From ba2deb8f1e5d179c4a7cb9b92491ac8ba1e703be Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Sun, 21 Jul 2024 11:30:01 -0400 Subject: [PATCH] added trouble shooting section --- spinnaker_camera_driver/doc/index.rst | 34 +++++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/spinnaker_camera_driver/doc/index.rst b/spinnaker_camera_driver/doc/index.rst index cc85fe5..e06f4f7 100644 --- a/spinnaker_camera_driver/doc/index.rst +++ b/spinnaker_camera_driver/doc/index.rst @@ -223,11 +223,11 @@ Blackfly S the parameters look like this: Network Configuration for GigE cameras -======================= +====================================== The Spinnaker SDK abstracts away the transport layer so a GigE camera should work the same way as USB3: you point it to the serial number and -you’re set. +you're set. There are a few GigE-specific settings in the Transport Layer Control group that are important, in particular enabling jumbo frames from the @@ -343,6 +343,36 @@ Known issues the same address space with a composable node (see stereo launch file for example). +Troubleshooting/Common Issues +============================= + +1) Driver doesn't find camera. + This is usually due to incorrect permissions, missing udev files etc. Install the Spinnaker SDK + and get SpinView to work. + +2) Driver doesn't publish images and/or warns about incomplete images for GigE cameras + +.. code:: + + rate [Hz] in 39.76 out 0.00 drop 0% INCOMPLETE 100% + + The reason for the incomplete images is usually that you are exceeding the network + bandwidth, causing packets to be dropped such that incomplete frames arrive at the host. + Check for the MTU on all network cards and switches to be 9000 (jumbo frames). Sometimes + the MTU for switches has to be set higher. Also make sure the GigE camera has jumbo frames + enabled, i.e. ``gev_scps_packet_size`` is set to 9000. + +3) Driver reports dropped packages. This means the connected subscriber is not picking up fast enough. + Check CPU utilization of subscribers and the available network bandwidth between driver and subscriber. + +4) Image seems laggy when viewed. This is usually not a camera driver issue, but related to ROS2 RMW + or the image viewer. Check CPU utilization on displaying host and network bandwidth. + +5) Camera doesn't reach desired frame rate. + First play around in SpinView to reproduce the problem there. For GigE cameras, check network bandwidth. + Switch to Bayer images to reduce network bandwidth by a factor of three. + Check your exposure time. The frame rate cannot exceed the inverse of the exposure time. + Setting up Linux without Spinnaker SDK ======================================