Error: Frame type not found

Hi, Can you send us the entire log from the console?

ros2 launch adi_3dtof_floor_detector adi_3dtof_floor_detector_launch.py
[INFO] [launch]: All log files can be found below /home/analog/.ros/log/2023-03-27-17-55-43-857560-aditof-632
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [adi_3dtof_floor_detector_node-1]: process started with pid [634]
[INFO] [static_transform_publisher-2]: process started with pid [636]
[INFO] [static_transform_publisher-3]: process started with pid [638]
[static_transform_publisher-2] [INFO] [1679939745.742993069] [cam1.cam1_adtf31xx_optical_tf]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('-0.500000', '0.499602', '-0.500000', '0.500398')
[static_transform_publisher-2] from 'cam1_adtf31xx' to 'cam1_adtf31xx_optical'
[static_transform_publisher-3] [INFO] [1679939745.742992944] [cam1.cam1_adtf31xx_tf]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.170000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'map' to 'cam1_adtf31xx'
[adi_3dtof_floor_detector_node-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[adi_3dtof_floor_detector_node-1] I20230327 17:55:48.112526 634 sensor_enumerator_imx.cpp:116] Looking for sensors on the target
[adi_3dtof_floor_detector_node-1] I20230327 17:55:48.113359 634 sensor_enumerator_imx.cpp:137] Looking at: /dev/media0 for an eligible TOF camera
[adi_3dtof_floor_detector_node-1] I20230327 17:55:48.131539 634 sensor_enumerator_imx.cpp:153] Considering: /dev/media0 an eligible TOF camera
[adi_3dtof_floor_detector_node-1] I20230327 17:55:48.135126 634 camera_itof.cpp:143] Initializing camera
[adi_3dtof_floor_detector_node-1] sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied
[adi_3dtof_floor_detector_node-1] sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.251794 634 adsd3500_sensor.cpp:220] Opening device
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.251972 634 adsd3500_sensor.cpp:238] Looking for the following cards:
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.252017 634 adsd3500_sensor.cpp:240] mxc-isi-cap
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.252077 634 adsd3500_sensor.cpp:252] device: /dev/video0 subdevice: /dev/v4l-subdev1
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.288547 634 mode_info.cpp:126] Using new modes table for adsd3500.
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.288710 634 mode_info.cpp:126] Using new modes table for adsd3500.
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.388823 634 camera_itof.cpp:347] Current adsd3500 firmware version is: 4.2.4.0
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.388993 634 camera_itof.cpp:350] Current adsd3500 firmware git hash is: 5ecd368683f2b49f6af7c872deaf04d5696206c4
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.389456 634 camera_itof.cpp:1717] Current Depth ini file is: /home/analog/ros2_ws/install/adi_3dtof_floor_detector/share/adi_3dtof_floor_detector/../../../../src/adi_3dtof_floor_detector/config/RawToDepthAdsd3500_qmp.ini
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.392421 634 camera_itof.cpp:441] Camera FPS set from Json file at: 30
[adi_3dtof_floor_detector_node-1] I20230327 17:55:55.393474 634 camera_itof.cpp:453] Camera initialized
[adi_3dtof_floor_detector_node-1] W20230327 17:55:55.394096 634 camera_itof.cpp:557] Frame type: qmp not supported by camera
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939755.394200395] [rclcpp]: Could not set camera frame type!
[adi_3dtof_floor_detector_node-1] Cx, Cy : 513.29, 526.919
[adi_3dtof_floor_detector_node-1] Fx, Fy : 777.786, 777.931
[adi_3dtof_floor_detector_node-1] K1, K2 : -0.106254, 0.0413027
[adi_3dtof_floor_detector_node-1] K3, K4 : 0.0831215, 0.240845
[adi_3dtof_floor_detector_node-1] K5, K6 : -0.106544, 0.163553
[adi_3dtof_floor_detector_node-1] P1, P2 : 2.39568e-05, -5.37438e-05
[adi_3dtof_floor_detector_node-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[adi_3dtof_floor_detector_node-1] at line 93 in /opt/ros/humble/src/ros2/geometry2/tf2/src/buffer_core.cpp
[adi_3dtof_floor_detector_node-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[adi_3dtof_floor_detector_node-1] at line 93 in /opt/ros/humble/src/ros2/geometry2/tf2/src/buffer_core.cpp
[adi_3dtof_floor_detector_node-1] [INFO] [1679939756.524367121] [cam1.adi_3dtof_floor_detector_node]: adi_3dtof_foor_detector_node : Running loop : 0
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.525997 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.526145408] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.526650 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.526762252] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.527125 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.527214855] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.527446 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.527535214] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.527804 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.527911071] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.528152 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.528422795] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.528728 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.528904896] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.529243 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.529352374] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.529584 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.529674108] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.529881 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.529961969] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.530170 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.530257079] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.530503 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.530600437] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.530874 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.530985043] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.531275 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.531387523] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.531663 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.531765129] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.532019 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.532119612] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.532370 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.532472594] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.532717 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.532813828] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.533107 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.533221057] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.533483 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.533581664] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.533836 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.533967770] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.534245 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.534349251] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.534611 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.534709984] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.534965 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.535064841] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.535306 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.535397949] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.535609 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.535693185] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.535907 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.535988420] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.536208 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.536292030] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.536504 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.536588015] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.536801 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.536895375] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.537187 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.537296855] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.537542 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.537629589] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.537997 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.538119065] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.538408 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.538521170] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.538802 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.538913900] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.539191 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.539299256] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.539551 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.539644489] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.540009 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.540125465] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.540405 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.540512321] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.540786 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.540890052] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.541190 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.541306532] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.541584 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.541695137] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.541949 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.542041120] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.542279 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.542371604] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.542595 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.542691838] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.542929 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.543027196] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.543263 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.543361180] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.543612 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.543715287] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.543964 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.544066145] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.544312 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.544404253] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.544647 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.544737986] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.545008 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.545117718] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.545377 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.545484949] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.545727 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.545820683] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.546054 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.546148916] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.546376 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.546482900] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] E20230327 17:55:56.546717 676 camera_itof.cpp:711] Frame type not found!
[adi_3dtof_floor_detector_node-1] [ERROR] [1679939756.546811009] [rclcpp]: Could not request frame!
[adi_3dtof_floor_detector_node-1] [INFO] [1679939756.547415854] [rclcpp]: Stopping the Camera
[adi_3dtof_floor_detector_node-1] I20230327 17:55:56.547487 634 adsd3500_sensor.cpp:380] Device 0 already stopped
[adi_3dtof_floor_detector_node-1] I20230327 17:55:56.547643 634 camera_itof.cpp:522] Failed to stop camera!
[INFO] [adi_3dtof_floor_detector_node-1]: process has finished cleanly [pid 634]
[INFO] [launch]: process[adi_3dtof_floor_detector_node-1] was required: shutting down launched system
[INFO] [static_transform_publisher-3]: sending signal 'SIGINT' to process[static_transform_publisher-3]
[INFO] [static_transform_publisher-2]: sending signal 'SIGINT' to process[static_transform_publisher-2]
[static_transform_publisher-3] [INFO] [1679939756.848291189] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-2] [INFO] [1679939756.852358737] [rclcpp]: signal_handler(signum=2)
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 636]
[INFO] [static_transform_publisher-3]: process has finished cleanly [pid 638]

Hi, thanks for posting. We will get back to you soon with a suggestion to address this problem.

Hi,

Looks like you are not setting the arguments correctly. Can you try changing the following arguments in

launch/adi_3dtof_adtf31xx_launch.py.

Line Num 64:

arg_config_file_name_of_tof_sdk_desc = DeclareLaunchArgument(

       'arg_config_file_name_of_tof_sdk', default_value= package_dir + "config/" + config_json_file_names[1])

Line Num 70:

arg_frame_type_desc = DeclareLaunchArgument(

       'arg_frame_type', default_value="lr-qnative")

I hope this should help resolve your issue.