 Kria™ KR260 Robotics Starter Kit
TSN ROS Pub Sub Tutorial
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Known Issues & Limitations
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# Known Issues
This document records known issues or gives behavior that might be unexpected.
First review the [FAQ](https://xilinx.github.io/kria-apps-docs/faq.html) for commonly encountered issues across AMD Kria™ SOM applications.
* Continues RTPS DDS (ROS Middleware) messages popup while running CPU varient as shown below. This is a known behaviour with RTPS middleware as mentioned [here](https://github.com/eProsima/Fast-DDS/issues/2799).
```bash
[component_container-1] 2022-10-13 16:30:56.972 [RTPS_MSG_IN Error] (ID:281473539668192) Problem reserving CacheChange in reader: 01.0f.da.c1.9f.f4.74.8f.01.00.00.00|0.0.2f.4 -> Function processDataMsg
```
* Unsynchronized messages popup randomly on Streamlined app
```bash
[rectify_resize_fpga_streamlined_node-1] [WARN] [1662749510.825170570] [ResizeNodeFPGAStreamlined]: [image_transport] Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[rectify_resize_fpga_streamlined_node-1] Image messages received: 29
[rectify_resize_fpga_streamlined_node-1] CameraInfo messages received: 24
[rectify_resize_fpga_streamlined_node-1] Synchronized pairs: 9
```
* Sometimes the application exits with the following xclExecBuf error
```bash
[rectify_resize_fpga_streamlined_node-1] [XRT] ERROR: unable to issue xclExecBuf
[rectify_resize_fpga_streamlined_node-1] [XRT] ERROR: failed to load xclbin: Operation not permitted
[rectify_resize_fpga_streamlined_node-1] /home/ubuntu/perception_modified/src/image_proc/src/rectify_fpga_streamlined.cpp:86 Error calling cl::Program program(*context_, devices, bins, NULL, &err), error code is: -6
[ERROR] [rectify_resize_fpga_streamlined_node-1]: process has died [pid 84833, exit code -11, cmd '/home/ubuntu/perception_modified/install/image_pipeline_examples/lib/image_pipeline_examples/rectify_resize_fpga_streamlined_node --ros-args --params-file /tmp/launch_params_jmy31ybn -r image:=/camera/image_raw -r camera_info:=/camera/camera_info -r resize:=resize'].
```
Reloading the firmware with xmutil fixes this issues as shown below
```bash
ubuntu@kria:~/ sudo xmutil unloadapp
ubuntu@kria:~/ sudo xmutil loadapp kr260-perception
ubuntu@kria:~/ ros2 launch perception_2nodes trace_rectify_resize_fpga_streamlined.launch.py
```
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