No image being published

[ne-v0y]

Hi there,

So I've been trying to launch a Jetson TX2 on-board camera using gscam_nodelet.launch. It runs without errors, but there was no image being published. I wonder if there's anything I missed here. Thanks.

[KonstantineMushegian-TRI]

I am trying to get the on-board TX2 working as well and ran into the same issue as you. Did you ever work it out?

I've been looking at NVIDIA forums and I can get the images streaming using
gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM), width=640, height=480, framerate=30/1, format=NV12' ! nvvidconv flip-method=2 ! nvegltransform ! nveglglessink -e however I tried making my own gscam *.launch file where I specify the settings in the following way:

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /webcam/image_raw -->

  <arg name="DEVICE" default="/dev/video0"/>
  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="FPS" default="30/1"/>
  <arg name="PUBLISH_FRAME" default="false"/>
  <arg name="GST10" default="false"/>

  <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param unless="$(arg GST10)" name="gscam_config" value="nvcamerasrc device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
    <param if="$(arg GST10)" name="gscam_config" value="nvcamerasrc device=$(arg DEVICE) ! 'video/x-raw(memory:NVMM), width=640, height=480, framerate=30/1, format=NV12' ! nvvidconv flip-method=2 ! nvegltransform ! nveglglessink -e"/>
    <param name="frame_id" value="/v4l_frame"/>
    <param name="sync_sink" value="true"/>
  </node>

  <node if="$(arg PUBLISH_FRAME)" name="v4l_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /v4l_frame 10"/>
</launch>

but then I get this output

[ INFO] [1501112404.078656910]: Using gstreamer config from rosparam: "nvcamerasrc device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
[ INFO] [1501112404.088050691]: camera calibration URL: package://gscam/examples/uncalibrated_parameters.ini
[ INFO] [1501112404.088559362]: Loaded camera calibration from package://gscam/examples/uncalibrated_parameters.ini

(gscam:12797): GStreamer-WARNING **: 0.10-style raw video caps are being created. Should be video/x-raw,format=(string).. now.
[FATAL] [1501112404.108395692]: GStreamer: cannot link launchpipe -> sink
[FATAL] [1501112404.108582668]: Failed to initialize gscam stream!

I just started using this today, any input would be welcome!

[gariepyalex]

@KonstantineMushegian-TRI have you found a solution?

[KonstantineMushegian-TRI]

@gariepyalex Are you able to get the camera stream using the following command?
gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM), width=640, height=480, framerate=30/1, format=NV12' ! nvvidconv flip-method=2 ! nvegltransform ! nveglglessink -e

I was not able to get this package working; I was able to get a video stream using OpenCV however couldn't get the same code to work in ROS.

[ne-v0y]

I sort of made my own solution: repo

[plieningerweb]

I solved it by compyling it on the tx2 with version 1.0 and the following launch file:

Install ros like described in
Run ./setupCatkinWorkspace of tutorial

cd ~/catkin-ws
source devel/setup.bash 
cd src
git clone https://github.com/ros-drivers/gscam.git
sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
cd ..
catkin_make -DGSTREAMER_VERSION_1_x=On

add file ~/catkin_ws/src/gscam/examples/tx2.launch

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /webcam/image_raw -->

  <arg name="DEVICE" default="/dev/video0"/>
  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="FPS" default="30/1"/>
  <arg name="PUBLISH_FRAME" default="false"/>
  <arg name="GST10" default="false"/>

  <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param name="gscam_config" value="nvcamerasrc sensor-id=0 ! video/x-raw(memory:NVMM),width=1280, height=720,format=I420, framerate=30/1 ! nvvidconv flip-method=0 ! video/x-raw, format=BGRx ! videoconvert ! ffmpegcolorspace "/>
    <!-- not working <param name="gscam_config" value="nvcamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=1280, height=720,format=I420, framerate=30/1' ! nvvidconv flip-method=0 ! 'video/x-raw, format=BGRx' ! videoconvert ! 'video/x-raw, format=BGR' ! appsink "/>-->
    <!-- working, but maybe too much <param name="gscam_config" value="nvcamerasrc sensor-id=0 ! video/x-raw(memory:NVMM),width=1280, height=720,format=I420, framerate=30/1 ! nvvidconv flip-method=0 ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR "/> -->
    <param name="frame_id" value="/v4l_frame"/>
    <param name="sync_sink" value="true"/>
  </node>

  <node if="$(arg PUBLISH_FRAME)" name="v4l_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /v4l_frame 10"/>
</launch>

run

roslaunch gscam tx2.launch
# on other console, run
rosrun image_view image_view image:=/v4l/camera/image_raw

Now an image is displayed ❤️ 🖼️ 😄

[emilyfy]

Thanks so much for the solutions! Just for info in case anyone faces the same problem, I tried using @plieningerweb's launch file but at first kept getting the error no element "nvcamerasrc". I managed to get it to work in the end by deleting all my gstreamer libraries and reinstalling them, then deleting my build/ and devel/ folders and recompiling.

[jcook3701]

Environment: JetPack 4.3 running on a TX2

It appears that gstreamer has been updated and "nvcamerasrc" has now become deprecated. The below solution is a modified version of @plieningerweb solution to account for the move to "nvarguscamerasrc" over "nvcamerasrc".

Note: It appears that the only format that nvarguscamerasrc accepts from the TX2 is NV12.

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /webcam/image_raw -->

  <arg name="DEVICE" default="/dev/video0"/>
  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="FPS" default="30/1"/>
  <arg name="PUBLISH_FRAME" default="false"/>
  <arg name="GST10" default="false"/>

  <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM),width=1280, height=720,format=NV12, framerate=30/1 ! nvvidconv flip-method=0 ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR"/>
    <param name="frame_id" value="/v4l_frame"/>
    <param name="sync_sink" value="true"/>
  </node>

  <node if="$(arg PUBLISH_FRAME)" name="v4l_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /v4l_frame 10"/>
</launch>

run

roslaunch gscam tx2.launch
# on other console, run
rosrun image_view image_view image:=/v4l/camera/image_raw

Note: If you are having issues you can try debugging with the below command.

GST_DEBUG=4 roslaunch gscam tx2.launch

Helpful Link

Jetson TX2 GStreamer capture and display example pipelines for Jetpack 4.2+

[xuankuzcr]

hello friend, i just found nvarguscamerasrc plugin make some memory leak in my xavier with gscam,i want know have some resolution over hear.

[nbaldy]

This is a really late reply and might be specific to the ROS2 version, but an issue I see here is one I faced, you can see how I debugged it here: #97 (comment)

You have to escape your quotes with \" not use '

Example of a ROS2 launch file which works for me:

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import ComposableNodeContainer, Node


def generate_launch_description():
  gscam_node = Node(
      package='gscam',  # Replace with the name of the package containing the node
      executable='gscam_node',  # Replace with the name of the node executable
      parameters=[{"camera_name": "default",
                    "camera_info_url": "package://gscam/examples/uncalibrated_parameters.ini",
                    # The below FAILS - caps not escaped properly!
                    # "gscam_config": "udpsrc port=5000 caps='application/x-rtp,sampling=(string)YCbCr-4:2:2,width=(string)640,height=(string)480' ! rtpvrawdepay ! videoconvert"
                    "gscam_config": "udpsrc port=5000 caps=\"application/x-rtp, sampling=(string)YCbCr-4:2:2, width=(string)640, height=(string)480\" ! rtpvrawdepay ! videoconvert"
                    }]
  )

  return LaunchDescription([gscam_node])

Edit that this is based on the example launchfiles in the repo, though I used python out of personal preference