ROS2 v4l2_camera_node on Raspberry Pi CSI Camera Error (on Foxy Botvac Project)

[Ross Lunan]

Deployed v4l2 Package on Raspberry Pi4/4GB Foxy  https://gitlab.com/boldhearts/ros2_v4l2_camera.

Modified SD card /boot/firmware/user/cfg.txt adding start_x=1 gpu_mem

Camera appears to show up on /dev/video0, 1, 2, 3, 4, 5, 6, 7. Unsure why so many?

:~ ros2 run v4l2_camera v4l2_camera_node remap /dev/video0 /dev/video10 or

:~ ros2 run v4l2_camera v4l2_camera_node remap /dev/video10 /dev/video0, has error "Failed to open /dev/video0". Seems to ignore remapping

[camp .]

Have you tried it without the remap? Also, is gpu_mem supposed to be "gpu_mem=128" be aware of a warning here: * https://raspberrypi.stackexchange.com/questions/14229/how-can-i-enable-the-camera-without-using-raspi-config

 

I do believe I added this to my setup but it's not here to double-check. Here's another link that may be of some use: https://chuckmails.medium.com/enable-pi-camera-with-raspberry-pi4-ubuntu-20-10-327208312f6e

 

- Camp

* Adding start_x=1 and gpu_mem=128 to the /boot/config.txt file on a Ubuntu 20.10 arm64 for Raspberry Pi 4 leads to an unfixable boot failure where it hangs on the splash screen indefinitely.

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[Alan Federman]

are you using a Raspberry Pi camera? 

Can you view the camera with some non ROS application like raspistill?

Also check permissions on /dev/video0.  The group should be video and the user should have group privilege.

In the boot config.txt. start_x=1, gpu_mem=128

I have got the Raspicam working on Jetson with the v2l4 driver for ROS1, and also on Raspberry Pi Noetic both V2l4 and raspicam_node.  

I think camp has it working ROS2.

[Ross Lunan]

Tnx for really fast response! 

I believe permissions and groups are OK

ubuntu@hale:~$ ls -l /dev/video*

crw-rw---- 1 root video 81, 0 Sep  7 14:37 /dev/video10

crw-rw---- 1 root video 81, 2 Sep  7 14:37 /dev/video11

crw-rw---- 1 root video 81, 5 Sep  7 14:37 /dev/video12

crw-rw---- 1 root video 81, 1 Sep  7 14:37 /dev/video13

crw-rw---- 1 root video 81, 3 Sep  7 14:37 /dev/video14

crw-rw---- 1 root video 81, 4 Sep  7 14:37 /dev/video15

crw-rw---- 1 root video 81, 6 Sep  7 14:37 /dev/video16

ubuntu@hale:~$ groups

ubuntu adm dialout cdrom floppy sudo audio dip video plugdev netdev lxd

ubuntu@hale:~$ 

[camp .]

    Okay /dev/video0 should just show up when you plug the camera in. Is it plugged into the right socket? That is the CAMERA socket and not the DISPLAY socket.

 

- Camp

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[Ross Lunan]

Yup, I checked that 1st! (From your advice from a couple weeks ago). My boot user cfg.txt text are start_x=1 gpu_mem=128

I just tried :~v4l2-ctl —list-devices. Interesting there is no video0. Im going to boot the same Pi with an ordinary RPi Buster sd to check cable connections with raspistill.

ubuntu@hale:~/colcon_ws/src$ v4l2-ctl --list-devices

bcm2835-codec-decode (platform:bcm2835-codec):

/dev/video10

/dev/video11

/dev/video12

/dev/media0

bcm2835-isp (platform:bcm2835-isp):

/dev/video13

/dev/video14

/dev/video15

/dev/video16

/dev/media1

Cannot open device /dev/video0, exiting.

ubuntu@hale:~/colcon_ws/src$ 

[Ross Lunan]

Tried raspistill and raspivid on the same Raspi4 Board with a Buster SD, both showing a camera picture. Yeh

Also  ls -l /dev/v* lists crw-rw----+ 2 root video 81, ...../dev/video0

So the camera seems to be connected.

v4l2-ctl --list-devices lists all those /dev/video10-17 and mmal service /dev/video0

Near to giving up.....

[Ross Lunan]

Maybe I should try compiling this v4l2 package and the cv_camera package, (which works on a UB20/ROS Noetic)

[camp .]

> Near to giving up.....

 

 Stating the obvious: I believe we're back to "mmal" not being 64-bit compatible. I got it running on ROS2, but the robot's not here to check the configuration. I do start it by running "ros2 run v4l2_camera v4l2_camera_node". And I do believe this website was helpful in the setup: https://chuckmails.medium.com/enable-pi-camera-with-raspberry-pi4-ubuntu-20-10-327208312f6e

 

Perhaps it was "sudo apt-get install v4l-utils".

 

Never, never, never give up.  ;- )

 
- Camp

https://groups.google.com/d/msgid/hbrobotics/3a96df7d-b7aa-46cc-9de0-5566ea64027fn%40googlegroups.com

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[Ross Lunan]

You are a formidable motivator. OK, so I booted the Raspi Pi board I use for the Foxy Botvac, with the same SD card that boots to Noetic. The UB20/Noetic boot SD shows the dev/video0 with ls -i /dev/vid* AND v4l2-ctl --list-devices. BUT the UB20/Foxy boot SD on the same Board shows no video0, as we observed earlier. A Mystery as the problem has nothing to do with the Foxy stack. As I have that other weird colcon behavior, I believe the rational thing to do is burn a fresh UB20 Noetic, check the camera, and if OK load ROS Foxy (I have a nice script to do that while I'm sleeping) and Botvac stack.

Ross 

[Ross Lunan]

Enabling Raspicam on "video0" solved ! Provisioned a fresh Ubuntu 20.04 Server arm64 Raspi image. Added start_x=1 and gpu_mem=256 to the /system-boot/firmware/config.txt. And run "$ 'v412-ctl --list-format" and "$ v4l2-ctl --list-devices" that lists video0 and other stuff. The problem configuration had the start_x=1 in the usercfg.txt, though that should have worked. Installed ffmpeg. Run: "$ ffmpeg -f video4linux2 -s 640x480 -i /dev/video0 -ss 0:0:2 -frames 1 capture_test.jpg" puts a camera image in the $HOME. yeh! Didn't run a continuous live video image though as I could easily find the ffmpeg /v4l2 command !

I referred to Ubuntu20 (NOT ROS1) parts of the the Robotis emanual for "Turtlebot3 Noetic" and their "Autorace2020 Package Camera" instructions for guidance.

Now to install ROS2 Foxy (also using a useful Robotis Turtlebot3 Foxy stack installation script), Camp-Nugen Botvac stack, and try "cv_camera" package (for which a ROS2 version is available that needs compiling), and "v4l2_camera" (which is a Debian package). I wonder if the camera streaming will bog down the RVIZ operations?

Much appreciation to assistance from Camp and Dr. Bot.

[camp .]

So where I am is FPS needed to be slowed to 5 and can view through rqt_image_view but not rviz, yet.  ;- ) 

 

Thanks,

Camp

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On Mon, Oct 25, 2021 at 8:41 PM, 'Ross Lunan' via HomeBrew Robotics Club

<hbrob...@googlegroups.com> wrote:

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[camp .]

v4l2-ctl -d /dev/video0 -p 5

 

Will change the frame rate from the default 30 to 5. Courtesy Michael Wimble I believe.

 

- Camp

https://groups.google.com/d/msgid/hbrobotics/662191545.1606966.1635209630144%40mail.yahoo.com

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