[ros-users] camera1394 and swissranger

Fri Apr 9 15:16:36 UTC 2010

Hi there,

I just wanted to give you heads up on the SR3K situation which I also
described in the following ticket:
https://code.ros.org/trac/ros-pkg/ticket/3973
[TEXT FROM THE TICKET]:
This patch fixes the issue with the SR3K's non-compatibility with the
current version of the sr4k package/driver.

After contacting the libmesasr-dev .deb package maintainer, I got the
following answer on April 8th 2010: " For the SR3k please use the Beta
Driver or a driver in the archive. This Bug will be fixed in the next
release (in Beta it should already work). "

Since the Beta package is only a dummy one, I picked the one from the
archive instead. Thus besides applying the attached patch also
following needs to be done to get the SR3K going:

1)Download manually the file
www.mesa-imaging.ch/customer/calibData/camData00019e13.xml and save it
to /usr/share/libmesasr/camData00019e13.xml

2)Download and install manually the following version of libmesasr-dev
driver: libmesasr-dev-1.0.12-608.amd64.deb
(http://www.mesa-imaging.ch/customer/driver/libmesasr-dev-1.0.12-608.amd64.deb)

3)Comment out line "#define USE_SR4K 1 // Comment this out for SR3K "
in sr4k.h file.

Note: The driver still fails to run every second time reporting the
following message (still to be resolved):
libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
Request:0xb0 RequestType:0x40 Requested Size: 64 Received
Size(Result): -110

libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0

libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
Request:0xb0 RequestType:0x40 Requested Size: 64 Received
Size(Result): -110

libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0

libMesaSR:libMesaSR:CMesaDevice::Read:usb_bulk_read failed!
Request:0xb0 RequestType:0x40 Requested Size: 64 Received
Size(Result): -110

libMesaSR:libMesaSR:CMesaDevice::Read: did not get requested bytes: 64<->0

[ INFO] [1270822790.869536346]: device::open? Number of images
available: 4 [ERROR] [1270822790.869706410]: Exception thrown while
connecting to the camera: [SR4K::open]: Invalid data images: 4 1x1
images received from camera!

Expected 2 176x144 images.

Now the question is, what does it take to get:
a)sr4k renamed into swissranger,
b)get the driver into stable waters?

After that I'd then delete the one in tum-ros-pkg in order to prevent confusion.
Btw, is there anyone using SR3K device at all?

cheers, D.

On Tue, Apr 6, 2010 at 10:27 PM, Patrick Beeson <beeson.p at gmail.com> wrote:
>
>
> Dejan Pangercic wrote:
>> Hey Patrick,
>>> If it doesn't find your camera, then I'd suggest manually downloading
>>> the Beta libmesa .deb from the web and installing that instead of the
>>> .deb that gets manually installed by my program.  Running
>>> libMesaSRTester successfully is a prerequisite to having my driver work,
>>> and will often flash the firmware to get the device in a state to talk
>>> to the new API.
>> This is how my testing ends (using your libmesa .deb):
>> "
>>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110
>>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0
>>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110
>>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0
>>>>>>   >>>> CMesaDevice::Read:usb_bulk_read failed! Request:0xb0 RequestType:0x40 Requested Size: 64 Received Size(Result): -110
>>>>>>   >>>> CMesaDevice::Read: did not get requested bytes: 64<->0
>>>>>>   >>>> CM_CAM_SELECT->CP_CS_CLOSEDLG
>> ****002**** Testing SR_OpenDlg                        SUCCESS
>> ****003**** Testing SR_GetDeviceString
>>>>>>   >>>> VendorID:0x0852, ProductID:0x0074, Manufacturer:'CSEM SA', Product:'3D-SR3000   '
>> ****003**** Testing SR_GetDeviceString                SUCCESS
>> ****004**** Testing SR_SetTimeout (BLIND)     SUCCESS
>> ****005**** Testing Get Rows/Cols             FAILED
>> ****006**** Testing Get Rows/Cols             FAILED
>> ****007**** Testing GetImageList              SUCCESS
>> ****008**** Testing GetImage                  SUCCESS
>> ****009**** Testing GetImage                  SUCCESS
>> ****010**** Testing GetImage                  SUCCESS
>> ****011**** Testing GetImage                  SUCCESS
>> Segmentation fault
>> "
>> Shall I be concerned about the seg. fault?
>>
>>
>
> You shouldn't see "FAILED" and definitely shouldn't get a segfault.
> Did it print out any messages about "Flashing firmware" (or similar)?
> I'm guessing that it isn't going to work until it upgrades the firmware,
> which happens onmy SR4k, whenever I get a new version of the library.
>
> You may have to contact Mesa about this, as this library is supposed to
> work for all their SR products.  Sorry that it doesn't seem to be
> working for yours.  You could try their Windows version of the libmesasr
> driver with their visualization software.  Mayne this will get far
> enough along to flash the new firmware, which will allow it to work
> under Linux.  Or maybe there is some manual process that isn't
> documented to get some sr3K devices working with the new libmesa
> libraries.  Again sorry.
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>

-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
E-Mail: dejan.pangercic at in.tum.de
WWW: http://ias.cs.tum.edu/people/pangercic