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Noetic release raspicam_node #112

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rohbotics opened this issue Mar 23, 2021 · 28 comments
Closed

Noetic release raspicam_node #112

rohbotics opened this issue Mar 23, 2021 · 28 comments
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@MoffKalast
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noetic
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UbiquityRobotics/ubiquity_main

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@rohbotics
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@rohbotics rohbotics added this to Backlog in UbiquityRobotics/ubiquity_main via automation Mar 23, 2021
@MoffKalast MoffKalast self-assigned this Mar 23, 2021
@anfederman
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anfederman commented Mar 23, 2021 via email

@elpidiovaldez
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@anfederman Where are the notes that you referred to ? I could really do with some help with this. I have spent 2 long days trying to get raspicam_node to compile using raspberry pi os (Debian Buster 32 bit)/ROS Noetic, built from source. It seems like an unending rabbit hole of unsatisfied dependencies.

@anfederman
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anfederman commented Apr 13, 2021 via email

@anfederman
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anfederman commented Apr 13, 2021 via email

@elpidiovaldez
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elpidiovaldez commented Apr 13, 2021 •
edited

@anfederman I still can't find your notes - I looked under threads entitled 'Melodic ?' and all the threads mentioning 18.04. I'd still appreciate some guidance.

I am using 32 bit Raspberry Pi OS on a Pi3B (this should play fine with mmal). After 2 days of slog, I got raspicam_node to compile. I failed with the Ubiquity Robotics version, but succeeded with this version. It appears to be very similar - I have no idea why this version compiled.

I had to use wstool to merge:

  • compressed_image_transport
  • camera_info_manager
  • dynamic_reconfigure
  • diagnostics

with the ros basic build.

I added myself to the video group, added the rule for /dev/vchiq and edited /boot/config.txt to give gpu_mem=144.

The results:

  • raspicamstill and raspivid work.
  • mmal does not give errors.
  • -ENOSPC error no longer appears.
    --raspicam_node launches, but it fails as follows 👎
process[raspicam_node-1]: started with pid [1752]
[ INFO] [1618322548.534369394]: Loading CameraInfo from package://raspicam_node/camera_info/camera_module_v2_640x480.yaml
[ INFO] [1618322548.590843413]: camera calibration URL: package://raspicam_node/camera_info/camera_module_v2_640x480.yaml
[ INFO] [1618322548.634080180]: Camera successfully calibrated
[ INFO] [1618322549.009469786]: Reconfigure Request: contrast 0, sharpness 0, brightness 50, saturation 0, ISO 400, exposureCompensation 0, videoStabilisation 0, vFlip 0, hFlip 0, zoom 1.00, exposure_mode auto, awb_mode auto
[ WARN] [1618322549.009703734]: camera_component not initialized
^C[raspicam_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I feel I am so close. The camera is fine, but something is still wrong with the compilation of raspicamnode.

I'd love to put together a definitive guide of how to do this so everyone does not have to go through the same pain. That is slightly complicated because I iterated so many times I do not know exactly what made the compile succeed !

@anfederman
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anfederman commented Apr 13, 2021 via email

@anfederman
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anfederman commented Apr 13, 2021 via email

@elpidiovaldez
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elpidiovaldez commented Apr 13, 2021 •
edited

@anfederman

raspistill and raspivid work fine. The camera is functioning. I have discovered that the raspicam_node also works, but it fails to start automatically. If I use the command...

rosservice call /raspicam_node/start_capture

...then the node starts. It does not seem to publish compressed images though.

I used 32 bit Raspberry Pi OS (the OS formerly known as Raspbian Buster) as my base. I thought that this would let me use gpu acceleration via mmal and would be more optimised for Pi hardware. So I think I got off lightly with mmal. Also it was easy to compile a basic ROS installation using this guide.
Do you think going with Raspbian OS was a bad idea ?

I am currently working on a Pi3B, but I also intend to use the same setup on a Pi4.

The hard part was satisfying a ton of dependencies when building raspicam_node from source. I added:

  • compressed_image_transport
    - camera_info_manager
    - dynamic_reconfigure
    - diagnostics
    -
    I would be very happy to talk to you on Zoom or Google Meet.

@elpidiovaldez
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elpidiovaldez commented Apr 15, 2021 •
edited

I finally got the Ubiquity Robotics version of raspicam_node working on ROS Noetic/Raspberry Pi OS. This solution should work on Pi 3 and Pi 4. It uses the Pi GPU via mmal and image compression, so it is fast. It has taken me 5 days of pain to achieve this. I hope this helps someone avoid the same ! The procedure is:

Install Raspberry Pi OS on sd card.

Install ROS from source using this guide, but with one change - install the build requirements explicitly specifying the python3 versions: sudo apt-get install -y python3-rosdep python3-rosinstall-generator

If all goes well ROS is installed in /opt/ros/noetic and you can now delete catkin_ws
sudo rm -r ~/catkin_ws

To install raspicam_node (we will make a new catkin_ws, since ROS is already installed to /opt/ros/noetic).

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node.git


cd ~/catkin_ws

rosinstall_generator compressed_image_transport --rosdistro noetic --deps --wet-only --tar > compressed_image_transport-wet.rosinstall

rosinstall_generator camera_info_manager --rosdistro noetic --deps --wet-only --tar > camera_info_manager-wet.rosinstall

rosinstall_generator dynamic_reconfigure --rosdistro noetic --deps --wet-only --tar > dynamic_reconfigure-wet.rosinstall

rosinstall_generator diagnostics --rosdistro noetic --deps --wet-only --tar > diagnostics-wet.rosinstall

wstool merge -t src compressed_image_transport-wet.rosinstall
wstool merge -t src camera_info_manager-wet.rosinstall
wstool merge -t src melodic-dynamic_reconfigure-wet.rosinstall
wstool merge -t src diagnostics-wet.rosinstall

wstool update -t src 
rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os=debian:buster

Now you need to manually edit the following lines in ~/catkin_ws/src/raspicam_node/src/raspicam_node.cpp
Ensure that the mixed case names are converted to underscore style.

1273: config.exposure_compensation, config.video_stabilisation, config.vFlip, config.hFlip, config.zoom,
1274: config.exposure_mode.c_str(), config.awb_mode.c_str(), config.shutter_speed);
1301: raspicamcontrol_set_exposure_compensation(*state.camera_component, config.exposure_compensation);
1302: raspicamcontrol_set_video_stabilisation(*state.camera_component, config.video_stabilisation);
1304: raspicamcontrol_set_shutter_speed(*state.camera_component, config.shutter_speed);

sudo src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic -j1 -DPYTHON_EXECUTABLE=/usr/bin/python3

Enable the camera in raspi_config and reboot

sudo raspi_config
sudo reboot

Add paul to video group. This prevents the error 'failed to open vchiq instance'

usermod -G video _your user name_
usermod -a -G video timepi Test camera
raspistill -o temp.jpg

Test raspicam_node

source ~/catkin_ws/devel/setup.bash
roscore &
roslaunch raspicam_node camera_module_v2_640x480_5fps_autocapture.launch  &
rostopic hz /raspicam_node/image/compressed

If camera calibration file reported as not found by raspicam_node, execute following command on raspberry pi:

cp -r ~/catkin_ws/src/raspicam_node/camera_info ~/.ros

@anfederman
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anfederman commented Apr 15, 2021 via email

@elpidiovaldez
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Is this Arm32 or Arm64?

uname -m reports the OS architecture as armv7l, which is a 32 bit architecture.

@anfederman
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anfederman commented Apr 16, 2021 via email

@JesseCake
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Hmmm I spent the last 2 days solving this problem for a fresh install of Raspberry Pi OS lite (buster) and it seems there were some further problems beyond what was identified above. While I could switch to a 64 bit OS like Ubuntu and use the pre-built packages, we wouldn't be able to use MMAL to speed things along with the GPU, as the GPU as far as I know it is 32 bit, and it doesn't look like this problem for RPi is going to go away any time soon.

I'm sure this is a mega-dump beyond what I should be putting in here, but just in case it's useful I'll paste my notes I made along the way the last couple of days to solve compiling this library for Raspbian (Raspberry Pi OS) and ROS Noetic. It's based on info above as well as the ubiquitous instructions found on other blogs (I'll post it on my blog too) and should get you from a fresh system, all the way to running the library fully:

Installation instructions/troubleshooting for ROS Noetic on RPi 4

{{Use Raspberry Pi OS 32 bit “buster” lite image}}

{{assumed that you have already connected to network with wifi or ethernet - I'm ssh'ing into mine}}

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-noetic.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

{{make sure system is fully up to date}}

sudo apt full-upgrade

{{reboot}}
sudo reboot

{{then continue}}

sudo apt-get install -y python3-rosdep python3-rosinstall-generator python-wstool python3-rosinstall build-essential cmake

sudo rosdep init

rosdep update

mkdir ~/ros_catkin_ws

cd ~/ros_catkin_ws

(wet means released packages):

rosinstall_generator ros_comm --rosdistro noetic --deps --wet-only --tar > noetic-ros_comm-wet.rosinstall

wstool init src noetic-ros_comm-wet.rosinstall

rosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster

======================================================
{{increase swap file size so we don’t run out of ram compiling}}

sudo dphys-swapfile swapoff
sudoedit /etc/dphys-swapfile
{{make this edit}}: CONF_SWAPSIZE=1024
{{save and exit}}
sudo dphys-swapfile setup
sudo dphys-swapfile swapon

sudo src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic -j3 -DPYTHON_EXECUTABLE=/usr/bin/python3

{{Finished main install}}

Confirm with:
source /opt/ros/noetic/setup.bash
Run roscore to see it runs

{{set up and compile raspicam node}}

{{add the repository for rosdep to understand the dependencies that are laid out in the raspicam source to compile (this is mainly regarding libraspberrypi-dev)}}

sudo nano /etc/ros/rosdep/sources.list.d/30-ubiquity.list

{{add this line}}
yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml

{{save and close, then run:}}

rosdep update

{{this will allow the next steps to run as rosdep will know what to source}}

{{make new catkin workspace}}
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

git clone https://github.com/UbiquityRobotics/raspicam_node.git

cd ~/catkin_ws

{{initialize this fresh workspace:}}
wstool init src

{{then do the following}}
rosinstall_generator compressed_image_transport --rosdistro noetic --deps --wet-only --tar > compressed_image_transport-wet.rosinstall

rosinstall_generator camera_info_manager --rosdistro noetic --deps --wet-only --tar > camera_info_manager-wet.rosinstall

rosinstall_generator dynamic_reconfigure --rosdistro noetic --deps --wet-only --tar > dynamic_reconfigure-wet.rosinstall

rosinstall_generator diagnostics --rosdistro noetic --deps --wet-only --tar > diagnostics-wet.rosinstall

wstool merge -t src compressed_image_transport-wet.rosinstall
wstool merge -t src camera_info_manager-wet.rosinstall
wstool merge -t src dynamic_reconfigure-wet.rosinstall
wstool merge -t src diagnostics-wet.rosinstall

wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro noetic -y --os=debian:buster

{{compile and install}}
sudo src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic -j3 -DPYTHON_EXECUTABLE=/usr/bin/python3

{{Enable the camera in raspi_config and reboot}}

sudo raspi_config
sudo reboot

{{Add user to video group. This prevents the error 'failed to open vchiq instance'}}

usermod -G video pi
usermod -a -G video timepi Test camera

{{enable i2c bus for arducam module}}
sudo nano /boot/config.txt

{{put in the file:}}
dtparam=i2c_vc=on

{{reboot to enable}}
sudo reboot

{{test directly - should see this as a preview on a connected monitor also}}
raspistill -o temp.jpg

{{Test raspicam_node}}

source ~/catkin_ws/devel_isolated/setup.bash
roscore &
roslaunch raspicam_node camera_module_v2_640x480_5fps_autocapture.launch &
rostopic hz /raspicam_node/image/compressed

{{If camera calibration file reported as not found by raspicam_node, execute following command on raspberry pi:}}

cp -r ~/catkin_ws/src/raspicam_node/camera_info ~/.ros

@JesseCake
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JesseCake commented Jun 22, 2021 •
edited

Ok that was a lot to inhale, so I've blogged it instead in case it's of use for those trying to compile this great library for Raspberry Pi OS 32bit:
Here is the blog

@zizhenli
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Raspicam_node catkin_makes and runs under Noetic if the /opt/vc libraries are installed and copied from Rpi_userland snap install. Details in my notes.
…
On Mon, Mar 22, 2021 at 7:46 PM Rohan Agrawal @.***> wrote: — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#112>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ376XSYVH5KPVS6C5XFDTE76H7ANCNFSM4ZUJNQPA .

@anfederman hi, could you please send the notes to me(zizhenli904@gmail.com) by email that you referred to? I have spent many days trying to get raspicam_node to compile using raspberry pi os ROS Ubuntu 20.04 Noetic, built from source. it always occurs problems in the picture when doing [catkin-make.], so if possible I think the note will help me a lot.
image

@rohbotics
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Raspicam node is now released for Noetic, on images that have a working MMAL. It has been tested and works on our upcoming Ubuntu 20.04/ ROS Noetic 32bit Raspberry Pi image.

UbiquityRobotics/ubiquity_main automation moved this from Backlog to Done Jul 12, 2021
@JesseCake
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Wow thanks @rohbotics - this will help folks using 32bit Raspbian images - you're doing great work!

@pitosalas
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I just found this after struggling with solving it myself - to no avail!

Where can I find this release that works with Noetic? Or the ubiquity robotics raspy ubuntu 20.04 image that supports this? Thanks!

@roaz1801
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Having the same issues as pitosalas.

@MoffKalast
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MoffKalast commented Nov 25, 2021 •
edited

Well I'm reasonably sure that this test image is capable of running the pi camera: https://forum.ubiquityrobotics.com/t/ubiquity-ros-noetic-raspberry-pi-image-beta/864

Not entirely sure how MMAL is set up on that one, but it's probably not too dissimilar than the old ones since it's still 32 bit. It's not clear if this merged branch has already made it into apt, but you know you can clone repos from github and compile them to get the latest stuff right? That's like ROS 101.

@klaasg
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klaasg commented Nov 30, 2021

I just installed raspicam_node on Ubuntu 20.04 with ROS Noetic.

  1. First make sure the camera works with the raspistill command.
    I followed multiple tutorials for this and don't remember everything, but one key thing was putting the following lines in /boot/firmware/config.txt below [all]

    start_x=1
gpu_mem=512

    Test it with raspistill -v -o test.jpg

  2. raspicam_node build:

    cd catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node

    Install libraries (I'm not sure these are all needed):

    sudo apt install libraspberrypi-dev libraspberrypi0 libpigpiod-if-dev

    At this point, catkin_make said it needed some packages. It's possible I forgot one, catkin_make will tell you.
    (Example: 'compressed_image_transport' -> apt install ros-noetic-compressed-image-transport)

    sudo apt install ros-noetic-compressed-image-transport ros-noetic-camera-info-manager ros-noetic-diagnostic-updater

cd ..
catkin_make

    If catkin_make takes more than a few minutes to build, it's possibly because the Pi is out of RAM.
    After waiting like half an hour I made a swapfile with this tutorial and then catkin_make only took like 2 minutes.

  3. Testing the camera node
    On your PC:
    $ roscore
    On the ROBOT:
    $ roslaunch raspicam_node camerav2_1280x960.launch
    On your PC:
    $ rqt_image_viewer
    at the top of the image viewer, select the raspicam_node topic.

I hope I'm not forgetting something but I lost the exact command history.

@anfederman
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anfederman commented Nov 30, 2021 via email

@roaz1801
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roaz1801 commented Dec 2, 2021

@klaasg Do you know which image you're using? Been trying to use the one for Raspberry Pi 3+ here: https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

@klaasg
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klaasg commented Dec 2, 2021

@roaz1801 The instructions I put here are instructions to build raspicam_node for a stock Ubuntu 20.04 32-bit image (from Raspberry Pi Imager) with ros-noetic-ros-base installed.

@midoyondaime
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@roaz1801 I tried to follow your instructions , but when i execute this

$ roslaunch raspicam_node camerav2_1280x960.launch

i get this
image

I tried to get some informations about the raspicam_node , but it seems it wasnt installed proprerly

rosnode info raspicam_node
image

Thanks for your help

@anfederman
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If you are building it catkin, please do a git branch and see which is current. Also check to see where ROS thinks raspicam_node is: roscd raspicam_node. Then see if the launch file is where ROS thinks it is. If all that checks out, maybe reinstall and catkin_make.

ubuntu@pi-focal:~$ roscd raspicam_node/
ubuntu@pi-focal:/opt/ros/noetic/share/raspicam_node$ ls
camera_info cmake launch msg package.xml
ubuntu@pi-focal:/opt/ros/noetic/share/raspicam_node$ cd launch/
ubuntu@pi-focal:/opt/ros/noetic/share/raspicam_node/launch$ ls
camerav1_1280x720.launch camerav2_1280x960.launch
camerav2_1280x720.launch camerav2_1640x1232_10fps.launch
camerav2_1280x960_10fps.launch camerav2_410x308_30fps.launch
ubuntu@pi-focal:/opt/ros/noetic/share/raspicam_node/launch$

if in catkin, the valid branches are still kinetic, and raspicam_flip (specific for classic magni with camera in the forward mount.

@anfederman
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anfederman commented Mar 1, 2022 via email

@midoyondaime
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@anfederman Thank you for your detailed explanation .
I figured out that i have not installed some dependencies , that s why i didnt work .
But now it works fine .
PS : i am using ubuntu 20.04 on a RPi 4B
Thanks again

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@pitosalas @rohbotics @anfederman @MoffKalast @elpidiovaldez @klaasg @JesseCake @roaz1801 @zizhenli @midoyondaime