Stereo Camera not found

[Yuki Furuta]

Hi PR2 Users,

We are maintaining PR2 at the University of Tokyo, and now we have met an issue with stereo camera.

When we execute 

$ robot start --debug

no stereo camera seems to be found.

[ERROR] [1495869680.244410165]: Matching URL name://wide_stereo_l#la...@10.69.0.45 : No cameras matched the URL.
[ERROR] [1495869680.267068801]: Matching URL name://wide_stereo_r#la...@10.69.0.46 : No cameras matched the URL.
[ERROR] [1495869680.506557639]: Matching URL name://narrow_stereo_r#la...@10.69.0.44 : No cameras matched the URL.
[ERROR] [1495869680.524160086]: Matching URL name://narrow_stereo_l#la...@10.69.0.43 : No cameras matched the URL.

Reading ROS wiki ( http://wiki.ros.org/wge100_camera#CommandLineTools ), we tried some commands:

$ rosrun wge100_camera discover lan1
Found camera serial://1800090 name://forearm_l MAC: 00:24:cd:00:01:40 iface: lan1 current IP: 10.68.0.41, PCB rev: C HDL rev: 600 FW rev: 8C41
Found camera serial://1800092 name://forearm_r MAC: 00:24:cd:00:01:42 iface: lan1 current IP: 10.68.0.42, PCB rev: C HDL rev: 600 FW rev: 8C41

but only arm cameras are found.

I also opened the back plate of the robot and connect the cable named "Ethernet Stereocam Lower" to our laptop, configured the laptop to have an IP under 10.69.0.0/24 and then tried the same command above, but still no camera is found.
(The link indicators in PR2 head are illuminating during connection though)

Here is our network configuration of C1 computer

ecat0     Link encap:Ethernet  HWaddr 00:15:17:c3:b7:7a  
          inet6 addr: fe80::215:17ff:fec3:b77a/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:17553095 errors:622 dropped:0 overruns:0 frame:622
          TX packets:17553498 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:15044827866 (15.0 GB)  TX bytes:15045302900 (15.0 GB)
          Interrupt:16 Memory:df140000-df160000


lan0      Link encap:Ethernet  HWaddr 00:15:17:c3:b7:78  
          inet addr:10.68.0.1  Bcast:10.68.0.255  Mask:255.255.255.0
          inet6 addr: fe80::215:17ff:fec3:b778/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:19570924 errors:35 dropped:70 overruns:0 frame:35
          TX packets:34210122 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:4891034241 (4.8 GB)  TX bytes:33262873482 (33.2 GB)
          Interrupt:18 Memory:df240000-df260000


lan1      Link encap:Ethernet  HWaddr 00:15:17:c3:b7:79  
          inet addr:10.69.0.11  Bcast:10.69.0.255  Mask:255.255.255.0
          inet6 addr: fe80::215:17ff:fec3:b779/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:214013051 errors:0 dropped:4 overruns:0 frame:0
          TX packets:478198 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:148637742925 (148.6 GB)  TX bytes:31291296 (31.2 MB)
          Interrupt:19 Memory:df2a0000-df2c0000


lan2      Link encap:Ethernet  HWaddr d0:50:99:c2:02:84  
          inet addr:10.68.0.21  Bcast:10.68.0.255  Mask:255.255.255.0
          inet6 addr: fe80::d250:99ff:fec2:284/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:38542 errors:0 dropped:4 overruns:0 frame:0
          TX packets:4179 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:5741804 (5.7 MB)  TX bytes:273264 (273.2 KB)
          Interrupt:16 Memory:df400000-df420000


lan3      Link encap:Ethernet  HWaddr d0:50:99:c2:02:83  
          inet addr:10.68.1.31  Bcast:10.68.1.255  Mask:255.255.255.0
          inet6 addr: fe80::d250:99ff:fec2:283/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:34454 errors:0 dropped:4 overruns:0 frame:0
          TX packets:4194 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:4370163 (4.3 MB)  TX bytes:218376 (218.3 KB)
          Memory:df300000-df37ffff


lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:22084043 errors:0 dropped:0 overruns:0 frame:0
          TX packets:22084043 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:0
          RX bytes:25256903488 (25.2 GB)  TX bytes:25256903488 (25.2 GB)


wan0      Link encap:Ethernet  HWaddr 00:15:17:c3:b7:7b  
          inet addr:133.11.216.201  Bcast:133.11.216.255  Mask:255.255.255.0
          inet6 addr: fe80::215:17ff:fec3:b77b/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:2412664 errors:0 dropped:5469 overruns:0 frame:0
          TX packets:5797304 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:231792523 (231.7 MB)  TX bytes:7702409279 (7.7 GB)
          Interrupt:17 Memory:df1a0000-df1c0000

Has anyone has any idea or hint to debug?

Thank you very much in advance!

Best,

Yuki Furuta

[Devon Ash]

I looked into this briefly a while a go,

I believe it was the way the driver was trying to connect to that IP address -or the way that the address is hard coded/decided in the driver/launch file.

On Sat, May 27, 2017 at 4:39 AM, Yuki Furuta <furus...@jsk.imi.i.u-tokyo.ac.jp> wrote:

Hi PR2 Users,

We are maintaining PR2 at the University of Tokyo, and now we have met an issue with stereo camera.

When we execute 

$ robot start --debug

no stereo camera seems to be found.

[ERROR] [1495869680.244410165]: Matching URL name://wide_stereo_l#lan1@10.69.0.45 : No cameras matched the URL.
[ERROR] [1495869680.267068801]: Matching URL name://wide_stereo_r#lan1@10.69.0.46 : No cameras matched the URL.
[ERROR] [1495869680.506557639]: Matching URL name://narrow_stereo_r#lan1@10.69.0.44 : No cameras matched the URL.
[ERROR] [1495869680.524160086]: Matching URL name://narrow_stereo_l#lan1@10.69.0.43 : No cameras matched the URL.

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[Yuki Furuta]

Hi Devon,

Yes, the addresses to cameras are hardcoded in

 /opt/ros/indigo/share/pr2_bringup/config/dualstereo_camera.launch

and we could know the addresses by the command as followings:

$ rosrun wge100_camera discover 

Found camera serial://3001198 name://forearm_l MAC: 00:24:cd:00:02:05 iface: lan1 current IP: 10.68.0.41, PCB rev: C HDL rev: 600 FW rev: 8C41

Found camera serial://3001133 name://forearm_r MAC: 00:24:cd:00:02:07 iface: lan1 current IP: 10.68.0.42, PCB rev: C HDL rev: 600 FW rev: 8C41

Found camera serial://3001195 name://wide_stereo_l MAC: 00:24:cd:00:02:35 iface: lan1 current IP: 10.68.0.45, PCB rev: C HDL rev: 600 FW rev: 8C41

Found camera serial://3001101 name://wide_stereo_r MAC: 00:24:cd:00:02:38 iface: lan1 current IP: 10.68.0.46, PCB rev: C HDL rev: 600 FW rev: 8C41

Found camera serial://2701155 name://narrow_stereo_r MAC: 00:24:cd:00:02:45 iface: lan1 current IP: 10.68.0.44, PCB rev: C HDL rev: 600 FW rev: 8C41

(BTW, what is interesting is the address is shown as like `10.68.0.41` but the actual address is `10.69.0.41`.)

Anyway these cameras does not answer ping any more.

-- ⌘ Yuki Furuta

[Michael Görner]

Hello from Hamburg,

we see this error too, but only sporadically.
Up to now, a restart of the (ROS) system, or the robot,
always resolved it over here. I assumed it would be failing hardware,
but your report sounds like it could also be a systematic issue.
This wouldn't explain why it still works for us by far most of the time.

Regards,


Michael Görner / v4hn

--
Michael Görner, M.Sc. Cognitive Science, PhD Student
Universität Hamburg
Faculty of Mathematics, Informatics and Natural Sciences
Department of Informatics
Group Technical Aspects of Multimodal Systems

Vogt-Kölln-Straße 30
D-22527 Hamburg

Room: F-315
Phone: +49 40 42883-2432

[Yuki Furuta]

Hi Michael,

We unfortunately see this error every time on `robot start`.

Please let us know any other information if you find. :)

Best,

Yuki

-- ⌘ Yuki Furuta

2017-06-06 18:57 GMT+09:00 Michael Görner <goe...@informatik.uni-hamburg.de>:

Hello from Hamburg,

we see this error too, but only sporadically.
Up to now, a restart of the (ROS) system, or the robot,
always resolved it over here. I assumed it would be failing hardware,
but your report sounds like it could also be a systematic issue.
This wouldn't explain why it still works for us by far most of the time.

Regards,


Michael Görner / v4hn

On Sat, 27 May 2017 01:39:05 -0700 (PDT)
Yuki Furuta <furus...@jsk.imi.i.u-tokyo.ac.jp> wrote:
> Hi PR2 Users,
>
> We are maintaining PR2 at the University of Tokyo, and now we have
> met an issue with stereo camera.
>
> When we execute
>
> $ robot start --debug
>
> no stereo camera seems to be found.
>
> [ERROR] [1495869680.244410165]: Matching URL

> name://wide_stereo_l#lan1@10.69.0.45 : No cameras matched the URL.
> [ERROR] [1495869680.267068801]: Matching URL
> name://wide_stereo_r#lan1@10.69.0.46 : No cameras matched the URL.
> [ERROR] [1495869680.506557639]: Matching URL
> name://narrow_stereo_r#lan1@10.69.0.44 : No cameras matched the URL.
> [ERROR] [1495869680.524160086]: Matching URL
> name://narrow_stereo_l#lan1@10.69.0.43 : No cameras matched the URL.