I can’t use TurtleBot3 on Ubuntu 24.04 with ROS 2 Jazzy and the Raspberry Pi Camera Module 2.

[boat1470]

Operating System:

Ubuntu 24.04

ROS version :

jazzy

Turtlebot3 Model:

Burger

Description

I can’t use TurtleBot3 on Ubuntu 24.04 with ROS 2 Jazzy and the Raspberry Pi Camera Module 2.

Steps to reproduce issue

I tried to follow this document.

After typing
ros2 launch turtlebot3_bringup camera.launch.py in TurtleBot3 SBC
this is log

[INFO] [launch]: All log files can be found below /home/iotcentral/.ros/log/2025-10-29-23-51-17-474617-ubuntu-1225
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1243]
[component_container-1] [INFO] [1761756679.845469723] [camera_container]: Load Library: /opt/ros/jazzy/lib/libcamera_component.so
[component_container-1] [INFO] [1761756682.030886322] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplatecamera::CameraNode
[component_container-1] [INFO] [1761756682.031030116] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatecamera::CameraNode
[component_container-1] [0:15:30.733162656] [1243] INFO Camera camera_manager.cpp:330 libcamera v0.5.2
[component_container-1] [0:15:30.854869072] [1259] INFO IPAProxyRPiWorker raspberrypi_ipa_proxy_worker.cpp:568 Starting worker for IPA module /opt/ros/jazzy/lib/libcamera/ipa/ipa_rpi_vc4.so with IPC fd = 50
[component_container-1] [0:15:30.862739036] [1259] WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise
[component_container-1] [0:15:30.866778572] [1258] INFO Camera camera_manager.cpp:220 Adding camera '/base/soc/i2c0mux/i2c@1/imx219@10' for pipeline handler rpi/vc4
[component_container-1] [0:15:30.866894978] [1258] INFO RPI vc4.cpp:401 Registered camera /base/soc/i2c0mux/i2c@1/imx219@10 to Unicam device /dev/media4 and ISP device /dev/media0
[component_container-1] [INFO] [1761756682.299037494] [camera]:
[component_container-1] >> stream formats:
[component_container-1] - NV21 (64x64 - 3280x2464)
[component_container-1] - XBGR8888 (64x64 - 3280x2464)
[component_container-1] - BGR888 (64x64 - 3280x2464)
[component_container-1] - RGB888 (64x64 - 3280x2464)
[component_container-1] - XRGB8888 (64x64 - 3280x2464)
[component_container-1] - YUYV (64x64 - 3280x2464)
[component_container-1] - UYVY (64x64 - 3280x2464)
[component_container-1] [WARN] [1761756682.299282676] [camera]: no pixel format selected, auto-selecting: "XRGB8888"
[component_container-1] [WARN] [1761756682.299335249] [camera]: set parameter 'format' to silence this warning
[component_container-1] [INFO] [1761756682.299472562] [camera]:
[component_container-1] >> XRGB8888 format sizes:
[component_container-1] - 160x120
[component_container-1] - 240x160
[component_container-1] - 320x240
[component_container-1] - 400x240
[component_container-1] - 480x320
[component_container-1] - 640x360
[component_container-1] - 640x480
[component_container-1] - 720x480
[component_container-1] - 768x480
[component_container-1] - 854x480
[component_container-1] - 720x576
[component_container-1] - 800x600
[component_container-1] - 960x540
[component_container-1] - 1024x576
[component_container-1] - 960x640
[component_container-1] - 1024x600
[component_container-1] - 1024x768
[component_container-1] - 1280x720
[component_container-1] - 1152x864
[component_container-1] - 1280x800
[component_container-1] - 1360x768
[component_container-1] - 1366x768
[component_container-1] - 1440x900
[component_container-1] - 1280x1024
[component_container-1] - 1536x864
[component_container-1] - 1280x1080
[component_container-1] - 1600x900
[component_container-1] - 1400x1050
[component_container-1] - 1680x1050
[component_container-1] - 1600x1200
[component_container-1] - 1920x1080
[component_container-1] - 2048x1080
[component_container-1] - 1920x1200
[component_container-1] - 2160x1080
[component_container-1] - 2048x1152
[component_container-1] - 2560x1080
[component_container-1] - 2048x1536
[component_container-1] - 2560x1440
[component_container-1] - 2560x1600
[component_container-1] - 2960x1440
[component_container-1] - 2560x2048
[component_container-1] - 3200x1800
[component_container-1] - 3200x2048
[component_container-1] - 3200x2400
[component_container-1] [INFO] [1761756682.299590338] [camera]: Sensor mode configuration: 1640x1232-SRGGB10_CSI2P/RAW
[component_container-1] [WARN] [1761756682.299944926] [camera]: stream configuration adjusted from "640x480-XRGB8888/sYCC" (Rotate0) to "640x480-XRGB8888/sRGB" (Rotate0)
[component_container-1] [0:15:30.869581052] [1243] INFO Camera camera.cpp:1215 configuring streams: (0) 640x480-XRGB8888/sRGB (1) 1640x1232-SBGGR10_CSI2P/RAW
[component_container-1] [0:15:30.870744999] [1258] INFO RPI vc4.cpp:570 Sensor: /base/soc/i2c0mux/i2c@1/imx219@10 - Selected sensor format: 1640x1232-SBGGR10_1X10/RAW - Selected unicam format: 1640x1232-pBAA/RAW
[component_container-1] [INFO] [1761756682.305743493] [camera]: camera "/base/soc/i2c0mux/i2c@1/imx219@10" configured with 640x480-XRGB8888/sRGB stream
[component_container-1] [INFO] [1761756682.306569482] [camera]: using default calibration URL
[component_container-1] [INFO] [1761756682.306781460] [camera]: camera calibration URL: file:///home/iotcentral/.ros/camera_info/imx219__base_soc_i2c0mux_i2c_1_imx219_10_640x480_1640x1232_SBGGR10_CSI2P_RAW.yaml
[component_container-1] [ERROR] [1761756682.307105808] [camera_calibration_parsers]: Unable to open camera calibration file [/home/iotcentral/.ros/camera_info/imx219__base_soc_i2c0mux_i2c_1_imx219_10_640x480_1640x1232_SBGGR10_CSI2P_RAW.yaml]
[component_container-1] [WARN] [1761756682.307338897] [camera]: Camera calibration file /home/iotcentral/.ros/camera_info/imx219__base_soc_i2c0mux_i2c_1_imx219_10_640x480_1640x1232_SBGGR10_CSI2P_RAW.yaml not found
[component_container-1] [WARN] [1761756682.308000073] [camera]: unknown control: NoiseReductionMode (10002)
[component_container-1] [WARN] [1761756682.308588620] [camera]: FrameDurationLimits: cannot set default scalar value '33333' on span control (extend: 2), default will be ignored
[component_container-1] [0:15:30.889267222] [1259] FATAL Serializer control_serializer.cpp:605 A list of V4L2 controls requires a ControlInfoMap
[component_container-1] Backtrace:
[component_container-1] /opt/ros/jazzy/lib/libcamera.so.0.5(_ZN9libcamera17ControlSerializer11deserializeINS_11ControlListEEET_RNS_16ByteStreamBufferE+0x2b8) [0xffffaa75979c]
[component_container-1] /opt/ros/jazzy/lib/libcamera.so.0.5(_ZN9libcamera17IPADataSerializerINS_11ControlListEE11deserializeEN9__gnu_cxx17__normal_iteratorIPKhSt6vectorIhSaIhEEEESA_PNS_17ControlSerializerE+0x1ac) [0xffffaa76b36c]
[component_container-1] /opt/ros/jazzy/lib/libcamera/raspberrypi_ipa_proxy(+0xdad8) [0xaaaacdf5dad8]
[component_container-1] /opt/ros/jazzy/lib/libcamera.so.0.5(_ZN9libcamera13IPCUnixSocket12dataNotifierEv+0xf0) [0xffffaa76dc44]
[component_container-1] /opt/ros/jazzy/lib/libcamera-base.so.0.5(_ZN9libcamera19EventDispatcherPoll16processNotifiersERKSt6vectorI6pollfdSaIS2_EE+0x404) [0xffffaa678214]
[component_container-1] /opt/ros/jazzy/lib/libcamera-base.so.0.5(_ZN9libcamera19EventDispatcherPoll13processEventsEv+0x210) [0xffffaa678590]
[component_container-1] /opt/ros/jazzy/lib/libcamera/raspberrypi_ipa_proxy(+0x56e4) [0xaaaacdf556e4]
[component_container-1] /lib/aarch64-linux-gnu/libc.so.6(+0x284c4) [0xffffaa1e84c4]
[component_container-1] /lib/aarch64-linux-gnu/libc.so.6(__libc_start_main+0x98) [0xffffaa1e8598]
[component_container-1] /opt/ros/jazzy/lib/libcamera/raspberrypi_ipa_proxy(+0x5b70) [0xaaaacdf55b70]
[component_container-1] [0:15:32.889941473] [1258] ERROR IPCPipe ipc_pipe_unixsocket.cpp:131 Call timeout!
[component_container-1] [0:15:32.890136525] [1258] ERROR IPCPipe ipc_pipe_unixsocket.cpp:63 Failed to call sync
[component_container-1] [0:15:32.890184154] [1258] ERROR IPAProxy raspberrypi_ipa_proxy.cpp:262 Failed to call start: -110
[component_container-1] [0:15:32.913640014] [1258] ERROR IPCUnixSocket ipc_unixsocket.cpp:192 Failed to send: Connection refused
[component_container-1] [0:15:32.913727068] [1258] ERROR IPCPipe ipc_pipe_unixsocket.cpp:63 Failed to call sync
[component_container-1] [0:15:32.913756235] [1258] ERROR IPAProxy raspberrypi_ipa_proxy.cpp:433 Failed to call mapBuffers: -111
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera' in container '/camera_container'
[component_container-1] [0:15:33.031540045] [1258] ERROR IPCUnixSocket ipc_unixsocket.cpp:192 Failed to send: Transport endpoint is not connected
[component_container-1] [0:15:33.031641414] [1258] ERROR IPCPipe ipc_pipe_unixsocket.cpp:77 Failed to call async
[component_container-1] [0:15:33.031686154] [1258] ERROR IPAProxy raspberrypi_ipa_proxy.cpp:509 Failed to call prepareIsp: -107

After typing rqt_image_view

it show
rqt_image_view: command not found (what causes this? Please tell me)

so i try ros2 run rqt_image_view rqt_image_view

What Have You Tried?

ros2 topic list
/camera/camera_info
/camera/image_raw
/camera/image_raw/compressed
/parameter_events
/rosout

I’ve tried Raspberry Pi OS, and my camera can stream images normally, so the camera connection is correct.

Relevant logs / Terminal output

Screenshots or Diagrams

No response

Additional Information (Optional)

No response