Jetson orin NX运行oak pro-d的ros节点报错

ygh2008123 2025-09-26 14:54:15

pc上测试设备正常，jetson板上测试报Device crashed（使用/不使用Y型连接均报错）：

(base) jetson@yahboom:~$ echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
[sudo] password for jetson:
SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"
(base) jetson@yahboom:~$ sudo udevadm control --reload-rules && sudo udevadm trigger
(base) jetson@yahboom:~$ ros2 launch depthai_ros_driver camera.launch.py
[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2025-09-26-14-37-17-573246-yahboom-11988
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [12003]
[component_container-1] [INFO] [1758868638.238449574] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1758868638.243230328] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1758868638.243326489] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1758868638.273065002] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1758868638.273179946] [oak_state_publisher]: got segment oak-d-base-frame
[component_container-1] [INFO] [1758868638.273203018] [oak_state_publisher]: got segment oak_imu_frame
[component_container-1] [INFO] [1758868638.273216298] [oak_state_publisher]: got segment oak_left_camera_frame
[component_container-1] [INFO] [1758868638.273228010] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[component_container-1] [INFO] [1758868638.273239690] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1758868638.273250666] [oak_state_publisher]: got segment oak_rgb_camera_frame
[component_container-1] [INFO] [1758868638.273261611] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[component_container-1] [INFO] [1758868638.273272555] [oak_state_publisher]: got segment oak_right_camera_frame
[component_container-1] [INFO] [1758868638.273282795] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
[component_container-1] [INFO] [1758868638.281782923] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so
[component_container-1] [INFO] [1758868638.429359356] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1758868638.429486812] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-1] [INFO] [1758868638.443818771] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1758868638.446589725] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-1] [INFO] [1758868638.446659357] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container'
[component_container-1] [INFO] [1758868639.448527785] [oak]: Starting camera.
[component_container-1] [INFO] [1758868639.452137879] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [14442C10B162D8D600] [1.2.4] [1758868645.287] [host] [warning] Device crashed, but no crash dump could be extracted.
[component_container-1] [ERROR] [1758868646.786448131] [oak]: Device already closed or disconnected: Input/output error
[component_container-1] [INFO] [1758868646.786696964] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1758868654.111075412] [oak]: Device already closed or disconnected: Input/output error
[component_container-1] [INFO] [1758868654.111318037] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [ERROR] [1758868658.115020730] [oak]: Device already closed or disconnected: Input/output error
[component_container-1] [INFO] [1758868658.115227739] [oak]: No ip/mxid specified, connecting to the next available device.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-1] [INFO] [1758868658.446629373] [rclcpp]: signal_handler(signum=2)
[component_container-1] [INFO] [1758868658.446914750] [oak]: Stopping camera.
[component_container-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[component_container-1] [INFO] [1758868658.447123711] [oak]: Camera already stopped!
[component_container-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[component_container-1] [ERROR] [1758868662.010841648] [oak]: Device already closed or disconnected: Input/output error
[ERROR] [component_container-1]: process has died [pid 12003, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

版本信息：

(base) jetson@yahboom:~$ dpkg -l | grep depthai
ii ros-humble-depthai 2.30.0-1jammy.20250702.112817 arm64 DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform
ii ros-humble-depthai-bridge 2.11.2-1jammy.20250916.020420 arm64 The depthai_bridge package
ii ros-humble-depthai-descriptions 2.11.2-1jammy.20250916.020820 arm64 The depthai_descriptions package
ii ros-humble-depthai-examples 2.11.2-1jammy.20250916.021614 arm64 The depthai_examples package
ii ros-humble-depthai-filters 2.11.2-1jammy.20250913.142749 arm64 Depthai filters package
ii ros-humble-depthai-ros 2.11.2-1jammy.20250916.073617 arm64 The depthai-ros package
ii ros-humble-depthai-ros-driver 2.11.2-1jammy.20250916.071634 arm64 Depthai ROS Monolithic node.
ii ros-humble-depthai-ros-msgs 2.11.2-1jammy.20250913.125350 arm64 Package to keep interface independent of the driver

系统资源：

PC上运行的设备信息：

[component_container-1] [INFO] [1758868509.171110765] [oak]: Starting camera.
[component_container-1] [INFO] [1758868509.186784443] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-1] [INFO] [1758868511.812274221] [oak]: Camera with MXID: 14442C10B162D8D600 and Name: 1.5 connected!
[component_container-1] [INFO] [1758868511.812933765] [oak]: USB SPEED: SUPER
[component_container-1] [INFO] [1758868511.859146616] [oak]: Device type: OAK-D-PRO
[component_container-1] [INFO] [1758868511.861185083] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1758868512.328324684] [oak]: NN Family: mobilenet
[component_container-1] [INFO] [1758868512.373023693] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-1] [INFO] [1758868512.612034764] [oak]: Finished setting up pipeline.
[component_container-1] [14442C10B162D8D600] [1.5] [1.980] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
[component_container-1] [INFO] [1758868513.355282888] [oak]: Camera ready!

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