killed signal terminated program cc1plus building OAK-D Lite packages on RPi4

[jrhanobik]

Has anyone had any luck installing an OAK-D Lite on a Raspberry Pi 4 (4GB Memory)? I have tried several attempts following this document -> https://robofoundry.medium.com/oak-d-lite-camera-ros2-setup-1e74ed03350d but in all cases, the build fails while building the depthai_bridge. It's gets to 66% then just hangs for awhile and finally dies.

[shamlian]

While I've never tried to build this particular package, I have experienced colcon starving itself when trying to build large things on Raspberry Pi. To get around this, reduce the number of cores for make and tell colcon to process jobs in sequence and not in parallel. Try MAKEFLAGS="-j3" colcon build --executor sequential instead of just colon build.

For further information, see the colcon docs here.

[jerrynsr]

I built this successfully on a RPI4 w/8GB of RAM. You can configure your OS install to boot from USB3 SSD and allocate 4GB of Swap.

Since I build ROS2 packages on the target and use Colcon I made sure my 8GB RPI4 isn't starved for memory by adding an 8GB of SWAP.

[jrhanobik]

Although I've been able to successfully build the demos, launching the example (ros2 launch depthai_examples stereo.launch.py) it starts up just fine, runs a few seconds and then dies with the following error:

[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2722]
[INFO] [component_container-4]: process has finished cleanly [pid 2726]
[INFO] [component_container-3]: process has finished cleanly [pid 2724]
[stereo_node-1] [18443010512FAF1200] [1.1.1] [111.464] [MonoCamera(1)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[stereo_node-1] [18443010512FAF1200] [1.1.1] [111.464] [MonoCamera(0)] [error] OV7251 only supports THE_480_P/THE_400_P resolutions, defaulting to THE_480_P
[stereo_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[stereo_node-1] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/node.c:426
[ERROR] [stereo_node-1]: process has died [pid 2720, exit code -6, cmd '/home/ubuntu/luxonis_depthai_ws/install/depthai_examples/lib/depthai_examples/stereo_node --ros-args --params-file /tmp/launch_params_82om509o --params-file /tmp/launch_params_ohme8049 --params-file /tmp/launch_params_9nlblu1l --params-file /tmp/launch_params_cyhoat3c --params-file /tmp/launch_params_cckx7f34 --params-file /tmp/launch_params_c81uwead --params-file /tmp/launch_params_f07nb5gm --params-file /tmp/launch_params_o8noz4ym'].

Have you been able to run similar?

[jerrynsr]

I am almost to the point of testing this. I built the demos, integrated the ClearPath Robotics TurtleBot4 code .. I have NAV2 working great. I just need to get all the parts together to power up the Oak D Lite camera. How are you powering up the camera ? I did tried powering up with my RPI4 but the USB Audio, SlamTec LIDAR, and Addata SSD all push the PI4 USB delivery to the limit.

[jrhanobik]

Right now, I've been trying to introduce sensor by sensor. For this exercise, I created a whole new SD card with a fresh ubuntu / ros2 install and then installed just the OAK-D Lite. For this try, was just powering off of the RP4. considering a powered USB Hub don't want to understand the limits of the onboard USB as I add more. I also have an RPLidar that not's hooked at the moment but that's it for now. When you said integrated the Clearpath code, specifically from source OR did you burn one of the ready made images?

[jerrynsr]

My Create3 development environment resides completely in the Create3 robot. I have an 8GB Raspberry PI 4 installed that boots and runs off an Addata M.2 SSD. I have a small profile aluminum m.2 to USB 3.0 enclosure in the bot. All my ROS workspace source code was checked out from GitHub. All code was built on the RPI4. My current georgebot_ws includes paclages from iRobot and ClearPath Robotics. It's still a work in progress but I have mapping and navigation using saved maps of my house working. Compile times on the Raspberry PI4 using an SSD drive isn't too bad. It's much faster than compiling on an SD Card.

I am not using ready made images. I'm using the Ubuntu 20.04 IoT image. I modified it so it does not connect through the Ubuntu Iot cloud.. I have it configured to boot and grab an ip address from my network. I followed the Ubuntu 20.04 ROS2 Galactic install.
My current georgebot_ws consists of source code from both iRobot Create3 Repos and ClearPath Robotics.

[jrhanobik]

I appreciate the several posts that pointed out that this was caused by memory starvation and that made me reevaluate my approach. I was following a doc I found that suggested to start with a fresh install of ubuntu / ros2 etc. so I did. The one place I fell short in my desire to get things rolling was that I neglected to create a swap file that once created on a new install, worked flawlessly! Thanks for the input that pointed me in the right direction.