I am trying to consolidate a few nodes into a single process using nodelets. I have a ObjectDetectionNodelet that has a subscriber that subscribes to the raw image data. Every time I run the subscriber node, it crashes the driver.

[camera_1_nodelet_manager-1] process has died [pid 15157, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=camera_1_nodelet_manager __log:=/home/user/.ros/log/7d8a6240-bfde-11d3-9583-48b02d75c59c/camera_1_nodelet_manager-1.log].
log file: /home/user/.ros/log/7d8a6240-bfde-11d3-9583-48b02d75c59c/camera_1_nodelet_manager-1*.log
[camera_1/spinnaker_camera_nodelet_camera_1-2] process has finished cleanly
log file: /home/user/.ros/log/7d8a6240-bfde-11d3-9583-48b02d75c59c/camera_1-spinnaker_camera_nodelet_camera_1-2*.log
[ObjectDetectionNodelet-3] process has finished cleanly
log file: /home/user/.ros/log/7d8a6240-bfde-11d3-9583-48b02d75c59c/ObjectDetectionNodelet-3*.log

Can someone please evaluate by current setup and check launch files if I am doing any mistake in starting multiple nodelets? Any help is appreciated.

Following is my current setup:

  • I am using Blackfly S cameras for my application and using the spinnaker_camera_driver to stream data and this publishes image data to a topic /camera_1/image_raw . Here is a link to spinnaker nodelet that publishes raw data

  • I have a separate package which contains code for object detection. My current launch file looks like the following where I setup a nodelet manager camera_1_nodelet_manager and start the SpinnakerCameraNodelet and ObjectDetectionNodelet in the same nodelet manager:

Main launch file -

<?xml version="1.0"?>
  <arg name="camera_name"               default="camera_1" />
  <arg name="nodelet_manager_name"      default="$(arg camera_name)_nodelet_manager" />
>       <!-- Nodelet manager-->
>       <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)"  args="manager" output="screen"/>

  <!-- Load spinnaker nodelet-->
  <include file="$(find spinnaker_camera_driver)/launch/gige_camera.launch">
>         <arg name="nodelet_manager_name"    value="$(arg nodelet_manager_name)" />
    <arg name="camera_name"             value="$(arg camera_name)" />
>       </include>
>       <!-- Load object detection nodelet-->
>       <node pkg="nodelet" type="nodelet" name="ObjectDetectionNodelet" 
>             args="load object_detection_nodelet/ObjectDetectionNodelet /$(arg nodelet_manager_name)">
    <param name="camera_name"           value="$(arg camera_name)" />

And the included launch file from spinnaker camera driver is the following -

<?xml version="1.0"?>
  <arg name="camera_name"                     default="camera_1" />
  <arg name="calibrated"                      default="0" />
  <arg name="nodelet_manager_name"            default="camera_1_nodelet_manager" />

  <group ns="$(arg camera_name)">    
    <!-- Camera nodelet -->
    <node pkg="nodelet" type="nodelet" name="spin_cam_nodelet" args="load spinnaker_camera_driver/SpinnakerCameraNodelet /$(arg nodelet_manager_name)" >
      <param name="frame_id"            value="$(arg camera_name)" />

object_detection_nodelet.cpp is as follows:

#include <pluginlib/class_list_macros.h>
#include <object_detection/object_detection_nodelet.h>

namespace object_detection_nodelet {

ObjectDetectionNodelet::ObjectDetectionNodelet() {}

void ObjectDetectionNodelet::onInit(void) {
  std::string cameraName;
  ros::NodeHandle& privateNh = getPrivateNodeHandle();

  privateNh.getParam("camera_name", cameraName);

  m_ObjectDetectionPtr_.reset(new ObjectDetection(cameraName, getNodeHandle()));
};  // namespace object_detection_nodelet

PLUGINLIB_EXPORT_CLASS(object_detection_nodelet::ObjectDetectionNodelet, nodelet::Nodelet);

And the object_detection.cpp node which has the subscriber is as follows:

#include <object_detection/object_detection.h>

ObjectDetection::ObjectDetection(const std::string& cameraName, ros::NodeHandle& nh)
    : m_CameraName_(cameraName),
      tracker_(120) {

  image_sub = nh.subscribe(cameraName + "/image_raw", 10, &ObjectDetection::inputImageCallback_, this);
  image_pub = nh.advertise<sensor_msgs::Image>(cameraName + "/roi_image", 10);

void ObjectDetection::inputImageCallback_(const sensor_msgs::Image::ConstPtr& msg) {
  cv::Mat inputImage = ImageConverter::convertToCvMat(msg);
  cv::Mat filteredImage;

  sensor_msgs::Image outputImageMsg = ImageConverter::convertToRosImage(filteredImage);
  • $\begingroup$ What actual error are you getting? You've provided a lot of information here, but not the actual error that you're trying to solve. $\endgroup$
    – cst0
    Commented Sep 15, 2023 at 0:18
  • $\begingroup$ I have updated the post with the error message. It doesn't give any relevant info except that the process died $\endgroup$
    – nebula
    Commented Sep 15, 2023 at 14:24
  • $\begingroup$ convertToRosImage() may not like a default-constructed cv::Mat. As Mike F suggests, the most efficient way to find the problem is to connect gdb to your running nodelet manager process. $\endgroup$
    – Mike973
    Commented Sep 16, 2023 at 12:58

1 Answer 1


I would suspect that the problem is not with your posted code - but rather the driver itself.

The driver is likely implemented as a lazy publisher - this means that it does not interact with the hardware until a ROS subscriber connects and needs messages to be generated. I would suggest that you look at the logs from the driver itself to further debug this issue.

  • $\begingroup$ But if I launch the driver ros code by itself, then it publishes data to the topic. I can view it on rqt_image_view. In case of a lazy publisher that shouldn't work right?I am adding a link to the actual spinnaker nodelet that publishes the raw image $\endgroup$
    – nebula
    Commented Sep 15, 2023 at 14:27
  • $\begingroup$ Ok - that changes things quite a bit. Since everything is running inside the same nodelet manager your nodelet could actually be the thing crashing. I notice a bunch of pointers involved as well as an "ImageConverter" which we have no information about. Your error message has 3 log files - look in those for any output (is the format of the image incorrect, etc). If that doesn't give you any information, you likely have a segfault or similar issue which will involve connecting gdb to find out where your code is going wrong. $\endgroup$ Commented Sep 16, 2023 at 1:06

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