camerad fails to start when trying to use webcam with openpilot on Ubuntu #34197
Comments
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I would not expect this to work easily on WSL2, because host-attached USB devices are not passed through to WSL like they might be for traditional hypervisors like VMware Workstation. There's some workarounds with USB-over-IP, but setting it up is an extremely manual process that I'm not sure anyone has attempted with openpilot, and I'm not sure how well it would work with high-bandwidth devices like cameras. All that said, I'm leaving this bug open because webcam does look legitimately broken on baremetal Ubuntu. I was able to reproduce the described issue. I instrumented process.py to tell me what it was executing: diff --git a/system/manager/process.py b/system/manager/process.py
index 0e9c9b980..31a54a1b3 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -53,6 +53,7 @@ def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
# exec the process
os.chdir(cwd)
+ print(f"{cwd=} {pargs}")
os.execvp(pargs[0], pargs)Which obtained the following result: The error comes from trying to start TL;DR: Don't use WSL2, but this is a real bug anyway. |
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Thanks @jyoung8607 for digging in! Indeed getting USB cameras working on WSL2 was a big pain. It involved both:
Keep me posted if you make any more progress, I'll time-box poking around at this and if I can't get it going by the evening I'll find another issue to pick up. |
MikeBusuttil
changed the title
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I may have made progress with The issue I have is: Any idea how to resolve this? Looks maybe to be OpenCL-related and the error doesn't appear in the output shared above! To install OpenCL I downloaded and ran what was recommended by the readme. Potentially useful info for the root cause of the
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I come across the same issue，which can be solved by running tools/webcam/start_camerad.sh first. In the bash script, the right number for the environment variables of each camera should be specified. Pay attention to the problem that the index number of /dev/video may change each time the camera is plugged. |
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I had noticed that, specifically the @MikeBusuttil: Give that a try, and if you find a working path, feel free to file PRs against the README or anything else necessary to make this easier for new users. |
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Tried it on 2 machines with different failures. Ubuntu 24.04 on old Dell i5 Laptop:(openpilot) willow@willow-Latitude-E5450:~/openpilot$ tools/webcam/start_camerad.sh
Traceback (most recent call last):
File "/home/willow/openpilot/tools/webcam/camerad.py", line 74, in <module>
main()
File "/home/willow/openpilot/tools/webcam/camerad.py", line 69, in main
camerad = Camerad()
^^^^^^^^^
File "/home/willow/openpilot/tools/webcam/camerad.py", line 33, in __init__
self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
File "msgq_repo/msgq/visionipc/visionipc_pyx.pyx", line 65, in msgq.visionipc.visionipc_pyx.VisionIpcServer.create_buffers
def create_buffers(self, VisionStreamType tp, size_t num_buffers, size_t width, size_t height):
TypeError: create_buffers() takes exactly 4 positional arguments (5 given)
terminate called after throwing an instance of 'std::system_error'
what(): Invalid argument
tools/webcam/start_camerad.sh: line 14: 3803 Aborted (core dumped) $DIR/camerad.pywhich is what I'd expect given the create_buffers interface void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, size_t width, size_t height){so I removed the 3rd argument from the offending line to make it now self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)which results in (openpilot) willow@willow-Latitude-E5450:~/openpilot$ tools/webcam/start_camerad.sh
Traceback (most recent call last):
File "/home/willow/openpilot/tools/webcam/camerad.py", line 74, in <module>
main()
File "/home/willow/openpilot/tools/webcam/camerad.py", line 69, in main
camerad = Camerad()
^^^^^^^^^
File "/home/willow/openpilot/tools/webcam/camerad.py", line 28, in __init__
cam = Camera(c.msg_name, c.stream_type, c.cam_id)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/willow/openpilot/openpilot/tools/webcam/camera.py", line 13, in __init__
self.container = av.open("/dev/video0")
^^^^^^^^^^^^^^^^^^^^^^
File "av/container/core.pyx", line 420, in av.container.core.open
File "av/container/core.pyx", line 266, in av.container.core.Container.__cinit__
File "av/container/core.pyx", line 286, in av.container.core.Container.err_check
File "av/error.pyx", line 326, in av.error.err_check
av.error.OSError: [Errno 16] Device or resource busy: '/dev/video0'
terminate called after throwing an instance of 'std::system_error'
what(): Invalid argument
tools/webcam/start_camerad.sh: line 14: 3586 Aborted (core dumped) $DIR/camerad.pyBut WSL Ubuntu 24.04 on Dell XPS 17I can't get despite having my environment setup properly (I thought) Will continue poking at 🤞 |
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Got it working here, I think. To make sure you find your camera devices: For me, on baremetal Ubuntu with my built-in camera and a single external Logitech Brio just for testing: The multiple devices appear to be for metadata or IR capabilities for Windows Hello and the like. Then:
With the minimal fixes in #34211, This is, of course, not super awesome from a usability perspective. We should probably put some thought into making this Not Suck. We could put what we have in the README, but I think that |
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Good stuff @jyoung8607 💪 Here's the draft PR to squash this bug: #34215 Will ping you when it's ready to rock |
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We've made a lot of progress here but it looks like there may be more roadblocks on the path to full webcam support. It looks like the C3X camera resolution is hard-coded into
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It's working!! 😃 |
Describe the bug
Following the steps in the webcam readme and running
NOSENSOR=1 USE_WEBCAM=1 system/manager/manager.pyappears to work. UI loads and all green in console:but then results in the following when pressing the
Driver CameraPreviewbutton in the UI (redcameradanddmonitoringmodeldin console):OS Version
Ubuntu 24.04
openpilot version or commit
57fc4f7
Additional info
system/camerad/cameras/camera_webcam.ccwhich no longer exists.The text was updated successfully, but these errors were encountered: