获取码流出错

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wuzengwen

auto-starting new master
process[master]: started with pid [3817]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 696d8320-337f-11ef-b3aa-48b02deae691
process[rosout-1]: started with pid [3841]
started core service [/rosout]
process[djiros-2]: started with pid [3844]
[0.021][core]-[Info]-[DjiCore_Init:105) Payload SDK Version : V3.8.1-beta.0-build.2006 
[3.656][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBJ9S00C0067, Firmware = 3.4.18.42 
[3.700][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Matrice 300 Series 
[3.700][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
[3.885][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 1000000 bps 
[3.885][adapter]-[Info]-[DjiPayloadNegotiate_Init:147) No need negotiate device info 
[5.234][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file... 
[6.234][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully 
[6.239][core]-[Info]-[DjiCore_Init:173) Identify AircraftType = Matrice 300 RTK, MountPosition = Extension Port, SdkAdapterType = None 
[6.272][core]-[Info]-[DjiCore_ApplicationStart:230) Start dji sdk application 
[6.272][user]-[Info]-[DjiUser_ApplicationStart:270) Application start. 
[11.446][user]-[Info]-[init:38) Topic [0] init success. 
[11.486][user]-[Info]-[init:38) Topic [41] init success. 
[11.526][user]-[Info]-[init:38) Topic [12] init success. 
[11.566][user]-[Info]-[init:38) Topic [18] init success. 
[11.605][user]-[Info]-[init:38) Topic [15] init success. 
[11.648][user]-[Info]-[init:38) Topic [17] init success. 
[11.685][user]-[Info]-[init:38) Topic [38] init success. 
[11.726][user]-[Info]-[init:38) Topic [19] init success. 
[11.766][user]-[Info]-[init:38) Topic [21] init success. 
[11.805][user]-[Info]-[init:38) Topic [22] init success. 
[11.848][user]-[Info]-[init:38) Topic [23] init success. 
[11.885][user]-[Info]-[init:38) Topic [7] init success. 
[11.925][user]-[Info]-[init:38) Topic [9] init success. 
[11.965][user]-[Info]-[init:38) Topic [10] init success. 
[12.006][user]-[Info]-[init:38) Topic [26] init success. 
[12.049][user]-[Info]-[init:38) Topic [29] init success. 
[12.086][user]-[Info]-[init:38) Topic [28] init success. 
[12.125][user]-[Info]-[init:38) Topic [33] init success. 
[12.165][user]-[Info]-[init:38) Topic [25] init success. 
start sender pipeline
Opening in BLOCKING MODE 
[15.522][linker]-[Error]-[DjiCommand_RegRecvCmdHandler:648) duplicate the registered command, type:2, CA 01 02 81 FFFFFFFF 
[15.522][linker]-[Error]-[DjiCommand_RegRecvCmdHandler:650) Have existed the same object. Suggestion : Please input valid parameters. 
[15.522][cmu]-[Error]-[DjiCameraManager_Init:245) Reg payload collaboration cmd handler error 
[15.522][user]-[Error]-[cameraInit:59) Init camera manager failed, error code: 0x00000103
 
NvMMLiteOpen : Block : BlockType = 261 
NvMMLiteBlockCreate : Block : BlockType = 261 
NVMMLITE_NVVIDEODEC, <NvMMLiteNvVideoDecSetAttribute:9301> Error status reporting set to 1

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6 条评论

日期 投票数
  • wuzengwen

    硬件采取的是Orin NX，采用双Type A数据线通过 ttyACM0 串口传输图像数据

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  • DJI Developer Support
    您好，这个报错看起来是代码重复初始化了，代码初始化有调用，可以先检查一下代码。另外您可以先用sample测试下，确认sample是可以正常运行的，排除代码实现的问题。您负载协商通过表明硬件连接没有问题的。
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  • wuzengwen

    sample地址可以提供下吗？ 

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  • wuzengwen

    相机初始化了两次，已经注释掉其中的一个了，目前还是报以下的错误。

    NVMMLITE_NVVIDEODEC, <NvMMLiteNvVideoDecSetAttribute:9301> Error status reporting set to 1

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  • wuzengwen
    • 已编辑于
    process[djiros-2]: started with pid [3482]
    [0.013][core]-[Info]-[DjiCore_Init:105) Payload SDK Version : V3.8.1-beta.0-build.2006 
    [2.986][linker]-[Error]-[DjiProtocol_sdkUnpack:228) protocol frame crc16 error:0x18D4 0xA21C 
    [3.367][adapter]-[Info]-[DjiAccessAdapter_Init:215) Try identify UART0 connection failed. Probably because SDK adapter or aircraft not finish init or UART connect error. 
    [5.943][linker]-[Error]-[DjiProtocol_sdkUnpack:228) protocol frame crc16 error:0xB4DA 0x3FDA 
    [6.638][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBJ9S00C0067, Firmware = 3.4.18.42 
    [6.662][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Matrice 300 Series 
    [6.663][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
    [6.758][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 1000000 bps 
    [6.758][adapter]-[Info]-[DjiPayloadNegotiate_Init:147) No need negotiate device info 
    [8.001][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file... 
    [9.002][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully 
    [9.008][core]-[Info]-[DjiCore_Init:173) Identify AircraftType = Matrice 300 RTK, MountPosition = Extension Port, SdkAdapterType = None 
    [9.039][core]-[Info]-[DjiCore_ApplicationStart:230) Start dji sdk application 
    [9.039][user]-[Info]-[DjiUser_ApplicationStart:270) Application start. 
    有两个ERROR
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  • DJI Developer Support
    您好，这两个ERROR在之前报的时候应该检索有问题，实际上不影响的哈，您如果代码看到打印这一句话“Start dji sdk application”表明PSDK的主线程已经启动，此时PSDK已经成功启动了。sample可以从此处下载：https://github.com/dji-sdk/Payload-SDK/tree/master
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