Spinnaker SDK with ROS

Hello,

I have Spinnaker SDK version 2.3.0.77 with Ubuntu 18.04 on my Raspberry Pi 4. I also installed ROS melodic to use ROS with Spinnaker.

I follow all the installation step, and at the end I run roslaunch spinnaker_camera_driver camera.launch. I ended up that running that the ROS master is setted up to be Raspberry Pi 4. Infact if I made my pc as ROS master and then run roslaunch spinnaker_camera_driver camera.launch on raspberry pi 4 shell, I'm not able to see ROS topics and nodes as when Raspberry is the master.

This is what I have in the first Raspi shell when my PC is the master:

ubuntu@ubuntu~$ source ~/catkin_ws/devel/setup.bash
ubuntu@ubuntu:~$ export ROS_MASTER_URI=http://172.20.10.3:11311
ubuntu@ubuntu:~$ roslaunch spinnaker_camera_driver camera.launch
... logging to /home/ubuntu/.ros/log/d6f67ec2-5961-11ee-b6e7-d83add344901/roslaunch-rpi-lumio-8522.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rpi-lumio:41053/

SUMMARY
========

PARAMETERS
 * /camera/spinnaker_camera_nodelet/acquisition_frame_rate: 30
 * /camera/spinnaker_camera_nodelet/acquisition_frame_rate_enable: True
 * /camera/spinnaker_camera_nodelet/auto_white_balance: Continuous
 * /camera/spinnaker_camera_nodelet/device_type: USB3
 * /camera/spinnaker_camera_nodelet/frame_id: camera
 * /camera/spinnaker_camera_nodelet/image_format_color_coding: BayerRG8
 * /camera/spinnaker_camera_nodelet/isp_enable: False
 * /camera/spinnaker_camera_nodelet/serial: 0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    image_proc_debayer (nodelet/nodelet)
    spinnaker_camera_nodelet (nodelet/nodelet)

ROS_MASTER_URI=http://172.20.10.3:11311

process[camera/camera_nodelet_manager-1]: started with pid [8535]
process[camera/spinnaker_camera_nodelet-2]: started with pid [8536]
process[camera/image_proc_debayer-3]: started with pid [8537]
[ INFO] [1695399903.955379805]: Initializing nodelet with 4 worker threads.
[ERROR] [1695399904.051540830]: Failed to load nodelet [/camera/image_proc_debayer] of type [image_proc/debayer] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/debayer with base class type nodelet::Nodelet does not exist. Declared types are  imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain nodelet_tutorial_math/Plus phidgets_imu/PhidgetsImuNodelet spinnaker_camera_driver/SpinnakerCameraNodelet
[ERROR] [1695399904.051792048]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/debayer with base class type nodelet::Nodelet does not exist. Declared types are  imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain nodelet_tutorial_math/Plus phidgets_imu/PhidgetsImuNodelet spinnaker_camera_driver/SpinnakerCameraNodelet
[FATAL] [1695399904.052307556]: Failed to load nodelet '/camera/image_proc_debayer` of type `image_proc/debayer` to manager `camera_nodelet_manager'
[camera/image_proc_debayer-3] process has died [pid 8537, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load image_proc/debayer camera_nodelet_manager __name:=image_proc_debayer __log:=/home/ubuntu/.ros/log/d6f67ec2-5961-11ee-b6e7-d83add344901/camera-image_proc_debayer-3.log].
log file: /home/ubuntu/.ros/log/d6f67ec2-5961-11ee-b6e7-d83add344901/camera-image_proc_debayer-3*.log
[ INFO] [1695399905.247394210]: [SpinnakerCamera]: Number of cameras detected: 1
[ INFO] [1695399905.854318898]: [SpinnakerCamera::connect]: Using Serial: 0
[ INFO] [1695399905.855051997]: [SpinnakerCamera::connect]: Detected device type: USB3Vision
[ INFO] [1695399906.432694331]: [SpinnakerCamera::connect]: Camera model name: Blackfly S BFS-U3-13Y3M
[ INFO] [1695399906.437444953]: [SpinnakerCamera]: (22392339) DeviceLinkThroughputLimit set to 500000000.
[ INFO] [1695399906.469762978]: [SpinnakerCamera]: (22392339) BinningHorizontal set to 1.
[ INFO] [1695399906.478653554]: [SpinnakerCamera]: (22392339) BinningVertical set to 1.
[ INFO] [1695399906.486384495]: [SpinnakerCamera]: (22392339) DecimationHorizontal set to 1.
[ INFO] [1695399906.494057201]: [SpinnakerCamera]: (22392339) DecimationVertical set to 1.
[ INFO] [1695399906.501542257]: [SpinnakerCamera]: (22392339) ReverseX set to 0.
[ INFO] [1695399906.509086363]: [SpinnakerCamera]: (22392339) ReverseY set to 0.
[ INFO] [1695399906.515040615]: [SpinnakerCamera]: (22392339) OffsetX set to 0.
[ INFO] [1695399906.520028362]: [SpinnakerCamera]: (22392339) OffsetY set to 0.
[ INFO] [1695399906.524752171]: [SpinnakerCamera]: (22392339) Width set to 1280.
[ INFO] [1695399906.529141640]: [SpinnakerCamera]: (22392339) Height set to 1024.
[ INFO] [1695399906.532757828]: [SpinnakerCamera]: (22392339) OffsetX set to 0.
[ INFO] [1695399906.536246046]: [SpinnakerCamera]: (22392339) OffsetY set to 0.
[ WARN] [1695399906.538035438]: [SpinnakerCamera]: (22392339) Entry name BayerRG8 not available.
[ WARN] [1695399906.538246974]: Available:
[ WARN] [1695399906.538889582]:  - EnumEntry_PixelFormat_Mono8 (display Mono8, symbolic Mono8)
[ WARN] [1695399906.539142910]:  - EnumEntry_PixelFormat_Mono16 (display Mono16, symbolic Mono16)
[ WARN] [1695399906.539454937]:  - EnumEntry_PixelFormat_Mono10Packed (display Mono10Packed, symbolic Mono10Packed)
[ WARN] [1695399906.540148467]:  - EnumEntry_PixelFormat_Mono12Packed (display Mono12Packed, symbolic Mono12Packed)
[ WARN] [1695399906.540835626]:  - EnumEntry_PixelFormat_Mono10p (display Mono10p, symbolic Mono10p)
[ WARN] [1695399906.541107564]:  - EnumEntry_PixelFormat_Mono12p (display Mono12p, symbolic Mono12p)
[ INFO] [1695399906.547317144]: [SpinnakerCamera]: (22392339) IspEnable set to 0.
[ INFO] [1695399906.550052783]: [SpinnakerCamera]: (22392339) AcquisitionFrameRateEnable set to 1.
[ INFO] [1695399906.554458732]: [SpinnakerCamera]: (22392339) AcquisitionFrameRate set to 29.9994.
[ INFO] [1695399906.556956337]: [SpinnakerCamera]: (22392339) AcquisitionFrameRateEnable set to 1.
[ INFO] [1695399906.559815871]: [SpinnakerCamera]: (22392339) TriggerMode set to Off.
[ INFO] [1695399906.562074054]: [SpinnakerCamera]: (22392339) TriggerSource set to Line0.
[ INFO] [1695399906.562477276]: [SpinnakerCamera]: (22392339) TriggerSelector set to FrameStart.
[ INFO] [1695399906.564955772]: [SpinnakerCamera]: (22392339) TriggerActivation set to FallingEdge.
[ INFO] [1695399906.567070319]: [SpinnakerCamera]: (22392339) TriggerMode set to Off.
[ INFO] [1695399906.568291707]: [SpinnakerCamera]: (22392339) LineSelector set to Line0.
[ INFO] [1695399906.569906171]: [SpinnakerCamera]: (22392339) LineMode set to Input.
[ INFO] [1695399906.571956520]: [SpinnakerCamera]: (22392339) LineSource set to Off.
[ INFO] [1695399906.574201019]: [SpinnakerCamera]: (22392339) ExposureMode set to Timed.
[ INFO] [1695399906.577324789]: [SpinnakerCamera]: (22392339) ExposureAuto set to Continuous.
[ INFO] [1695399906.580407007]: [SpinnakerCamera]: (22392339) AutoExposureExposureTimeUpperLimit set to 5000.
[ INFO] [1695399906.581182806]: [SpinnakerCamera]: (22392339) GainSelector set to All.
[ INFO] [1695399906.585226399]: [SpinnakerCamera]: (22392339) GainAuto set to Continuous.
[ INFO] [1695399906.589199499]: [SpinnakerCamera]: (22392339) BlackLevel set to 1.7.
[ INFO] [1695399906.590966078]: [SpinnakerCamera]: (22392339) GammaEnable set to 1.
[ INFO] [1695399906.593665072]: [SpinnakerCamera]: (22392339) Gamma set to 1.
[ INFO] [1695399906.595202894]: [SpinnakerCamera]: (22392339) AutoAlgorithmSelector set to Ae.
[ INFO] [1695399906.596703220]: [SpinnakerCamera]: (22392339) AasRoiEnable set to 1.
[ INFO] [1695399906.598320165]: [SpinnakerCamera]: (22392339) AutoExposureLightingMode set to Normal.
[camera/spinnaker_camera_nodelet-2] process has finished cleanly
log file: /home/ubuntu/.ros/log/d6f67ec2-5961-11ee-b6e7-d83add344901/camera-spinnaker_camera_nodelet-2*.log

(I don't know why I have that error).

and this is what I have in the second raspi shell:

ubuntu@ubuntu:~$ source ~/catkin_ws/devel/setup.bash
ubuntu@ubuntu:~$ export ROS_MASTER_URI=http://172.20.10.3:11311
ubuntu@ubuntu:~$ rosnode list
/camera/camera_nodelet_manager
/matlab_global_node_24767
ubuntu@ubuntu:~$ rostopic list
/rosout
/tf

this is what I obtain when Raspi is the master:

ubuntu@ubuntu:~$ rostopic list
/camera/camera_info
/camera/camera_nodelet_manager/bond
/camera/image
/camera/image_raw
/camera/spinnaker_camera_nodelet/parameter_descriptions
/camera/spinnaker_camera_nodelet/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
ubuntu@ubuntu:~$ rosnode list
/camera/camera_nodelet_manager
/camera/spinnaker_camera_nodelet
/matlab_global_node_38657
/rosout

Is there anything I can modify inside camera.launch to make it work and have the same output of when raspi is the master? or are there other things I can do?

thank you