Segmentation faults with IMX219 about camera_ros HOT 11 OPEN

I am using Ubuntu for this. But I recently also observed crashes inside the RPi ipa. Are you able to build libcamera 0.1 from source to see if this is a regression from 0.1 to 0.2?

from camera_ros.

It looks like libcamera v0.1 works better, I haven't had any crashes so far. However, now the images come very slow (5+ s per image, regardless of parameters).

I want to double check that it is not caused by our setup (distributed ros with a dedicated "camera pi"). But before, framerates worked fine (if they worked at all).

from camera_ros.

Okay, looks like the low frame rate is somehow an issue of distributed ROS. With libcamera v0.1, I can get a stable 1920x1080@10Hz locally, for example. Thanks for the tip!

How would one report this? I guess it is a libcamera problem, right?

from camera_ros.

How would one report this? I guess it is a libcamera problem, right?

You can report libcamera issues via https://bugs.libcamera.org but you would need a minimal reproducer outside of ROS, for example the cam or qcam executables.

from camera_ros.

I built arm64 Debian packages for version 0.1 and 0.2 of libcamera that contain the cam executable: ros-humble-libcamera.zip. You can use them to check if the example executable reads data continuously without issues.

from camera_ros.

Can confirm same behavior with the IMX477. (Crashes on subscribe, works better at slower data rates or lower resolutions)

Trying these libcamera versions now... (Screenshot of GDB backtrace from original libcamera version)

rpicam-apps build: 6202c09b2bfa-intree 19-04-2024 (05:46:57)
libcamera build: v0.2.0

from camera_ros.

I manually compiled the node with libcamera 0.1 and can confirm that it does not crash for me with the older version.

from camera_ros.

I reverted the libcamera version in the ROS repos back to 0.1 and this fixes the issue for me. With the "testing repos" (https://docs.ros.org/en/humble/Installation/Testing.html) you should be able to install the older version again that does not show this crash.

@IGNNE @nbaldy Can you conform this works for you with libcamera 0.1 in the testing repos?

from camera_ros.

Sorry for my late answers, there are some deadlines coming up and I am just happy that I found a setup that "works for me" (manually compiled against libcamera 0.1). I'll try that version as soon as I can, thank you for looking into this!

from camera_ros.

I'm hitting the same issue and was able to try the testing version tonight. I can confirm the crash does not occur in the v0.1 version.

Environment:

• RPi 4B
• Camera Module v2 (IMX219)
• Ubuntu 22.04

Node arguments:
ros2 run camera_ros camera_node --ros-args -p width:=640 -p height:=480 -p format:=BGR888

In all cases, the subscriber is an instance of ros2 topic hz /camera/image_raw.

Behavior with libcamera v0.2:

• subscribing locally shows messages coming in at 15 Hz
• subscribing from another machine causes the node on the Pi to segfault

Behavior with libcamera v0.1:

• subscribing locally shows messages coming in at 15 Hz
• subscribing from another machine shows messages coming in at 6 Hz

from camera_ros.

I can reproduce the issue without ROS and have reported this as https://bugs.libcamera.org/show_bug.cgi?id=220. However, since the libcamera examples (cam, qcam) run fine on the Raspberry Pi, the issue is still somehow triggered by the way the code is interacting with libcamera.

from camera_ros.