[ros-users] camera1394 and swissranger

Radu Bogdan Rusu rusu at willowgarage.com
Fri Apr 9 15:47:16 UTC 2010 

Patrick, no worries, I think you've done a great job at resurrecting and updating the old code. Bugs come and go :)

Regarding the name of the package, you could try swissranger_camera, if that's ok. Looking at the other drivers we have 
in camera_drivers, they seem to be named like that.

Cheers,
Radu.

Patrick Beeson wrote:
> 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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>>> ros-users at code.ros.org
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>>>
>>
>>
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/

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