[ros-users] camera1394 and swissranger

Fri Apr 9 15:32:19 UTC 2010

Thanks.  I'll use this info to get this process automated when you run 
'rosdep install sr4k'.  Next week, I'll try to make time to make the 
sr4k/sr3k a runtime option, instead of a compile time option.

On naming, I've avoided calling this swissranger to avoid a conflict 
with the one in tum, but since the libsb version of the drivers or no 
longer support by Mesa, maybe the tum-pkg maintainers will go ahead and 
remove swissranger first, and I can rename sr4k then.

You mention problems running the sr3k for the second time.  Do you power 
the device off and on then it works again?  Again, sorry that I don't 
have an SR3K to help get the driver working better with those devices. 
It works great with SR4K devices.

Dejan Pangercic wrote:
> 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.
>>
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>>
> 
> 
> 