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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
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D455 camera cannot be recognized by Ubuntu 20.04 on NUC #13017

Closed Hanning-Liu closed 3 months ago

Hanning-Liu commented 3 months ago
Required Info
Camera Model { D455 }
Firmware Version (Camera cannot be recognized after I open realsense viewer and run rs-enumerate-devices command)
Operating System & Version {Ubuntu 20.04.6 LTS
Kernel Version (Linux Only) (5.15.0-67-generic)
Platform NUC
SDK Version { 2.50.0}
Language {ROS 1 noetic}
Segment {others }

Issue Description

I use a NUC with Ubuntu 20.04.6 LTS and ROS 1 noetic installed. I followed the installation instruction on these two pages: https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy#method-1-the-ros-distribution and https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

I can run this line of code: https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy#start-the-camera-node And I get this in my terminal:

henry@henry-NUC8v5PNK:~$ roslaunch realsense2_camera rs_camera.launch
... logging to /home/henry/.ros/log/f62666d2-2796-11ef-8384-c95ef19bd98b/roslaunch-henry-NUC8v5PNK-11259.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://henry-NUC8v5PNK:39897/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [11273]
process[camera/realsense2_camera-2]: started with pid [11274]
[ INFO] [1718072542.225002260]: Initializing nodelet with 8 worker threads.
[ INFO] [1718072542.429773653]: RealSense ROS v2.3.2
[ INFO] [1718072542.429802827]: Built with LibRealSense v2.50.0
[ INFO] [1718072542.429814506]: Running with LibRealSense v2.50.0
[ INFO] [1718072542.452985171]:  
[ INFO] [1718072542.509926336]: Device with serial number 242422302661 was found.

[ INFO] [1718072542.509989625]: Device with physical ID 2-4-3 was found.
[ INFO] [1718072542.510019941]: Device with name Intel RealSense D455 was found.
[ INFO] [1718072542.510755126]: Device with port number 2-4 was found.
[ INFO] [1718072542.510808588]: Device USB type: 3.2
[ INFO] [1718072542.513397820]: getParameters...
[ INFO] [1718072542.568203506]: setupDevice...
[ INFO] [1718072542.568237956]: JSON file is not provided
[ INFO] [1718072542.568256393]: ROS Node Namespace: camera
[ INFO] [1718072542.568276136]: Device Name: Intel RealSense D455
[ INFO] [1718072542.568293729]: Device Serial No: 242422302661
[ INFO] [1718072542.568309000]: Device physical port: 2-4-3
[ INFO] [1718072542.568320824]: Device FW version: 05.15.01.00
[ INFO] [1718072542.568332831]: Device Product ID: 0x0B5C
[ INFO] [1718072542.568344161]: Enable PointCloud: Off
[ INFO] [1718072542.568355716]: Align Depth: Off
[ INFO] [1718072542.568367361]: Sync Mode: Off
[ INFO] [1718072542.568402475]: Device Sensors: 
[ INFO] [1718072542.590814959]: Stereo Module was found.
[ INFO] [1718072542.602587281]: RGB Camera was found.
[ INFO] [1718072542.602827586]: Motion Module was found.
[ INFO] [1718072542.602880198]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1718072542.602920274]: num_filters: 0
[ INFO] [1718072542.602951687]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1718072543.214094031]: Done Setting Dynamic reconfig parameters.
[ INFO] [1718072543.222373319]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1718072543.225071304]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1718072543.225167886]: setupPublishers...
[ INFO] [1718072543.232207580]: Expected frequency for depth = 30.00000
[ INFO] [1718072543.316343248]: Expected frequency for color = 30.00000
[ INFO] [1718072543.358060869]: setupStreams...
 11/06 10:22:23,404 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:23,455 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:23,506 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1718072543.557422133]: SELECTED BASE:Depth, 0
[ INFO] [1718072543.591714938]: RealSense Node Is Up!
[ WARN] [1718072543.621463555]: 
 11/06 10:22:23,622 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:23,673 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:23,826 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:23,955 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:24,006 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:24,057 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:24,108 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:24,158 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
 11/06 10:22:24,412 WARNING [139746789193472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0

But the pc cannot recognize my D455 when I input realsense-viewer in my terminal. And the pc cannot recognize my D455 when I input rs-enumerate-devices in my terminal:

henry@henry-NUC8v5PNK:~$ rs-enumerate-devices 
No device detected. Is it plugged in?
Hanning-Liu commented 3 months ago

I can determine the D455 camera is plugged in when I input lsusb into the terminal:

henry@henry-NUC8v5PNK:~$ lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 003: ID 8086:0b5c Intel Corp. Intel(R) RealSense(TM) Depth Camera 455 
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 046d:c077 Logitech, Inc. M105 Optical Mouse
Bus 001 Device 002: ID 046d:c31c Logitech, Inc. Keyboard K120
Bus 001 Device 004: ID 8087:0aaa Intel Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Hanning-Liu commented 3 months ago

After some chat with ChatGPT, the issue was solved after I disabled the safe boot option in the BIOS settings of my NUC.

Here is the link about how to disable the safe boot settings: https://www.intel.com/content/www/us/en/support/articles/000089908/intel-nuc.html

The RealSense Viewer and rs-enumerate-devices command can recognize the D455 camera for now.

MartyG-RealSense commented 3 months ago

Hi @Hanning-Liu It's great to hear that you achieved a solution. Thanks very much for sharing it!

MartyG-RealSense commented 3 months ago

Case closed due to solution achieved and no further comments received.