Kria™ KR260 Robotics Starter Kit
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Known Issues & Limitations |
Known Issues¶
This document records known issues or gives behavior that may be unexpected.
Please first review the FAQ for commonly encountered issues across 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
[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
[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 application exits with the following xclExecBuf error
[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
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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