manifoldsdk
eb750f9fe0
1.Added camera point cloud extrinsic parameter rendering function 2.add image_compressed 3.fix imshow error about slam pointcloud
269 lines
6.9 KiB
Markdown
269 lines
6.9 KiB
Markdown
# Odin_ROS_Driver Readme
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ROS driver suite for Odin sensor modules (Manifold Tech Ltd.)
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## Odin_ROS_Driver
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Compatibility:
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● ROS 1(LTS Release: Noetic recommended)
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● ROS 2(LTS Release: Humble recommended)
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## Important Notice:
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This driver package provides core functionality for point cloud SLAM applications and targets specific use cases. It is intended exclusively for technical professionals conducting secondary development. End users must perform scenario-specific optimization and custom development to align with operational requirements in practical deployment environments.
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## 1. Version
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Current Version: v0.2
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## 2. Preparation
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### 2.1 OS Requirement
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● Ubuntu 18.04 for ROS Melodic;
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● Ubuntu 20.04 for ROS Noetic and ROS2 Foxy;
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● Ubuntu 22.04 for ROS2 Humble;
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### 2.2 Dependencies
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● Opencv
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● yaml-cpp
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● thread
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● OpenSSL
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● Eigen3
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### 2.3 Dependencies Install
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#### 2.3.1 System
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```shell
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sudo apt update
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sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
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```
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#### 2.3.2 yaml-cpp
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```shell
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sudo apt update
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sudo apt install -y libyaml-cpp-dev
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```
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#### 2.3.3 libusb
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```shell
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sudo apt update
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sudo apt install -y libusb-1.0-0-dev
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```
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#### 2.3.4 opencv
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```shell
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sudo apt update
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sudo apt-get install libopencv-dev
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```
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#### 2.3.4 ROS install
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For ROS Melodic installation, please refer to:
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[ROS Melodic installation instructions](https://wiki.ros.org/melodic/Installation)
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For ROS Noetic installation, please refer to:
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[ROS Noetic installation instructions](https://wiki.ros.org/noetic/Installation)
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For ROS2 Foxy installation, please refer to:
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[ROS Foxy installation instructions](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
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For ROS2 Humble installation, please refer to:
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[ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
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## 3. Preparation
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### 3.1 Create Udev rules
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```shell
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sudo vim /etc/udev/rules.d/99-odin-usb.rules
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```
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Add the following content to the 99-odin-usb.rules file
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```shell
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SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev"
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```
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Reload rules and reinsert devices
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```shell
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sudo udevadm control --reload
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sudo udevadm trigger
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```
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### 3.2 OS Requirement
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```shell
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git clone https://github.com/manifoldsdk/odin_ros_driver.git catkin_ws/src/odin_ros_driver
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```
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Note:
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Please clone the source code into the "[ros_workspace]/src/" folder, otherwise compilation errors will occur.
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### 3.3 make
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#### 3.3.1 ROS1 (Noetic for example):
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```shell
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source /opt/ros/noetic/setup.bash
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./script/build_ros.sh
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```
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#### 3.3.2 ROS2 (Foxy for example):
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```shell
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source /opt/ros/foxy/setup.bash
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./script/build_ros2.sh
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```
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### 3.4 run:
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#### 3.4.1 ROS1 (Noetic for example):
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```shell
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source [ros_workspace]/install/setup.bash
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ros2 launch odin_ros_driver [launch file]
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```
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● odin_ros_driver: package name;
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● launch file: launch file;
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● ros_workspace: User's ROS environment workspace;
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```shell
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roslaunch odin_ros_driver odin1_ros1.launch
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```
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#### 3.4.2 ROS2 (Foxy for example):
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```shell
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source [ros2_workspace]/install/setup.bash
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ros2 launch odin_ros_driver [launch file]
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```
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● odin_ros_driver: package name;
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● launch file: launch file;
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● ros2_workspace: User's ROS2 environment workspace;
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ROS2 Demo Launch Instructions:
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```shell
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ros2 launch odin_ros_driver odin1_ros2.launch.py
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```
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## 4. File structure and data format
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### 4.1 File structure
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```shell
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Odin_ROS_Driver/ // ROS1/ROS2 driver package
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3rdparty/ // Third-party libraries
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src/
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host_sdk_sample.cpp // Example source code
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yaml_parser.cpp // Source code for reading yaml parameters
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rawCloudRender.cpp // Source code for RenderCloud
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lib/
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liblydHostApi_amd.a // Static library for AMD platform
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liblydHostApi_arm.a // Static library for ARM platform
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include/
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host_sdk_sample.h // Example header file
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lidar_api_type.h // API data structure header file
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lidar_api.h // API function declarations
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yaml_parser.h // Parameter file reading header file
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rawCloudRender.h // API about RenderCloud
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config/
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control_command.yaml // Control parameter file for driver
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calib.yaml //Machine calibration yaml
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launch_ROS1/
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odin1_ros1.launch // ROS1 launch file
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launch_ROS2/
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odin1_ros2.launch.py // ROS2 launch file
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script/
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build_ros1.sh // Installation script for ROS1
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build_ros2.sh // Installation script for ROS2
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README.md // Usage instructions
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CMakeLists.txt // CMake build file
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License // License file
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```
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### 4.2 File structure
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| Launch File Name | Description |
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|--------------------------|-------------|
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| odin1_ros1.launch | Launch file for ROS1 - Odin1 Basic Operations Demo |
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| odin1_ros2.launch.py | Launch file for ROS2 - Odin1 Basic Operations Demo |
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### 4.3 ROS topics
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Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters:
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| Topic | Detailed Description |
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|---------------------|----------------------|
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| odin1/imu | Imu Topic |
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| odin1/image | RGB Camera Topic |
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| odin1/image/compressed | RGB Camera compressed Topic |
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| odin1/cloud_raw | Raw_Cloud Topic |
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| odin1/cloud_render | Render_Cloud Topic |
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| odin1/cloud_slam | Slam_PointCloud Topic |
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| odin1/odometry_map | Odom Topic |
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## 5. FAQ
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### 5.1 Segmentation fault upon re-launching host SDK
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**Error Message**
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No device connected after 60 seconds
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**Solution**
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1.Please power on Odin module again # Disconnect and reconnect odin power
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2.Reinitialize Odin SDK # Execute SDK after device reboot
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### 5.2 Library binding failure during compilation
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**Error Message**
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ld: cannot find -llydHostApi or symbol lookup errors
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**Resolution**
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1.Clean previous build artifacts
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ROS1
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```shell
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rm -rf devel/ build/
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```
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ROS2
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```shell
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rm -rf devel/ install/ log/
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```
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2.Re-run script installation
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### 5.3 Docker GUI passthrough failure
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**Error Message**
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Unable to open X display or No protocol specified
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**Resolution**
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```shell
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xhost + #This command enables graphical passthrough to Docker containers
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```
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### 5.4 RVIZ has not responded for a long time
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**Error Message**
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Rviz does not respond, and after a while the terminal prints Device disconnected, waiting for reconnection...
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**Resolution**
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Please power on Odin module again
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### 5.5 Device not responding
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**Error Message**
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Missed ok response from device,probably wrong interaction procedure.
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**Resolution**
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Please adopt the solution mentioned in 5.1
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### 5.6 Device has no external calibration file
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**Error Message**
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ERROR：Missing camera node 'cam_0'
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**Resolution**
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Please plug and unplug the USB again |