Multiple GMSL cameras are not working on PX2

Autoware
1

Hello everyone,

I have an issue when I try to run multi_gmsl.launch file. This is the output on the terminal:

roslaunch autoware_driveworks_gmsl_interface multi_gmsl.launch … logging to /home/ubuntu/.ros/log/646c7d7e-6a1a-11e9-ad13-00044b8da403/roslaunch-nvidia-3704.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nvidia:34285/

SUMMARY

PARAMETERS

  • /autoware_driveworks_gmsl_interface_node/calib_folder: /home/ubuntu/Auto…
  • /autoware_driveworks_gmsl_interface_node/cross_csi_sync: 1
  • /autoware_driveworks_gmsl_interface_node/fifo_size: 3
  • /autoware_driveworks_gmsl_interface_node/image_buffer: 10
  • /autoware_driveworks_gmsl_interface_node/image_compressed: True
  • /autoware_driveworks_gmsl_interface_node/image_height: 1208
  • /autoware_driveworks_gmsl_interface_node/image_width: 1920
  • /autoware_driveworks_gmsl_interface_node/selector_mask: 111100110011
  • /autoware_driveworks_gmsl_interface_node/slave: 0
  • /autoware_driveworks_gmsl_interface_node/type_ab: ar0231-rccb-ss3322
  • /autoware_driveworks_gmsl_interface_node/type_cd: ar0231-rccb-ss3322
  • /autoware_driveworks_gmsl_interface_node/type_ef: ar0231-rccb-ss3322
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/
autoware_driveworks_gmsl_interface_node (autoware_driveworks_gmsl_interface/autoware_driveworks_gmsl_interface_node)

auto-starting new master
process[master]: started with pid [3731]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 646c7d7e-6a1a-11e9-ad13-00044b8da403
process[rosout-1]: started with pid [3758]
started core service [/rosout]
process[autoware_driveworks_gmsl_interface_node-2]: started with pid [3766]
Start camera…
Init SDK …
nvrm_gpu: Bug 200215060 workaround enabled.
Init SAL …
Init Sensors …
DEBUG ARGS PORT: 0
csi-port=ab,camera-type=ar0231-rccb-ss3322,camera-count=4,camera-mask=1111,slave=0,cross-csi-sync=1,fifo-size=3
***** aurix state *****
CAM_PWR_ON: 0x0
TEGRA_GMSL: TEGRA B
TEGRA_FPDL: TEGRA B
TEGRA_A_HDMI: MXM
TEGRA_B_HDMI: MXM
TEGRA_PCI: TEGRA B
FAN_STATE: UNKNOWN

***** aurix state *****
CAM_PWR_ON: 0x1
TEGRA_GMSL: UNKNOWN
TEGRA_FPDL: UNKNOWN
TEGRA_A_HDMI: UNKNOWN
TEGRA_B_HDMI: UNKNOWN
TEGRA_PCI: UNKNOWN
FAN_STATE: UNKNOWN

Sensor AR0231 RCCB Rev7 detected!
Sensor AR0231 RCCB Rev7 detected!
DEBUG ARGS PORT: 1
csi-port=cd,camera-type=ar0231-rccb-ss3322,camera-count=4,camera-mask=0011,slave=0,cross-csi-sync=1,fifo-size=3
***** aurix state *****
CAM_PWR_ON: 0x1
TEGRA_GMSL: TEGRA B
TEGRA_FPDL: TEGRA B
TEGRA_A_HDMI: MXM
TEGRA_B_HDMI: MXM
TEGRA_PCI: TEGRA B
FAN_STATE: UNKNOWN

***** aurix state *****
CAM_PWR_ON: 0x3
TEGRA_GMSL: UNKNOWN
TEGRA_FPDL: UNKNOWN
TEGRA_A_HDMI: UNKNOWN
TEGRA_B_HDMI: UNKNOWN
TEGRA_PCI: UNKNOWN
FAN_STATE: UNKNOWN

nvmedia: ERROR: SetupVideoLink: Can’t detect config link(0)
nvmedia: ERROR: Init: Failed to setup video link
***** aurix state *****
CAM_PWR_ON: 0x1
TEGRA_GMSL: UNKNOWN
TEGRA_FPDL: UNKNOWN
TEGRA_A_HDMI: UNKNOWN
TEGRA_B_HDMI: UNKNOWN
TEGRA_PCI: UNKNOWN
FAN_STATE: UNKNOWN

Cannot create driver: camera.gmsl with params: csi-port=cd,camera-type=ar0231-rccb-ss3322,camera-count=4,camera-mask=0011,slave=0,cross-csi-sync=1,fifo-size=3
Error: DW_SAL_CANNOT_CREATE_SENSOR
DEBUG ARGS PORT: 2
csi-port=ef,camera-type=ar0231-rccb-ss3322,camera-count=4,camera-mask=0011,slave=0,cross-csi-sync=1,fifo-size=3
***** aurix state *****
CAM_PWR_ON: 0x1
TEGRA_GMSL: TEGRA B
TEGRA_FPDL: TEGRA B
TEGRA_A_HDMI: MXM
TEGRA_B_HDMI: MXM
TEGRA_PCI: TEGRA B
FAN_STATE: UNKNOWN

***** aurix state *****
CAM_PWR_ON: 0x5
TEGRA_GMSL: UNKNOWN
TEGRA_FPDL: UNKNOWN
TEGRA_A_HDMI: UNKNOWN
TEGRA_B_HDMI: UNKNOWN
TEGRA_PCI: UNKNOWN
FAN_STATE: UNKNOWN

nvmedia: ERROR: SetupVideoLink: Can’t detect config link(0)
nvmedia: ERROR: Init: Failed to setup video link
***** aurix state *****
CAM_PWR_ON: 0x1
TEGRA_GMSL: UNKNOWN
TEGRA_FPDL: UNKNOWN
TEGRA_A_HDMI: UNKNOWN
TEGRA_B_HDMI: UNKNOWN
TEGRA_PCI: UNKNOWN
FAN_STATE: UNKNOWN

Cannot create driver: camera.gmsl with params: csi-port=ef,camera-type=ar0231-rccb-ss3322,camera-count=4,camera-mask=0011,slave=0,cross-csi-sync=1,fifo-size=3
Error: DW_SAL_CANNOT_CREATE_SENSOR
Init Camera Frames …
Init Camera Frame Pools …
[ISCThreadFunc:183] NvMediaISCSetExposure failed
[ISCThreadFunc:193] NvMediaISCSetWBGain failed
Start camera pipline
Start camera threads …
Start camera thread for port: 0
[ INFO] [1556499726.470900690]: camera calibration URL: file:///home/ubuntu/Autoware/ros/install/autoware_driveworks_gmsl_interface/share/autoware_driveworks_gmsl_interface/calib//00_calibration.yml
[ INFO] [1556499726.499099357]: camera calibration URL: file:///home/ubuntu/Autoware/ros/install/autoware_driveworks_gmsl_interface/share/autoware_driveworks_gmsl_interface/calib//01_calibration.yml
[ INFO] [1556499726.522860132]: camera calibration URL: file:///home/ubuntu/Autoware/ros/install/autoware_driveworks_gmsl_interface/share/autoware_driveworks_gmsl_interface/calib//02_calibration.yml
[ INFO] [1556499726.556991401]: camera calibration URL: file:///home/ubuntu/Autoware/ros/install/autoware_driveworks_gmsl_interface/share/autoware_driveworks_gmsl_interface/calib//03_calibration.yml
readFrameNvMedia: DW_NOT_READY
readFrameNvMedia: DW_NOT_READY
readFrameNvMedia: DW_NOT_READY
readFrameNvMedia: DW_NOT_READY

I used 4 cameras, all connected to port A (2xRCCB, 2xRGB). Autoware verision is 1.11.0. and I built it from source on Tegra B. Can someone please tell me how to solve this problem?

Thank you,

Strahinja

1 Like
2

Hi Strahinja

Do u slove problem ? Thank u ~