AR0234 GMSL2 stereo Camera Issac ROS Argus Camera problem

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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1

We developed the AR0234 GMSL2 stereo camera that connects to the Nvidia AGX Orin platform.

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We modified Devicetree and created Kernel drivers to generate two video nodes: /dev/video0 and /dev/video1. With the arguse_camera application, both sensors can be lit normally. The two sensors are synchronized in hardware.

argus_camera -d 0
argus_camera -d 1

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Our ultimate goal was to run Isaac ROS Visual SLAM, but when running the Issac ROS Argus Camera, we ran into the following problem.
Launch monocular camera, running properly. can save left_image.jpg.
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Launch stereo camera. Error reported. as follow：
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log as upload
isaac_ros_argus_camera_stereo_log_20240301.txt (13.9 KB)

2

Hi @edu118

Ths streaming coming from the device developed looks not syncronized and the stream fail.

How did you setup the Devicetree?

Best,
Raffaello

3

Hi @Raffaello
we are external syncronized，use a gpio

Best,
zhangpeng

4

Hi @Raffaello
the Devicetree setup as follow：
devicetree.zip (2.5 KB)

Best,
zhangpeng

5

The failure is due to following property missing in your camera device tree:
sync_sensor_index = <1>;

Try adding this and verify with argus_syncstereo directly.
You can refer to the device tree for HAWK (AR0234) to see how we did this here:
t234-common-modules/tegra234-camera-p3762-a00.dtsi

6

i was add sync_sensor_index = <1>;
but no use，also the same error

7

Hi zhangpeng,

“sync_sensor” DT property is needed. That shouldn’t be commented.

8

Hi glo,
I have add it，it is still no use，also the same error.
the device tree config as follow：
devicetree.zip (2.5 KB)

9

Please try to run argus_syncstereo and paste your logs.

10

the log as follow：
log.txt (13.8 KB)

11

Hi Zhangpeng5,
What you attached was not running argus_sycstereo. Please share both app log(run argus_sycstereo) and nvargus-daemon log.

12

Hi glo,

ff6cdfb9ea0386bee5263104b308d07
ff6cdfb9ea0386bee5263104b308d071702×1276 151 KB

13

Hi glo,
Please take a look. Our project is a bit urgent.

14

Have you uploaded nvargus-daemon log? I don’t see it,

15

nvargus-daemon log as follow：
nvargus-daemon-log.txt (7.8 KB)

16

Please take a look. Thank you

17

Hi glo,
Please take a look. Our project is a bit urgent.

18

Hi glo,
Please take a look. Our project is a bit urgent.
Thank you！

19

Hi @edu118

Our engineers are currently busy with the NVIDIA GTC 24 event, so we apologize for any delay in response. We will get back to you as soon as possible.

Best,
Raffaello

20

Hi @Raffaello
Please help deal with it as soon as possible. Our project is seriously delayed.
Thank you.

Best,
zhangpeng