autowarefoundation / lucid_vision_driver Goto Github PK

Starting >>> arena_camera
--- stderr: arena_camera                             
In file included from /home/ros/lucid_camera_ws/src/lucid_vision_driver/arena_camera/src/arena_camera_node.cpp:20:
/home/ros/lucid_camera_ws/src/lucid_vision_driver/arena_camera/include/arena_camera/arena_camera_node.h:28:10: fatal error: camera_info_manager/camera_info_manager.hpp: No such file or directory
   28 | #include <camera_info_manager/camera_info_manager.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/arena_camera_node.dir/build.make:63: CMakeFiles/arena_camera_node.dir/src/arena_camera_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:134: CMakeFiles/arena_camera_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< arena_camera [4.42s, exited with code 2]

Summary: 0 packages finished [4.59s]
  1 package failed: arena_camera
  1 package had stderr output: arena_camera

context = LaunchContext()
camera_param_path = os.path.join(
    FindPackageShare("arena_camera").perform(context),
    "param/test.param.yaml"
)
with open(camera_param_path, "r") as f:
    camera_yaml_param = yaml.safe_load(f)["/**"]["ros__parameters"]

nodes = []

nodes.append(
    ComposableNode(
        package="arena_camera",
        plugin="ArenaCameraNode",
        name="arena_camera_node_right",
        parameters=[{"camera_name": camera_yaml_param['camera_name'],
                     "frame_id": camera_yaml_param['frame_id'],
                     "pixel_format": camera_yaml_param['pixel_format'],
                     "serial_no": 231301220, #camera_yaml_param['serial_no'],
                     "camera_info_url": camera_yaml_param['camera_info_url'],
                     "fps": camera_yaml_param['fps'],
                     "horizontal_binning": camera_yaml_param['horizontal_binning'],
                     "vertical_binning": camera_yaml_param['vertical_binning'],
                     "use_default_device_settings": camera_yaml_param['use_default_device_settings'],
                     "exposure_auto": camera_yaml_param['exposure_auto'],
                     "exposure_target": camera_yaml_param['exposure_target'],
                     "gain_auto": camera_yaml_param['gain_auto'],
                     "gain_target": camera_yaml_param['gain_target'],
                     "gamma_target": camera_yaml_param['gamma_target'],
                     }],
        remappings=[
        ],
        extra_arguments=[
            {"use_intra_process_comms": True}
        ],
    )
)

nodes.append(
    ComposableNode(
        package="arena_camera",
        plugin="ArenaCameraNode",
        name="arena_camera_node_left",
        parameters=[{"camera_name": "camera_2",#camera_yaml_param['camera_name'],
                     "frame_id": "camera_top/camera_link",#camera_yaml_param['frame_id'],
                     "pixel_format": camera_yaml_param['pixel_format'],
                     "serial_no": 231301251, #camera_yaml_param['serial_no'],
                     "camera_info_url": camera_yaml_param['camera_info_url'],
                     "fps": camera_yaml_param['fps'],
                     "horizontal_binning": camera_yaml_param['horizontal_binning'],
                     "vertical_binning": camera_yaml_param['vertical_binning'],
                     "use_default_device_settings": camera_yaml_param['use_default_device_settings'],
                     "exposure_auto": camera_yaml_param['exposure_auto'],
                     "exposure_target": camera_yaml_param['exposure_target'],
                     "gain_auto": camera_yaml_param['gain_auto'],
                     "gain_target": camera_yaml_param['gain_target'],
                     "gamma_target": camera_yaml_param['gamma_target'],
                     }],
        remappings=[
        ],
        extra_arguments=[
            {"use_intra_process_comms": True}
        ],
    )
)

container = ComposableNodeContainer(
    name="lucid_camera_node_container",
    namespace="/perception/object_detection",
    package="rclcpp_components",
    executable="component_container",
    composable_node_descriptions=nodes,
    output="both",
)

return LaunchDescription(
    [
        *launch_arguments,
        container
    ]
)

/home/workspace/src/lucid_vision_driver/src/arena_camera_node.cpp:57:26: error: no matching function for call to ‘ArenaCameraNode::declare_parameter(const char [12])’
   57 |   this->declare_parameter("camera_name");
      |   ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~

(and) 

In file included from /opt/ros/iron/include/camera_info_manager/camera_info_manager/camera_info_manager.hpp:45,
                 from /home/workspace/src/lucid_vision_driver/include/arena_camera/arena_camera_node.h:24,
                 from /home/workspace/src/lucid_vision_driver/src/arena_camera_node.cpp:17:
/opt/ros/iron/include/rclcpp/rclcpp/node.hpp:479:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  479 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/iron/include/rclcpp/rclcpp/node.hpp:479:3: note:   template argument deduction/substitution failed:
/home/workspace/src/lucid_vision_driver/src/arena_camera_node.cpp:57:26: note:   candidate expects 4 arguments, 1 provided

zillur@trc:~$ ros2 launch lucid_vision_driver test_node_container.launch.py 
[INFO] [launch]: All log files can be found below /home/zillur/.ros/log/2023-06-18-12-40-10-272274-trc-4375
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [4388]
[component_container-1] [INFO] [1687117210.670763303] [perception.object_detection.camera_node_right]: Load Library: /home/zillur/ros2_ws/install/lucid_vision_driver/lib/libarena_camera_node.so
[component_container-1] [INFO] [1687117210.751479257] [perception.object_detection.camera_node_right]: Found class: rclcpp_components::NodeFactoryTemplate<ArenaCameraNode>
[component_container-1] [INFO] [1687117210.751533363] [perception.object_detection.camera_node_right]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ArenaCameraNode>
[component_container-1] Camera readed from yaml file. Camera Name:camera_1 Frame id:camera_top/camera_link Serial no:221202855 Pixel_format:bgr8 FPS:15
[component_container-1]  ~ArenaCamerasHandler()
[ERROR] [component_container-1]: process has died [pid 4388, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=camera_node_right -r __ns:=/perception/object_detection'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/perception/object_detection/camera_node_right/_container/load_node' service response, due to shutdown.
zillur@trc:~$