Issues with starting Intel D435i in USB 2.0 mode

[chutsu]

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Required Info
Camera Model	D435i
Firmware Version	5.13.0.50
Operating System & Version	Ubuntu 22.04
Kernel Version (Linux Only)	6.2.0-36-generic
Platform	PC
SDK Version	2.54.1.0
Language	C++
Segment	Robot

Issue Description

I'm trying to use the Intel D435i in USB 2.1 mode (specifically not USB 3). While I have created a C++ program that is capable of connecting to the device's Depth, Stereo IR and RGB and IMU streams properly in USB 3.0, when I connect the device using a USB 2.1 cable I can't seem to get the combination of Stereo IR + IMU data in a timely manner.

Using the realsense-viewer when I enable just the stereo module it works fine, as soon as I enable the motion module, I get messages such as "Frame didn't arrive within 5 seconds"... How do I configure the device so both stereo and motion module are working in USB 2.1 mode?

Also note the frame drops graph on the bottom right.

[MartyG-RealSense]

Hi @chutsu I was not able to replicate your issue in USB 2.1 mode.

Does the No Frames Received error still occur if the depth FPS speed is reduced from 10 to 6?

The frame drop graph in the log can be disregarded as its information will not be helpful to diagnosis of the issue.

If you are using a USB 2.1 cable then this likely means that you are using your own choice of USB cable rather than the official USB 3 one supplied with the camera. It is important to use a high quality cable with RealSense cameras that is designed for data transfer. An inexpensive charging / data sync cable may not be able to perform correctly.

When using SDK version 2.54.1, the camera firmware version installed on your camera should be 5.15.0.2 rather than 5.13.0.50 which is designed for use with SDK 2.51.1. Using an older firmware than 5.15.0.2 with 2.54.1 may result in errors.

Kernel 6.2 is not yet officially supported in the SDK. It is currently supported in the development version of the SDK that will become the next master version when pushed to release.

https://github.com/IntelRealSense/librealsense/tree/development

It is possible to use the SDK with an unsupported kernel but there may be unforeseen consequences in regards to stability. The kernel can be bypassed by building the SDK from source code with CMake using the -DFORCE_RSUSB_BACKEND=TRUE build flag so that the SDK is not dependent on Linux versions or kernel versions and does not need to be kernel patched.

[chutsu]

Does the No Frames Received error still occur if the depth FPS speed is reduced from 10 to 6?

Problem still occurs when FPS is down to 6.

If you are using a USB 2.1 cable then this likely means that you are using your own choice of USB cable rather than the official USB 3 one supplied with the camera. It is important to use a high quality cable with RealSense cameras that is designed for data transfer. An inexpensive charging / data sync cable may not be able to perform correctly.

Fully aware, I'm working with hardware constraints that prevent me from using USB 3.

Note: I have used the same USB 2.1 cable and was able to get the Oak D cameras running at a lower USB 2.1 speed, so I don't think it is a problem with the cable.

When using SDK version 2.54.1, the camera firmware version installed on your camera should be 5.15.0.2 rather than 5.13.0.50 which is designed for use with SDK 2.51.1. Using an older firmware than 5.15.0.2 with 2.54.1 may result in errors.

Upgraded device firmware to match recommended 5.15.0.2

It is possible to use the SDK with an unsupported kernel but there may be unforeseen consequences in regards to stability. The kernel can be bypassed by building the SDK from source code with CMake using the -DFORCE_RSUSB_BACKEND=TRUE build flag so that the SDK is not dependent on Linux versions or kernel versions and does not need to be kernel patched.

Compiled librealsense from source and still face the same issues. Particularly I've noticed that even with just the Motion Module turned on the IMU measurements coming in stutters, and the graphic is not updated in a timely manner compared to how when the device is USB 3 mode.

Looking at a similiar github issue you seem to be operating in Windows, have you tried on a Ubuntu environment?

[MartyG-RealSense]

Yes, my computer's test environment is Windows, though I'm very familiar with how the camera behaves in Ubuntu.

Which computer / computing device are you using the camera with, please? For example, IMU problems with Raspberry Pi is a known issue whilst depth and color work fine on it.

[chutsu]

I'm using a Framework Laptop 11th Gen Intel. So compute shouldn't be the issue here.

[MartyG-RealSense]

I note in the Viewer log that you are receiving Resource temporarily unavailable messages, indicating a communication problem between the camera and computer (for example, a data logjam at the USB port).

Not all computers' USB ports are made equal, despite USB being a specification, and some computers' ports behave better with RealSense cameras than others. The USB controllers chosen by the computer's manufacturer will be a factor in this.

Do you have a USB hub that you could attach the camera to? A hub will have its own USB controllers separate from the ones used in the computer's own built-in USB ports and so may provide better performance.

[chutsu]

Thank you for the suggestion, I used an external USB hub as you suggested and it seems to be working now. For reference I used an Anker 4-Port Ultra Slim USB 3.0 Data Hub. [Amazon Link]

Thanks for the help :)

[MartyG-RealSense]

You are very welcome. It's great to hear that a USB hub resolved your issue. Thanks very much for the update and the details about the hub that worked for you. :)