image_format_color_coding: BayerRG8

/right/camera/spinnaker_camera_nodelet/line_mode: Output

/right/camera/spinnaker_camera_nodelet/line_selector: Line2

/right/camera/spinnaker_camera_nodelet/line_source: ExposureActive

/right/camera/spinnaker_camera_nodelet/serial: 19075865

/right/camera/spinnaker_camera_nodelet/trigger_activation_mode: RisingEdge

/right/camera/spinnaker_camera_nodelet/trigger_overlap_mode: Off

/right/camera/spinnaker_camera_nodelet/trigger_selector: FrameStart

/right/camera/spinnaker_camera_nodelet/trigger_source: Line3

/rosdistro: kinetic

/rosversion: 1.12.14

NODES
/right/camera/
camera_nodelet_manager (nodelet/nodelet)
image_proc_debayer (nodelet/nodelet)
spinnaker_camera_nodelet (nodelet/nodelet)
/center/camera/
camera_nodelet_manager (nodelet/nodelet)
image_proc_debayer (nodelet/nodelet)
spinnaker_camera_nodelet (nodelet/nodelet)
/left/camera/
camera_nodelet_manager (nodelet/nodelet)
image_proc_debayer (nodelet/nodelet)
spinnaker_camera_nodelet (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [2342]
ROS_MASTER_URI=http://192.168.1.100:11311

setting /run_id to 7f5c90f0-f751-11e9-97c5-a0369f6c7aaa
process[rosout-1]: started with pid [2355]
started core service [/rosout]
process[left/camera/camera_nodelet_manager-2]: started with pid [2372]
process[left/camera/spinnaker_camera_nodelet-3]: started with pid [2373]
process[left/camera/image_proc_debayer-4]: started with pid [2374]
process[right/camera/camera_nodelet_manager-5]: started with pid [2376]
process[right/camera/spinnaker_camera_nodelet-6]: started with pid [2386]
process[right/camera/image_proc_debayer-7]: started with pid [2392]
process[center/camera/camera_nodelet_manager-8]: started with pid [2395]
process[center/camera/spinnaker_camera_nodelet-9]: started with pid [2396]
process[center/camera/image_proc_debayer-10]: started with pid [2403]
[ INFO] [1572026502.034822475]: Initializing nodelet with 4 worker threads.
[ INFO] [1572026502.036391994]: Initializing nodelet with 4 worker threads.
[ INFO] [1572026502.047413946]: Initializing nodelet with 4 worker threads.
[ INFO] [1572026503.048111698]: [SpinnakerCamera]: Number of cameras detected: 3
[ INFO] [1572026503.048111684]: [SpinnakerCamera]: Number of cameras detected: 3
[ INFO] [1572026503.048131233]: [SpinnakerCamera]: Number of cameras detected: 3
[ INFO] [1572026503.146836492]: [SpinnakerCamera::connect]: Detected device type: U3V
[ INFO] [1572026503.147684064]: [SpinnakerCamera::connect]: Detected device type: U3V
[ INFO] [1572026503.148500265]: [SpinnakerCamera::connect]: Detected device type: U3V
[ INFO] [1572026503.349898446]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-U3-28S5C
[ INFO] [1572026503.349898462]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-U3-28S5C
[ INFO] [1572026503.349898459]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-U3-28S5C
[ INFO] [1572026503.354361580]: [SpinnakerCamera]: (19075863) DeviceLinkThroughputLimit set to 500000000.
[ INFO] [1572026503.354375210]: [SpinnakerCamera]: (19075865) DeviceLinkThroughputLimit set to 500000000.
[ INFO] [1572026503.354540005]: [SpinnakerCamera]: (19075864) DeviceLinkThroughputLimit set to 500000000.
[ INFO] [1572026503.618736670]: [SpinnakerCamera]: (19075863) BinningHorizontal set to 1.
[ INFO] [1572026503.620852388]: [SpinnakerCamera]: (19075865) BinningHorizontal set to 1.
[ INFO] [1572026503.622254537]: [SpinnakerCamera]: (19075864) BinningHorizontal set to 1.
[ INFO] [1572026503.626279567]: [SpinnakerCamera]: (19075863) BinningVertical set to 1.
[ INFO] [1572026503.628026365]: [SpinnakerCamera]: (19075865) BinningVertical set to 1.
[ INFO] [1572026503.629664081]: [SpinnakerCamera]: (19075864) BinningVertical set to 1.
[ INFO] [1572026503.633431617]: [SpinnakerCamera]: (19075863) DecimationHorizontal set to 1.
[ INFO] [1572026503.635256756]: [SpinnakerCamera]: (19075865) DecimationHorizontal set to 1.
[ INFO] [1572026503.636584397]: [SpinnakerCamera]: (19075864) DecimationHorizontal set to 1.
[ INFO] [1572026503.640465340]: [SpinnakerCamera]: (19075863) DecimationVertical set to 1.
[ INFO] [1572026503.642105652]: [SpinnakerCamera]: (19075865) DecimationVertical set to 1.
[ INFO] [1572026503.643563040]: [SpinnakerCamera]: (19075864) DecimationVertical set to 1.
[ INFO] [1572026503.645225957]: [SpinnakerCamera]: (19075863) OffsetX set to 0.
[ INFO] [1572026503.646573652]: [SpinnakerCamera]: (19075865) OffsetX set to 0.
[ INFO] [1572026503.647933107]: [SpinnakerCamera]: (19075864) OffsetX set to 0.
[ INFO] [1572026503.649056957]: [SpinnakerCamera]: (19075863) OffsetY set to 0.
[ INFO] [1572026503.650456005]: [SpinnakerCamera]: (19075865) OffsetY set to 0.
[ INFO] [1572026503.651623189]: [SpinnakerCamera]: (19075864) OffsetY set to 0.
[ INFO] [1572026503.653059375]: [SpinnakerCamera]: (19075863) Width set to 1936.
[ INFO] [1572026503.654529799]: [SpinnakerCamera]: (19075865) Width set to 1936.
[ INFO] [1572026503.655711595]: [SpinnakerCamera]: (19075864) Width set to 1936.
[ INFO] [1572026503.656969527]: [SpinnakerCamera]: (19075863) Height set to 1464.
[ INFO] [1572026503.658392107]: [SpinnakerCamera]: (19075865) Height set to 1464.
[ INFO] [1572026503.659613107]: [SpinnakerCamera]: (19075864) Height set to 1464.
[ INFO] [1572026503.660459939]: [SpinnakerCamera]: (19075863) OffsetX set to 0.
[ INFO] [1572026503.661734202]: [SpinnakerCamera]: (19075865) OffsetX set to 0.
[ INFO] [1572026503.663206206]: [SpinnakerCamera]: (19075864) OffsetX set to 0.
[ INFO] [1572026503.663745101]: [SpinnakerCamera]: (19075863) OffsetY set to 0.
[ INFO] [1572026503.665030978]: [SpinnakerCamera]: (19075865) OffsetY set to 0.
[ INFO] [1572026503.666531479]: [SpinnakerCamera]: (19075864) OffsetY set to 0.
[ INFO] [1572026503.671284324]: [SpinnakerCamera]: (19075863) PixelFormat set to BayerRG8.
[ INFO] [1572026503.672186799]: [SpinnakerCamera]: (19075865) PixelFormat set to BayerRG8.
[ INFO] [1572026503.673451523]: [SpinnakerCamera]: (19075863) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026503.673949839]: [SpinnakerCamera]: (19075864) PixelFormat set to BayerRG8.
[ INFO] [1572026503.674283235]: [SpinnakerCamera]: (19075865) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026503.676194529]: [SpinnakerCamera]: (19075864) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026503.676360595]: [SpinnakerCamera]: (19075863) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026503.676904592]: [SpinnakerCamera]: (19075865) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026503.678638033]: [SpinnakerCamera]: (19075863) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026503.679324828]: [SpinnakerCamera]: (19075865) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026503.679829981]: [SpinnakerCamera]: (19075864) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026503.680337698]: [SpinnakerCamera]: (19075863) TriggerMode set to Off.
[ INFO] [1572026503.681169003]: [SpinnakerCamera]: (19075865) TriggerMode set to Off.
[ INFO] [1572026503.681589755]: [SpinnakerCamera]: (19075863) TriggerSource set to Line3.
[ INFO] [1572026503.681646071]: [SpinnakerCamera]: (19075863) TriggerSelector set to FrameStart.
[ INFO] [1572026503.682104085]: [SpinnakerCamera]: (19075864) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026503.682448326]: [SpinnakerCamera]: (19075865) TriggerSource set to Line3.
[ INFO] [1572026503.682497534]: [SpinnakerCamera]: (19075865) TriggerSelector set to FrameStart.
[ INFO] [1572026503.683045043]: [SpinnakerCamera]: (19075863) TriggerActivation set to RisingEdge.
[ INFO] [1572026503.683743889]: [SpinnakerCamera]: (19075864) TriggerMode set to Off.
[ INFO] [1572026503.683872434]: [SpinnakerCamera]: (19075865) TriggerActivation set to RisingEdge.
[ INFO] [1572026503.684332702]: [SpinnakerCamera]: (19075863) TriggerMode set to On.
[ INFO] [1572026503.684970999]: [SpinnakerCamera]: (19075863) LineSelector set to Line2.
[ INFO] [1572026503.685037841]: [SpinnakerCamera]: (19075864) TriggerSource set to Line3.
[ INFO] [1572026503.685085640]: [SpinnakerCamera]: (19075864) TriggerSelector set to FrameStart.
[ INFO] [1572026503.685235942]: [SpinnakerCamera]: (19075865) TriggerMode set to On.
[ INFO] [1572026503.685822313]: [SpinnakerCamera]: (19075863) LineMode set to Output.
[ INFO] [1572026503.685860227]: [SpinnakerCamera]: (19075865) LineSelector set to Line2.
[ INFO] [1572026503.686435579]: [SpinnakerCamera]: (19075864) TriggerActivation set to RisingEdge.
[ INFO] [1572026503.686683477]: [SpinnakerCamera]: (19075863) LineSource set to ExposureActive.
[ INFO] [1572026503.686727905]: [SpinnakerCamera]: (19075865) LineMode set to Output.
[ INFO] [1572026503.687593043]: [SpinnakerCamera]: (19075864) TriggerMode set to On.
[ INFO] [1572026503.687652061]: [SpinnakerCamera]: (19075865) LineSource set to ExposureActive.
[ INFO] [1572026503.688021229]: [SpinnakerCamera]: (19075863) ExposureMode set to Timed.
[ INFO] [1572026503.688179038]: [SpinnakerCamera]: (19075864) LineSelector set to Line2.
[ INFO] [1572026503.689024975]: [SpinnakerCamera]: (19075865) ExposureMode set to Timed.
[ INFO] [1572026503.689127893]: [SpinnakerCamera]: (19075864) LineMode set to Output.
[ INFO] [1572026503.689983611]: [SpinnakerCamera]: (19075864) LineSource set to ExposureActive.
[ INFO] [1572026503.690718476]: [SpinnakerCamera]: (19075863) ExposureAuto set to Continuous.
[ INFO] [1572026503.691272778]: [SpinnakerCamera]: (19075864) ExposureMode set to Timed.
[ INFO] [1572026503.691789699]: [SpinnakerCamera]: (19075865) ExposureAuto set to Continuous.
[ INFO] [1572026503.692331618]: [SpinnakerCamera]: (19075863) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026503.692651930]: [SpinnakerCamera]: (19075863) GainSelector set to All.
[ INFO] [1572026503.693483082]: [SpinnakerCamera]: (19075865) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026503.693676850]: [SpinnakerCamera]: (19075865) GainSelector set to All.
[ INFO] [1572026503.693935037]: [SpinnakerCamera]: (19075864) ExposureAuto set to Continuous.
[ INFO] [1572026503.695599096]: [SpinnakerCamera]: (19075863) GainAuto set to Continuous.
[ INFO] [1572026503.695692612]: [SpinnakerCamera]: (19075864) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026503.696006854]: [SpinnakerCamera]: (19075864) GainSelector set to All.
[ INFO] [1572026503.696569643]: [SpinnakerCamera]: (19075865) GainAuto set to Continuous.
[ INFO] [1572026503.697279720]: [SpinnakerCamera]: (19075863) BlackLevel set to 1.7.
[ INFO] [1572026503.697888239]: [SpinnakerCamera]: (19075863) GammaEnable set to 1.
[ INFO] [1572026503.698319971]: [SpinnakerCamera]: (19075865) BlackLevel set to 1.7.
[ INFO] [1572026503.698912788]: [SpinnakerCamera]: (19075864) GainAuto set to Continuous.
[ INFO] [1572026503.698964671]: [SpinnakerCamera]: (19075865) GammaEnable set to 1.
[ INFO] [1572026503.699102517]: [SpinnakerCamera]: (19075863) Gamma set to 0.800049.
[ INFO] [1572026503.700129828]: [SpinnakerCamera]: (19075865) Gamma set to 0.800049.
[ INFO] [1572026503.700677846]: [SpinnakerCamera]: (19075864) BlackLevel set to 1.7.
[ INFO] [1572026503.701296519]: [SpinnakerCamera]: (19075864) GammaEnable set to 1.
[ INFO] [1572026503.702118026]: [SpinnakerCamera]: (19075863) BalanceWhiteAuto set to Continuous.
[ INFO] [1572026503.702495446]: [SpinnakerCamera]: (19075864) Gamma set to 0.800049.
[ INFO] [1572026503.703159518]: [SpinnakerCamera]: (19075865) BalanceWhiteAuto set to Continuous.
[ INFO] [1572026503.705725911]: [SpinnakerCamera]: (19075864) BalanceWhiteAuto set to Continuous.
[ INFO] [1572026504.931660290]: devicePoll
[ INFO] [1572026504.932002730]: devicePoll
[ INFO] [1572026505.033051770]: devicePoll
[ INFO] [1572026505.180866401]: [SpinnakerCamera]: (19075864) BinningHorizontal set to 1.
[ INFO] [1572026505.185922589]: [SpinnakerCamera]: (19075863) BinningHorizontal set to 1.
[ INFO] [1572026505.188210946]: [SpinnakerCamera]: (19075864) BinningVertical set to 1.
[ INFO] [1572026505.193100144]: [SpinnakerCamera]: (19075863) BinningVertical set to 1.
[ INFO] [1572026505.194989693]: [SpinnakerCamera]: (19075864) DecimationHorizontal set to 1.
[ INFO] [1572026505.199590228]: [SpinnakerCamera]: (19075863) DecimationHorizontal set to 1.
[ INFO] [1572026505.201630867]: [SpinnakerCamera]: (19075864) DecimationVertical set to 1.
[ INFO] [1572026505.205569167]: [SpinnakerCamera]: (19075864) OffsetX set to 0.
[ INFO] [1572026505.206122174]: [SpinnakerCamera]: (19075863) DecimationVertical set to 1.
[ INFO] [1572026505.209063814]: [SpinnakerCamera]: (19075864) OffsetY set to 0.
[ INFO] [1572026505.209930701]: [SpinnakerCamera]: (19075863) OffsetX set to 0.
[ INFO] [1572026505.212838578]: [SpinnakerCamera]: (19075864) Width set to 1936.
[ INFO] [1572026505.213205222]: [SpinnakerCamera]: (19075863) OffsetY set to 0.
[ INFO] [1572026505.216457776]: [SpinnakerCamera]: (19075864) Height set to 1464.
[ INFO] [1572026505.216883007]: [SpinnakerCamera]: (19075863) Width set to 1936.
[ INFO] [1572026505.219831937]: [SpinnakerCamera]: (19075864) OffsetX set to 0.
[ INFO] [1572026505.220421191]: [SpinnakerCamera]: (19075863) Height set to 1464.
[ INFO] [1572026505.223148786]: [SpinnakerCamera]: (19075864) OffsetY set to 0.
[ INFO] [1572026505.223910893]: [SpinnakerCamera]: (19075863) OffsetX set to 0.
[ INFO] [1572026505.227100045]: [SpinnakerCamera]: (19075863) OffsetY set to 0.
[ INFO] [1572026505.230027144]: [SpinnakerCamera]: (19075864) PixelFormat set to BayerRG8.
[ INFO] [1572026505.232019713]: [SpinnakerCamera]: (19075864) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026505.233857943]: [SpinnakerCamera]: (19075863) PixelFormat set to BayerRG8.
[ INFO] [1572026505.234650381]: [SpinnakerCamera]: (19075864) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026505.235856100]: [SpinnakerCamera]: (19075863) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026505.236929568]: [SpinnakerCamera]: (19075864) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026505.238261728]: [SpinnakerCamera]: (19075864) TriggerMode set to Off.
[ INFO] [1572026505.238694622]: [SpinnakerCamera]: (19075863) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026505.239727530]: [SpinnakerCamera]: (19075864) TriggerSource set to Line3.
[ INFO] [1572026505.239782832]: [SpinnakerCamera]: (19075864) TriggerSelector set to FrameStart.
[ INFO] [1572026505.241018966]: [SpinnakerCamera]: (19075863) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026505.241424208]: [SpinnakerCamera]: (19075864) TriggerActivation set to RisingEdge.
[ INFO] [1572026505.242247172]: [SpinnakerCamera]: (19075863) TriggerMode set to Off.
[ INFO] [1572026505.242738926]: [SpinnakerCamera]: (19075864) TriggerMode set to On.
[ INFO] [1572026505.243091215]: [SpinnakerCamera]: (19075864) LineSelector set to Line2.
[ INFO] [1572026505.243824126]: [SpinnakerCamera]: (19075863) TriggerSource set to Line3.
[ INFO] [1572026505.243912429]: [SpinnakerCamera]: (19075863) TriggerSelector set to FrameStart.
[ INFO] [1572026505.243997627]: [SpinnakerCamera]: (19075864) LineMode set to Output.
[ INFO] [1572026505.244871310]: [SpinnakerCamera]: (19075864) LineSource set to ExposureActive.
[ INFO] [1572026505.245326546]: [SpinnakerCamera]: (19075863) TriggerActivation set to RisingEdge.
[ INFO] [1572026505.245770355]: [SpinnakerCamera]: (19075864) ExposureMode set to Timed.
[ INFO] [1572026505.246583700]: [SpinnakerCamera]: (19075863) TriggerMode set to On.
[ INFO] [1572026505.246783673]: [SpinnakerCamera]: (19075863) LineSelector set to Line2.
[ INFO] [1572026505.247687268]: [SpinnakerCamera]: (19075863) LineMode set to Output.
[ INFO] [1572026505.248141571]: [SpinnakerCamera]: (19075864) ExposureAuto set to Continuous.
[ INFO] [1572026505.248483004]: [SpinnakerCamera]: (19075863) LineSource set to ExposureActive.
[ INFO] [1572026505.249371746]: [SpinnakerCamera]: (19075863) ExposureMode set to Timed.
[ INFO] [1572026505.249798002]: [SpinnakerCamera]: (19075864) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026505.250048649]: [SpinnakerCamera]: (19075864) GainSelector set to All.
[ INFO] [1572026505.251744743]: [SpinnakerCamera]: (19075863) ExposureAuto set to Continuous.
[ INFO] [1572026505.252665172]: [SpinnakerCamera]: (19075864) GainAuto set to Continuous.
[ INFO] [1572026505.253382736]: [SpinnakerCamera]: (19075863) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026505.253710856]: [SpinnakerCamera]: (19075863) GainSelector set to All.
[ INFO] [1572026505.254026438]: [SpinnakerCamera]: (19075864) BlackLevel set to 1.7.
[ INFO] [1572026505.254459280]: [SpinnakerCamera]: (19075864) GammaEnable set to 1.
[ INFO] [1572026505.255065070]: [SpinnakerCamera]: (19075864) Gamma set to 0.800049.
[ INFO] [1572026505.256276388]: [SpinnakerCamera]: (19075863) GainAuto set to Continuous.
[ INFO] [1572026505.257662731]: [SpinnakerCamera]: (19075863) BlackLevel set to 1.7.
[ INFO] [1572026505.257813578]: [SpinnakerCamera]: (19075864) BalanceWhiteAuto set to Continuous.
[ INFO] [1572026505.258085675]: [SpinnakerCamera]: (19075863) GammaEnable set to 1.
[ INFO] [1572026505.258691981]: [SpinnakerCamera]: (19075863) Gamma set to 0.800049.
[ INFO] [1572026505.261332805]: [SpinnakerCamera]: (19075863) BalanceWhiteAuto set to Continuous.
[ INFO] [1572026505.275613723]: [SpinnakerCamera]: (19075865) BinningHorizontal set to 1.
[ INFO] [1572026505.287546802]: [SpinnakerCamera]: (19075865) BinningVertical set to 1.
[ INFO] [1572026505.301907164]: [SpinnakerCamera]: (19075865) DecimationHorizontal set to 1.
[ INFO] [1572026505.308616548]: [SpinnakerCamera]: (19075865) DecimationVertical set to 1.
[ INFO] [1572026505.312524886]: [SpinnakerCamera]: (19075865) OffsetX set to 0.
[ INFO] [1572026505.315845242]: [SpinnakerCamera]: (19075865) OffsetY set to 0.
[ INFO] [1572026505.319417447]: [SpinnakerCamera]: (19075865) Width set to 1936.
[ INFO] [1572026505.322900582]: [SpinnakerCamera]: (19075865) Height set to 1464.
[ INFO] [1572026505.326462083]: [SpinnakerCamera]: (19075865) OffsetX set to 0.
[ INFO] [1572026505.329777099]: [SpinnakerCamera]: (19075865) OffsetY set to 0.
[ INFO] [1572026505.336638982]: [SpinnakerCamera]: (19075865) PixelFormat set to BayerRG8.
[ INFO] [1572026505.338646147]: [SpinnakerCamera]: (19075865) AcquisitionFrameRateEnable set to 1.
[ INFO] [1572026505.341270519]: [SpinnakerCamera]: (19075865) AcquisitionFrameRate set to 29.9958.
[ INFO] [1572026505.343492548]: [SpinnakerCamera]: (19075865) AcquisitionFrameRateEnable set to 0.
[ INFO] [1572026505.344862882]: [SpinnakerCamera]: (19075865) TriggerMode set to Off.
[ INFO] [1572026505.346294709]: [SpinnakerCamera]: (19075865) TriggerSource set to Line3.
[ INFO] [1572026505.346408669]: [SpinnakerCamera]: (19075865) TriggerSelector set to FrameStart.
[ INFO] [1572026505.347863631]: [SpinnakerCamera]: (19075865) TriggerActivation set to RisingEdge.
[ INFO] [1572026505.349126890]: [SpinnakerCamera]: (19075865) TriggerMode set to On.
[ INFO] [1572026505.349433021]: [SpinnakerCamera]: (19075865) LineSelector set to Line2.
[ INFO] [1572026505.350371258]: [SpinnakerCamera]: (19075865) LineMode set to Output.
[ INFO] [1572026505.351223037]: [SpinnakerCamera]: (19075865) LineSource set to ExposureActive.
[ INFO] [1572026505.352238757]: [SpinnakerCamera]: (19075865) ExposureMode set to Timed.
[ INFO] [1572026505.354608456]: [SpinnakerCamera]: (19075865) ExposureAuto set to Continuous.
[ INFO] [1572026505.356139864]: [SpinnakerCamera]: (19075865) AutoExposureExposureTimeUpperLimit set to 15000.
[ INFO] [1572026505.356518908]: [SpinnakerCamera]: (19075865) GainSelector set to All.
[ INFO] [1572026505.359256981]: [SpinnakerCamera]: (19075865) GainAuto set to Continuous.
[ INFO] [1572026505.360877537]: [SpinnakerCamera]: (19075865) BlackLevel set to 1.7.
[ INFO] [1572026505.361440460]: [SpinnakerCamera]: (19075865) GammaEnable set to 1.
[ INFO] [1572026505.362094985]: [SpinnakerCamera]: (19075865) Gamma set to 0.800049.
[ INFO] [1572026505.364916965]: [SpinnakerCamera]: (19075865) BalanceWhiteAuto set to Continuous.
[ERROR] [1572026509.329341578]: [SpinnakerCamera::grabImage] Image received from camera 19075863 is incomplete.Image incomplete with image status Image data is incomplete.
[ERROR] [1572026509.333767506]: [SpinnakerCamera::grabImage] Image received from camera 19075864 is incomplete.Image incomplete with image status Image data is incomplete.
[ERROR] [1572026509.334984236]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]
[ERROR] [1572026509.334996627]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]
[ERROR] [1572026509.341289601]: [SpinnakerCamera::grabImage] Image received from camera 19075865 is incomplete.Image incomplete with image status Image data is incomplete.
[ERROR] [1572026509.341576391]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004]
^C[center/camera/image_proc_debayer-10] killing on exit
[center/camera/spinnaker_camera_nodelet-9] killing on exit
[center/camera/camera_nodelet_manager-8] killing on exit
[left/camera/image_proc_debayer-4] killing on exit
[right/camera/spinnaker_camera_nodelet-6] killing on exit
[right/camera/camera_nodelet_manager-5] killing on exit
[right/camera/image_proc_debayer-7] killing on exit
[left/camera/camera_nodelet_manager-2] killing on exit
[left/camera/spinnaker_camera_nodelet-3] killing on exit
terminate called after throwing an instance of 'Spinnaker::Exception'
what(): Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004]
terminate called after throwing an instance of 'Spinnaker::Exception'
what(): Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004]
^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^Cterminate called after throwing an instance of 'Spinnaker::Exception'
what(): Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004]
^C^C^C^C^C[rosout-1] killing on exit
^C^C^C^C^C^C^C[master] killing on exit
^C^C^C^C^C^C^Cshutting down processing monitor...
... shutting down processing monitor complete
done

By the way, it also causes my desktop's crash after this error shows up.

Would you please help me to check the error? Thanks for helping!

build issue on Buster

hi
I followed the steps to install the spinnaker driver on Debian, i installed the melodic version of ROS following this tutorial: https://www.instructables.com/id/ROS-Melodic-on-Raspberry-Pi-4-RPLIDAR/
(until the RPLIDAR part since didn't need it ^^')

in a workspace installed image_common(git repository), pointgrey_camera_driver(git repository but ask catkin to ignore pointgrey_camera_description and pointgrey_camera_driver) and finally flir_camera_driver(git repository) but i get an issue at the build:

Scanning dependencies of target SpinnakerCameraNodelet
[ 98%] Building CXX object flir_camera_driver/spinnaker_camera_driver/CMakeFiles/SpinnakerCameraNodelet.dir/src/nodelet.cpp.o
/usr/bin/ld: /home/fpga/catkin_ws/devel/lib/libSpinnakerCameraLib.so: undefined reference to `spinnaker_camera_driver::Cm3::Cm3(Spinnaker::GenApi::INodeMap*)'
/usr/bin/ld: /home/fpga/catkin_ws/devel/lib/libSpinnakerCameraLib.so: undefined reference to `spinnaker_camera_driver::Cm3::~Cm3()'
collect2: error: ld returned 1 exit status
make[2]: *** [flir_camera_driver/spinnaker_camera_driver/CMakeFiles/spinnaker_test_node.dir/build.make:193: /home/fpga/catkin_ws/devel/lib/spinnaker_camera_driver/spinnaker_test_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:5088: flir_camera_driver/spinnaker_camera_driver/CMakeFiles/spinnaker_test_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /home/fpga/catkin_ws/devel/lib/libSpinnakerCameraLib.so: undefined reference to `spinnaker_camera_driver::Cm3::Cm3(Spinnaker::GenApi::INodeMap*)'
/usr/bin/ld: /home/fpga/catkin_ws/devel/lib/libSpinnakerCameraLib.so: undefined reference to `spinnaker_camera_driver::Cm3::~Cm3()'
collect2: error: ld returned 1 exit status
make[2]: *** [flir_camera_driver/spinnaker_camera_driver/CMakeFiles/spinnaker_camera_node.dir/build.make:193: /home/fpga/catkin_ws/devel/lib/spinnaker_camera_driver/camera_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:5351: flir_camera_driver/spinnaker_camera_driver/CMakeFiles/spinnaker_camera_node.dir/all] Error 2

does anyone know how to resolve this issue?
best regards
Sarah

compile problem

hi, thanks for your great work. I got this issue when compiling.
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avformat_alloc_output_context2@LIBAVFORMAT_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::operator+=(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to av_write_trailer@LIBAVFORMAT_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::replace(unsigned long, unsigned long, char const*, unsigned long)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::basic_ostream<char, std::char_traits<char> >& std::operator<< <char, std::char_traits<char>, std::allocator<char> >(std::basic_ostream<char, std::char_traits<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::size() const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::basic_ofstream<char, std::char_traits<char> >::basic_ofstream(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::_Ios_Openmode)@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avpicture_alloc@LIBAVCODEC_FFMPEG_56'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_last_of(char, unsigned long) const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::operator=(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to VTT for std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avcodec_open2@LIBAVCODEC_FFMPEG_56'
usr/lib/libSpinnaker.so: undefined reference to std::__throw_out_of_range_fmt(char const*, ...)@GLIBCXX_3.4.20' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::find_first_not_of(char const*, unsigned long, unsigned long) const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::append(char const*, unsigned long)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::operator+=(char const*)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::assign(char const*)@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avformat_new_stream@LIBAVFORMAT_FFMPEG_56'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >::basic_ostringstream(std::_Ios_Openmode)@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avcodec_flush_buffers@LIBAVCODEC_FFMPEG_56'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_create(unsigned long&, unsigned long)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::~basic_string()@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::c_str() const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_erase(unsigned long, unsigned long)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::begin()@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::basic_stringstream(std::_Ios_Openmode)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::basic_filebuf<char, std::char_traits >::operator=(std::basic_filebuf<char, std::char_traits >&&)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace_aux(unsigned long, unsigned long, unsigned long, char)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_assign(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avcodec_encode_video2@LIBAVCODEC_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to typeinfo for std::ios_base::failure[abi:cxx11]@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::rfind(char const*, unsigned long) const@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avcodec_register_all@LIBAVCODEC_FFMPEG_56'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_not_of(char const*, unsigned long) const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::append(char const*)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to av_free@LIBAVUTIL_FFMPEG_54' usr/lib/libSpinnaker.so: undefined reference to std::runtime_error::runtime_error(std::runtime_error const&)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::[100%] allocator<wchar_t> >::find(wchar_t const*, unsigned long, unsigned long) const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::substr(unsigned long, unsigned long) const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::~basic_stringstream()@GLIBCXX_3.4.21' /home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to av_frame_alloc@LIBAVUTIL_FFMPEG_54'
usr/lib/libSpinnaker.so: undefined reference to std::basic_istream<wchar_t, std::char_traits<wchar_t> >& std::getline<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >(std::basic_istream<wchar_t, std::char_traits<wchar_t> >&, std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >&, wchar_t)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::compare(char const*) const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_ostringstream<char, std::char_traits, std::allocator >::str() const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to vtable for std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<Built target spinnaker_camera_node
char, std::char_traits, std::allocator >::_M_append(char const*, unsigned long)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_last_of(char const*, unsigned long) const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::runtime_error::runtime_error(char const*)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to av_rescale_q@LIBAVUTIL_FFMPEG_54' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::rfind(char, unsigned long) const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::numpunct<char> const& std::use_facet<std::__cxx11::numpunct<char> >(std::locale const&)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_construct(unsigned long, char)@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::resize(unsigned long, wchar_t)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::find_first_of(wchar_t const*, unsigned long, unsigned long) const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::data() const@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::ios_base::_M_swap(std::ios_base&)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avformat_write_header@LIBAVFORMAT_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::empty() const@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned long, unsigned long)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to __cxa_throw_bad_array_new_length@CXXABI_1.3.8'
usr/lib/libSpinnaker.so: undefined reference to std::invalid_argument::invalid_argument(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21' usr/lib/libSpinnaker.so: undefined reference to std::logic_error::logic_error(std::logic_error const&)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avformat_free_context@LIBAVFORMAT_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_replace(unsigned long, unsigned long, wchar_t const*, unsigned long)@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to sws_getContext@LIBSWSCALE_FFMPEG_3' usr/lib/libSpinnaker.so: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::find(char const*, unsigned long) const@GLIBCXX_3.4.21'
/home/wenws/blackflyS/build/flir_camera_driver/spinnaker_camera_driver/usr/lib/libspinvideoencoder.so.1: undefined reference to avio_open@LIBAVFORMAT_FFMPEG_56' usr/lib/libSpinnaker.so: undefined reference to VTT for std::__cxx11::basic_istringstream<char, std::char_traits, std::allocator >@GLIBCXX_3.4.21'
usr/lib/libSpinnaker.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits, std::allocator >::basic_string(unsigned long, char, std::allocator const&)@GLIBCXX_3.4.21'

do you have any idea on this?

Failed to display the /camera/image_raw

@mhosmar-cpr Hello,
After having installed the driver in my ROS workspace I am trying to run the camera.launch file. The camera is being detected and I can see the published topics:

/camera/camera_info /camera/camera_nodelet_manager/bond /camera/image /camera/image_color /camera/image_color/compressed /camera/image_color/compressed/parameter_descriptions /camera/image_color/compressed/parameter_updates /camera/image_color/compressedDepth /camera/image_color/compressedDepth/parameter_descriptions /camera/image_color/compressedDepth/parameter_updates /camera/image_color/theora /camera/image_color/theora/parameter_descriptions /camera/image_color/theora/parameter_updates /camera/image_mono /camera/image_mono/compressed /camera/image_mono/compressed/parameter_descriptions /camera/image_mono/compressed/parameter_updates /camera/image_mono/compressedDepth /camera/image_mono/compressedDepth/parameter_descriptions /camera/image_mono/compressedDepth/parameter_updates /camera/image_mono/theora /camera/image_mono/theora/parameter_descriptions /camera/image_mono/theora/parameter_updates /camera/image_proc_debayer/parameter_descriptions /camera/image_proc_debayer/parameter_updates /camera/image_raw /camera/image_raw/compressed /camera/image_raw/compressed/parameter_descriptions /camera/image_raw/compressed/parameter_updates /camera/image_raw/compressedDepth /camera/image_raw/compressedDepth/parameter_descriptions /camera/image_raw/compressedDepth/parameter_updates /camera/image_raw/theora /camera/image_raw/theora/parameter_descriptions /camera/image_raw/theora/parameter_updates /camera/spinnaker_camera_nodelet/parameter_descriptions /camera/spinnaker_camera_nodelet/parameter_updates /diagnostics /rosout /rosout_agg

but after running:

rostopic echo /camera/image_raw

the following error is ocurred:
[ERROR] [1534300532.174811311]: [SpinnakerCamera::grabImage] Image received from camera 17406103 is incomplete. [ERROR] [1534300532.176756070]: Failed to disconnect with error: [SpinnakerCamera::disconnect] Failed to disconnect camera with error: Spinnaker: Can't de-initialize camera. Camera is still streaming. [-1004] ^C[camera/image_proc_debayer-4] killing on exit [camera/spinnaker_camera_nodelet-3] killing on exit [camera/camera_nodelet_manager-2] killing on exit terminate called after throwing an instance of 'Spinnaker::Exception' what(): Spinnaker: Can't clear a camera because something still holds a reference to the camera [-1004] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

If I use worth LAN which transfer speed is slow, I can see the camera image instantaneously. But for 10GBASE LAN, I can not see any images.
My camera is a Blackfly S ethernet camera: https://www.ptgrey.com/blackfly-s-color-32-mp-gige-vision-sony-imx265
By the way, I use the virtual box, and spinview in the virtual box is worked for showing images of the camera.

Would you please help me to check the error? Thanks for helping!

Image color not Working correct

Dears,
I try set image color and this not working, i use the params "BayerRG8", "RGB8" and "BGR8"

My result:

This my launch file.

<launch>
   <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
       If not specified, defaults to first camera found. -->
  <arg name="camera_name"               default="pointgrey" />
  <arg name="camera_serial"             default="" />
  <arg name="calibrated"                default="0" />
 <arg name="image_format_color_coding" value="BayerRG8" />

  <!-- When unspecified, the driver will use the default framerate as given by the
      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
      rate control, and 'frame_rate' to set the frame rate value. -->
  <arg name="control_frame_rate"        default="false" />
  <arg name="frame_rate"                default="30" />

  <group ns="$(arg camera_name)">
    <!-- Nodelet manager -->
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>

    <!-- Camera nodelet -->
    <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
          args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >

      <param name="frame_id"                        value="camera" />
      <param name="serial"                          value="$(arg camera_serial)" />

      <!-- Frame rate -->
      <param name="acquisition_frame_rate_enable"   value="$(arg control_frame_rate)" />
      <param name="acquisition_frame_rate"          value="$(arg frame_rate)" />

      <!-- Color Format -->
	  <param name="image_format_color_coding" 		value="$(arg image_format_color_coding)" />
	  
	  
	  <!-- Use the camera_calibration package to create this file -->
      <param name="camera_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
    </node>

    <!-- Debayering nodelet -->
    <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
          args="load image_proc/debayer camera_nodelet_manager">
    </node>
  </group>
</launch>

Using 2 blackfly cameras

Hi,

I am using 2 Blackfly S cameras for my application, where I want to trigger the second camera after a 2 second delay of triggering the first camera. The first camera is software triggered (I basically do not want both the cameras to be triggered at the same time). How can I do that?

I modified the stereo.launch and added trigger_delay param but it didn't do what I expected. Can someone point me to the correct way to handle this?

Thank you in advance

[Issue with the latest spinnaker SDK (spinnaker-2.0.0.109)] Cannot start acquisition

I am using ROS Melodic on Ubuntu 18.04 with spinnaker SDK version 2.0.0.109. My Camera is BFS-U3-13Y3C-C. I have no issue with spinnaker SDK version 1.23.0.27. I guess something needs to updated in this ros driver to work with the latest SDK.

$ roslaunch spinnaker_camera_driver camera.launch 
... logging to /home/guzhou/.ros/log/35050248-8ae6-11ea-bfb4-4c1d96b04f6e/roslaunch-guzhou-laptop-17915.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/guzhou/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://guzhou-laptop:36211/

SUMMARY
========

PARAMETERS
 * /camera/spinnaker_camera_nodelet/frame_id: camera
 * /camera/spinnaker_camera_nodelet/serial: 19060447
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    image_proc_debayer (nodelet/nodelet)
    spinnaker_camera_nodelet (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [17925]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 35050248-8ae6-11ea-bfb4-4c1d96b04f6e
process[rosout-1]: started with pid [17936]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [17943]
process[camera/spinnaker_camera_nodelet-3]: started with pid [17944]
[ INFO] [1588253194.227189722] [/camera/camera_nodelet_manager] [Loader::Impl::advertiseRosApi] [7f52c4081780]: Initializing nodelet with 12 worker threads.
process[camera/image_proc_debayer-4]: started with pid [17969]
[ INFO] [1588253195.975878142] [/camera/camera_nodelet_manager] [SpinnakerCamera::connect] [7f52c4081780]: [SpinnakerCamera]: Detected device type: U3V. Camera model name: 'Blackfly S BFS-U3-13Y3C' with serial '19060447'.
[ERROR] [1588253195.981307863] [/camera/camera_nodelet_manager] [SpinnakerCameraNodelet::paramCallback] [7f52c4081780]: Reconfigure Callback failed with error: [SpinnakerCamera::start] Failed to start capture with error: Spinnaker: Could not start acquisition. Please try reconnecting the device. [-1013]

frame_rate can't change with acquisition_frame_rate_enable set true

I have two flir BFS-U3-19S4C cameras in jetson xavier nx with ubuntu 18.04 and spinnaker-2.2.0.48-arm64 is installed. The launch file is shown as below:

    <?xml version="1.0"?>
    
    <launch>
       <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
           If not specified, defaults to first camera found. -->
      <arg name="camera_name" default="camera" />
      <arg name="camera_serial" default="20181913" />
      <arg name="calibrated" default="0" />
    
      <group ns="$(arg camera_name)">
        <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
    
        <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
              args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >
          <!-- Basic:  -->
          <param name="frame_id" value="camera" />
          <param name="serial" value="$(arg camera_serial)" />
          <param name="image_format_color_coding" value="BGR8" />
    
          <!-- Acquisition:  -->
          <param name="acquisition_mode" value="Continuous" />         <!--Continuous: acquires image continously -->
          <param name="acquisition_frame_rate_enable" value="True" />  <!--False: controlled by trigger -->
          <param name="acquisition_frame_rate" value="20" />           <!--Value: image captured by given framte rate  -->
    
          <!-- Analog related config -->
          <param name="auto_gain" value="Continuous" />
          <param name="auto_white_balance" value="Continuous" />
    
        </node>
    
        <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
              args="load image_proc/debayer camera_nodelet_manager">
        </node>
      </group>
    
      <node name="rviz" pkg="rviz" type="rviz"  args="--opengl 300 -d $(find spinnaker_camera_driver)/rviz/cam.rviz" /> 
    </launch>

I have two cameras, one is working fine, but the another one has a issue shown below:

[ERROR] [1611782772.586862005]: Failed to connect with error: [Camera::setNewConfiguration] Failed to set configuration: Spinnaker: GenICam::OutOfRangeException= Value 7.152410 must be smaller than or equal 7.152410. : OutOfRangeException thrown in node 'AcquisitionFrameRate' while calling 'AcquisitionFrameRate.SetValue()' (file 'FloatT.h', line 85) [-2002]

This issue is gone if I not include any image_format_color_coding, which the image is like gray scale. Also, I tried this "issued camera" in my laptop, which installed ubuntu 20.04 and spinnaker-2.2.0.48-amd64, with same launch file. It just works fine.

Thanks for any suggestions.

Update:
Right now, my laptop have this issue, too. I think the reason is frame rate is stuck with 7.5 hz. I use spinView in my laptop, the acquisition_frame_rate is set to 7.5 hz and I can't change it. But the acquisition_frame_rate_enable is enabled, which means I could change the frame rate.

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Hello, After having installed the driver in my ROS workspace I am trying to run the camera.launch file. The camera is being detected but it displays an error, so the topics of the camera are empty. Here is the outcome: SUMMARY

SUMMARY

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Assign all the follwing via launch file to prevent confusion and conflict

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Hello,
After having installed the driver in my ROS workspace I am trying to run the camera.launch file. The camera is being detected but it displays an error, so the topics of the camera are empty. Here is the outcome:
SUMMARY