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Intel® RealSense™ SDK
https://www.intelrealsense.com/
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Frames didn't arrived within 5 seconds. && D435i Acc FPS limited? #13150

Closed HowieHepburn closed 1 week ago

HowieHepburn commented 1 month ago
librealsense 2.55.1 RELEASE
OS Linux
Name Intel RealSense D435I
Serial Number 042222071449
Firmware Version 5.16.0.1
Advanced Mode YES
Camera Locked YES
Usb Type Descriptor 2.1
Product Line D400
Asic Serial Number 041323051495
Firmware Update Id 041323051495
Dfu Device Path

Description: 1、D435i Acc FPS limited? I would like to know how to set the following parameters of the IMU to produce 200+FPS output in a combined imu topic, or is it impossible? Because I noticed that the default FPS of the accelerometer is 63. So what is the highest frequency of the entire IMU output?

  <arg name="gyro_fps"            default="-1"/>
  <arg name="accel_fps"           default="-1"/>
  <arg name="enable_gyro"         default="true"/> *modified
  <arg name="enable_accel"        default="true"/>  *modified
  <arg name="enable_sync"         default="true"/> *modified
  <arg name="unite_imu_method"          default="copy"/> *modified

2、Frames didn't arrived within 5 seconds. When I using realsense-viewer, the stereo and RGB camera module works well, but when I try to start Motion module, it warns 

Timestamp: 1720750402686.394531
Severity: Warn
Description: Frames didn't arrived within 5 seconds

like this， and the stereo and RGB camera module turns stuck. image

When I try to use the ros driver, such as roslaunch realsense2_camera rs_camera.launch

What I modified in rs_camera.launch is :

  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>  
  <arg name="enable_sync"         default="true"/>
  <arg name="unite_imu_method"          default="copy"/>

The output:

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: True
 * /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: True
 * /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: True
 * /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: copy
 * /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)

auto-starting new master
process[master]: started with pid [823421]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 47ca5682-3ffd-11ef-a6e3-e78109b7e35f
process[rosout-1]: started with pid [823432]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [823439]
process[camera/realsense2_camera-3]: started with pid [823440]
[ INFO] [1720754254.284175707]: Initializing nodelet with 8 worker threads.
[ INFO] [1720754254.616542967]: RealSense ROS v2.3.2
[ INFO] [1720754254.616618747]: Built with LibRealSense v2.55.1
[ INFO] [1720754254.616719834]: Running with LibRealSense v2.55.1
[ INFO] [1720754254.672570902]:  
[ INFO] [1720754254.691779359]: Device with serial number 042222071449 was found.

[ INFO] [1720754254.691809030]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2:1.0/video4linux/video2 was found.
[ INFO] [1720754254.691819222]: Device with name Intel RealSense D435I was found.
[ INFO] [1720754254.692088904]: Device with port number 1-2 was found.
[ INFO] [1720754254.692107423]: Device USB type: 2.1
**[ WARN] [1720754254.692121136]: Device 042222071449 is connected using a 2.1 port. Reduced performance is expected.**
[ INFO] [1720754254.693172225]: getParameters...
[ INFO] [1720754254.730331734]: setupDevice...
[ INFO] [1720754254.730353700]: JSON file is not provided
[ INFO] [1720754254.730362400]: ROS Node Namespace: camera
[ INFO] [1720754254.730371379]: Device Name: Intel RealSense D435I
[ INFO] [1720754254.730382760]: Device Serial No: 042222071449
[ INFO] [1720754254.730390662]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2:1.0/video4linux/video2
[ INFO] [1720754254.730398460]: Device FW version: 5.16.0.1
[ INFO] [1720754254.730406079]: Device Product ID: 0x0B3A
[ INFO] [1720754254.730413123]: Enable PointCloud: Off
[ INFO] [1720754254.730426077]: Align Depth: Off
[ INFO] [1720754254.730432959]: Sync Mode: On
[ INFO] [1720754254.730459180]: Device Sensors: 
[ INFO] [1720754254.731322668]: Stereo Module was found.
[ INFO] [1720754254.732010133]: RGB Camera was found.
[ INFO] [1720754254.732081656]: Motion Module was found.
[ INFO] [1720754254.732097027]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1720754254.732111471]: num_filters: 0
[ INFO] [1720754254.732126649]: Setting Dynamic reconfig parameters.
**[ WARN] [1720754254.771833530]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.**
[ INFO] [1720754254.776552875]: Done Setting Dynamic reconfig parameters.
[ INFO] [1720754254.776919033]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1720754254.777310692]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1720754254.777333495]: gyro stream is enabled - fps: 200
[ INFO] [1720754254.777348880]: accel stream is enabled - fps: 63
[ INFO] [1720754254.777363688]: setupPublishers...
[ INFO] [1720754254.779183884]: Expected frequency for depth = 15.00000
[ INFO] [1720754254.903845009]: Expected frequency for color = 15.00000
[ INFO] [1720754254.932067270]: Start publisher IMU
[ INFO] [1720754254.933136891]: setupStreams...
[ WARN] [1720754254.937234440]: 
**[ WARN] [1720754254.937278300]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.**
[ INFO] [1720754254.941175177]: SELECTED BASE:Depth, 0
[ INFO] [1720754254.951346380]: RealSense Node Is Up!
 **12/07 11:17:39,942 WARNING [139667387160320] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds**
 12/07 11:17:39,946 WARNING [139667034863360] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:44,946 WARNING [139667387160320] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:44,950 WARNING [139667034863360] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:49,950 WARNING [139667387160320] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:49,954 WARNING [139667034863360] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:54,954 WARNING [139667387160320] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 12/07 11:17:54,958 WARNING [139667034863360] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
MartyG-RealSense commented 1 month ago

Hi @HowieHepburn The RealSense ROS1 wrapper 2.3.2 is designed to work with SDK 2.50.1 and firmware 5.13.0.50. It will also work with 2.51.1. Some people are able to use the 2.3.2 wrapper with the current latest 2.55.1 SDK and 5.16.0.1 firmware versions but the results may be unpredictable in regards to warnings / errors.

In regard to your questions:

  1. On RealSense camera models whose minimum IMU speeds are 63 Accel and 200 Gyro, the higher supported speeds are 250 Accel and 400 Gyro.

  2. The RealSense Viewer has a known issue for some RealSense users where enabling three streams that include the Motion Module (such as Depth, RGB and Motion Module) can cause one of the streams to cease delivering frames. There is no fix in the Viewer for this issue, so the only action that can be taken is to only enable two streams (IMU + Depth or IMU + RGB) or only enable the Motion Module on its own. The trigger for the problem is the enabling of the Motion Module, so changing the order that the streams are enabled in makes no difference.

The RealSense ROS wrapper is not affected by this three stream issue.

If you set initial_reset to true then the camera will reset at launch, which can sometimes help to clear problems.

HowieHepburn commented 1 month ago

Thank you for your prompt reply. @MartyG-RealSense

Hi @HowieHepburn The RealSense ROS1 wrapper 2.3.2 is designed to work with SDK 2.50.1 and firmware 5.13.0.50. It will also work with 2.51.1. Some people are able to use the 2.3.2 wrapper with the current latest 2.55.1 SDK and 5.16.0.1 firmware versions but the results may be unpredictable in regards to warnings / errors.

Re: Thanks for your reply, this is heplful. And I would like to know how to roll back the SDK and firmware to SDK 2.50.1 and 5.13.0.50 versions compatible with ROS1?

On RealSense camera models whose minimum IMU speeds are 63 Accel and 200 Gyro, the higher supported speeds are 250 Accel and 400 Gyro.

Re: Since it can support such a high-frequency IMU output, how should I set rosparams to achieve such a high-frequency output?

The RealSense Viewer has a known issue for some RealSense users where enabling three streams that include the Motion Module (such as Depth, RGB and Motion Module) can cause one of the streams to cease delivering frames. There is no fix in the Viewer for this issue, so the only action that can be taken is to only enable two streams (IMU + Depth or IMU + RGB) or only enable the Motion Module on its own. The trigger for the problem is the enabling of the Motion Module, so changing the order that the streams are enabled in makes no difference.

Re: That's heplful and the main problems is focused on the two above, and I need your further help. Thanks again

MartyG-RealSense commented 1 month ago

The easiest way to change the firmware version is in the RealSense Viewer tool. You can update it by first going to the firmware downloads page at the link below and downloading a .bin file for the 5.13.0.50 firmware.

https://dev.intelrealsense.com/docs/firmware-releases-d400

Then go to the 'More' option near the top of the Viewer's options side-panel and select from its drop-down menu Update Firmware. A file selector box will pop up. Navigating to the location that you downloaded the .bin file to and selecting the file will automatically begin the firmware update.

My advice for removing the previous librealsense version will depend on what method you used to install it. Can you tell me how you installed librealsense, please?

Let's try adjusting the gyro and accel FPS using the information below first to see whether you actually need to change your librealsense and firmware versions.

You can set the accel and gyro speeds in ROS in the launch instruction with accel_fps:=250 gyro_fps:=400 or you can edit the accel_fps and gyro_fps parameters in the rs_camera launch file using the code below.

<arg name="gyro_fps" default="400"/>
<arg name="accel_fps" default="250"/>
HowieHepburn commented 1 month ago

The easiest way to change the firmware version is in the RealSense Viewer tool. You can update it by first going to the firmware downloads page at the link below and downloading a .bin file for the 5.13.0.50 firmware.

https://dev.intelrealsense.com/docs/firmware-releases-d400

Then go to the 'More' option near the top of the Viewer's options side-panel and select from its drop-down menu Update Firmware. A file selector box will pop up. Navigating to the location that you downloaded the .bin file to and selecting the file will automatically begin the firmware update.

Re：Thanks for your detailed method， I have rolled back the firmware to 5.13.0.50.

My advice for removing the previous librealsense version will depend on what method you used to install it. Can you tell me how you installed librealsense, please?

Let's try adjusting the gyro and accel FPS using the information below first to see whether you actually need to change your librealsense and firmware versions.

Re: What I did is just like this:

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

And I cloned this newest version of "realsense-ros" repository,

You can set the accel and gyro speeds in ROS in the launch instruction with accel_fps:=250 gyro_fps:=400 or you can edit the accel_fps and gyro_fps parameters in the rs_camera launch file using the code below.

Re: I set the parameters as you said 

[ INFO] [1720838165.569389861]: RealSense ROS v2.3.2
[ INFO] [1720838165.569467829]: Built with LibRealSense v2.55.1
[ INFO] [1720838165.569514515]: Running with LibRealSense v2.55.1

[ INFO] [1720838165.678652841]: Device FW version: 5.13.0.50

), When I launch the node, I think it works! Thank you so much. However，if the IMU frequency is set too high, the IMU's response became sluggish when I tried to visualize it, that is, when I moved the camera, I could feel that the IMU output was significantly slower. So I tried to lower the IMU frequency a bit. I expected the IMU output frequency to be 200hz, but when I set these two FPS parameters to 200, I found that the accelerometer does not support this parameter.

[ INFO] [1720838165.718569503]: gyro stream is enabled - fps: 400
[ INFO] [1720838165.718592234]: accel stream is enabled - fps: 250
 INFO] [1720840291.459329982]: gyro stream is enabled - fps: 200
[ WARN] [1720840291.459360669]: No mathcing profile found for accel with fps=200
[ WARN] [1720840291.459388151]: Using default profile instead.

Furthermore, I would like to know what values ​​these two parameters （"gyro_fps" "accel_fps"） can take? And when I set ”unite_imu_method“ to linear interpolation or copy, what is the relationship between the IMU frequency in the final merged IMU topic and these three parameters?

Finally it still have this warns:

[ WARN] [1720838165.643200900]: Device 042222071449 is connected using a 2.1 port. Reduced performance is expected.

[ WARN] [1720838165.714028686]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.

 13/07 10:36:10,771 WARNING [140158313678592] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds

Is this because i use 2.1 port? Or should I change the RealSense ROS wrapper version? Thanks again for your hard work and detailed guidance

MartyG-RealSense commented 1 month ago

I'm pleased to hear that you had positive progress after the latest changes.

The IMU in your D435i supports minimum and maximum values of 63 / 250 Accel and 200 / 400 Gyro.

There is a significant speed difference in the data transfer rate of USB 2.1 and 3.2. USB2 is 480 Mbps (megabits per second), whilst USB3 is 5000 Mbps.

In regard to unite_imu_method, the ROS wrapper documentation provides the following explanations of the differences between the copy and linear interpolation modes.

copy: Every gyro message will be attached by the last accel message. This creates a united message for each incoming gyro or accel message.

linear_interpolation: Every gyro message will be attached by an accel message which is interpolated to gyro's timestamp.

Additional information about copy mode is that if gyro was set to 200 and accel was set to 250 then the output rate will be approximately 200+250 = 450 Hz.

In regard to your librealsense installation method, because you installed from packages, if you wanted to uninstall librealsense then you could remove all packages with 'realsense' in their name from your computer with the command below.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

HowieHepburn commented 1 month ago

I'm pleased to hear that you had positive progress after the latest changes.

Re: Thanks so much for your help.

The IMU in your D435i supports minimum and maximum values of 63 / 250 Accel and 200 / 400 Gyro.

Re: So the two parameters can only take the minimum or maximum value, thanks for your detailed reply.

[ WARN] [1720840291.459360669]: No mathcing profile found for accel with fps=200
[ WARN] [1720840291.459388151]: Using default profile instead

There is a significant speed difference in the data transfer rate of USB 2.1 and 3.2. USB2 is 480 Mbps (megabits per second), whilst USB3 is 5000 Mbps.

Re: Ok, I am not sure will this cause any problems for me. I will try to purchase a 3.2. USB2 for it.

In regard to unite_imu_method, the ROS wrapper documentation provides the following explanations of the differences between the copy and linear interpolation modes. copy: Every gyro message will be attached by the last accel message. This creates a united message for each incoming gyro or accel message. linear_interpolation: Every gyro message will be attached by an accel message which is interpolated to gyro's timestamp. Additional information about copy mode is that if gyro was set to 200 and accel was set to 250 then the output rate will be approximately 200+250 = 450 Hz.

Re: Thanks so much, this is helpful, I understand the situation when I set unite_imu_method to copy. So if I set unite_imu_method to linear interpolation and fyro_fps to 200, does it mean that no matter what accel_fps is set to, the final IMU joint output will also be 200?

In regard to your librealsense installation method, because you installed from packages, if you wanted to uninstall librealsense then you could remove all packages with 'realsense' in their name from your computer with the command below.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

Re: Okay, I will try to uninstall librealsense. But Which version should I install? No SDK version matchs 2.50.1, I am a little confused. image Thanks again.

MartyG-RealSense commented 1 month ago

It is possible to install a specific version of the packages by using the apt-cache showpkg librealsense2 command to list the filenames of specific versions of the librealsense2-dkms and librealsense2-utils packages. Then do sudo apt-get install with those files.

Regarding your question about linear_interpolation, I do not have further information about how it works unfortunately.

HowieHepburn commented 1 month ago

Re：Okay, thanks a lot, and I want to confirm which ros1 wrapper version is the best? The version 2.50.1 you mentioned before is not exsit.

howie@howiePC-Legion:~$ apt-cache showpkg librealsense2 | grep 2.5
2.55.1-0~realsense.12473 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages) (/var/lib/dpkg/status)
2.55.1-0~realsense.12428 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.55.1-0~realsense.12425 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.55.1-0~realsense.12422 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.54.2-0~realsense.10772 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.54.1-0~realsense.9590 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.54.1-0~realsense.9587 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.53.1-0~realsense0.8250 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.51.1-0~realsense0.7526 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.51.1-0~realsense0.7520 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
2.50.0-0~realsense0.6128 (/var/lib/apt/lists/librealsense.intel.com_Debian_apt-repo_dists_focal_main_binary-amd64_Packages)
  librealsense2-utils,librealsense2 2.55.1-0~realsense.12473
  librealsense2-gl,librealsense2 2.55.1-0~realsense.12473
  librealsense2-dbg,librealsense2 2.55.1-0~realsense.12473
  librealsense2-dev,librealsense2 2.55.1-0~realsense.12473
  librealsense2-gl,librealsense2 2.55.1-0~realsense.12428
  librealsense2-dbg,librealsense2 2.55.1-0~realsense.12428
  librealsense2-dev,librealsense2 2.55.1-0~realsense.12428
  librealsense2-utils,librealsense2 2.55.1-0~realsense.12428
  librealsense2-utils,librealsense2 2.55.1-0~realsense.12425
  librealsense2-dev,librealsense2 2.55.1-0~realsense.12425
  librealsense2-gl,librealsense2 2.55.1-0~realsense.12425
  librealsense2-dbg,librealsense2 2.55.1-0~realsense.12425
  librealsense2-dbg,librealsense2 2.55.1-0~realsense.12422
  librealsense2-dev,librealsense2 2.55.1-0~realsense.12422
  librealsense2-gl,librealsense2 2.55.1-0~realsense.12422
  librealsense2-utils,librealsense2 2.55.1-0~realsense.12422
  librealsense2-dev,librealsense2 2.54.2-0~realsense.10772
  librealsense2-dbg,librealsense2 2.54.2-0~realsense.10772
  librealsense2-utils,librealsense2 2.54.2-0~realsense.10772
  librealsense2-gl,librealsense2 2.54.2-0~realsense.10772
  librealsense2-dbg,librealsense2 2.54.1-0~realsense.9590
  librealsense2-gl,librealsense2 2.54.1-0~realsense.9590
  librealsense2-dev,librealsense2 2.54.1-0~realsense.9590
  librealsense2-utils,librealsense2 2.54.1-0~realsense.9590
  librealsense2-gl,librealsense2 2.54.1-0~realsense.9587
  librealsense2-dbg,librealsense2 2.54.1-0~realsense.9587
  librealsense2-dev,librealsense2 2.54.1-0~realsense.9587
  librealsense2-utils,librealsense2 2.54.1-0~realsense.9587
  librealsense2-dbg,librealsense2 2.53.1-0~realsense0.8250
  librealsense2-utils,librealsense2 2.53.1-0~realsense0.8250
  librealsense2-utils,librealsense2 2.51.1-0~realsense0.7526
  librealsense2-utils,librealsense2 2.51.1-0~realsense0.7520
  librealsense2-utils,librealsense2 2.50.0-0~realsense0.6128
  librealsense2-net,librealsense2 2.53.1-0~realsense0.8250
  librealsense2-net,librealsense2 2.51.1-0~realsense0.7526
  librealsense2-net,librealsense2 2.51.1-0~realsense0.7520
  librealsense2-net,librealsense2 2.50.0-0~realsense0.6128
  librealsense2-gl,librealsense2 2.53.1-0~realsense0.8250
  librealsense2-gl,librealsense2 2.51.1-0~realsense0.7526
  librealsense2-gl,librealsense2 2.51.1-0~realsense0.7520
  librealsense2-gl,librealsense2 2.50.0-0~realsense0.6128
  librealsense2-dev,librealsense2 2.53.1-0~realsense0.8250
  librealsense2-dev,librealsense2 2.51.1-0~realsense0.7526
  librealsense2-dev,librealsense2 2.51.1-0~realsense0.7520
  librealsense2-dev,librealsense2 2.50.0-0~realsense0.6128
  librealsense2-dbg,librealsense2 2.51.1-0~realsense0.7526
  librealsense2-dbg,librealsense2 2.51.1-0~realsense0.7520
  librealsense2-dbg,librealsense2 2.50.0-0~realsense0.6128
2.55.1-0~realsense.12473 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.17) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.55.1-0~realsense.12428 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.17) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.55.1-0~realsense.12425 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.17) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.55.1-0~realsense.12422 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.17) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.54.2-0~realsense.10772 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.54.1-0~realsense.9590 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.54.1-0~realsense.9587 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.53.1-0~realsense0.8250 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.51.1-0~realsense0.7526 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.51.1-0~realsense0.7520 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.50.0-0~realsense0.6128 - libusb-1.0-0 (2 2:1.0.16) libudev1 (2 183) libc6 (2 2.29) libgcc-s1 (2 3.0) libstdc++6 (2 9) librealsense2-udev-rules (0 (null)) 
2.55.1-0~realsense.12473 - 
2.55.1-0~realsense.12428 - 
2.55.1-0~realsense.12425 - 
2.55.1-0~realsense.12422 - 
2.54.2-0~realsense.10772 - 
2.54.1-0~realsense.9590 - 
2.54.1-0~realsense.9587 - 
2.53.1-0~realsense0.8250 - 
2.51.1-0~realsense0.7526 - 
2.51.1-0~realsense0.7520 - 
2.50.0-0~realsense0.6128 -

and besides, I found that I can't get the infra stream what I modified in rs_camera.launch is 

  <arg name="infra_width"         default="848"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="true"/>
  <arg name="enable_infra1"       default="true"/>
  <arg name="enable_infra2"       default="true"/>
  <arg name="infra_rgb"           default="true"/>
    <arg name="initial_reset"             default="true"/>

warns like：

[ WARN] [1720875493.855010086]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1720875493.862626393]: Done Setting Dynamic reconfig parameters.
[ INFO] [1720875493.863224173]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ WARN] [1720875493.863275907]: Given stream configuration is not supported by the device!  Stream: Infrared, Stream Index: 1, Width: 848, Height: 480, FPS: 30, Format: RGB8
[ WARN] [1720875493.863363169]: Given stream configuration is not supported by the device!  Stream: Infrared, Stream Index: 2, Width: 848, Height: 480, FPS: 30, Format: RGB8
 WARN] [1720875494.867586808]: Hardware Notification:Motion Module failure,1.72088e+12,Error,Hardware Error
 13/07 20:58:18,948 WARNING [139848315758336] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
 13/07 20:58:18,951 WARNING [139848304891648] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
MartyG-RealSense commented 1 month ago

If you want the Infra1 and Infra2 streams then you should leave enable_infra as false. Also, your USB connection type was listed in the log as 2.1, and the Infra2 topic is only available on a USB3 connection.

The best ROS1 wrapper version is 2.3.2, as development of the ROS1 wrapper has ceased (the ROS2 one continues) and there were no more ROS1 wrapper versions after 2.3.2.

What happens if you try the package installation command below to install librealsense 2.50.0?

sudo apt install librealsense2=2.50.0-0~realsense0.6128

HowieHepburn commented 1 month ago

I use this to install librealsense2: sudo apt install librealsense2-dev=2.50.0-0~realsense0.6128 The key information in the output and the modified parameters when launch rs_camera:

  <arg name="enable_gyro"         default="true"/>
 <arg name="enable_accel"        default="true"/>
 <arg name="unite_imu_method"          default="linear_interpolation"/> 
 <arg name="initial_reset"             default="true"/>
[ INFO] [1720882487.526661556]: Initializing nodelet with 8 worker threads.
[ INFO] [1720882487.856429986]: RealSense ROS v2.3.2
[ INFO] [1720882487.856463917]: Built with LibRealSense v2.50.0
[ INFO] [1720882487.856480807]: Running with LibRealSense v2.50.0

[ WARN] [1720882487.894779060]: Device 042222071449 is connected using a 2.1 port. Reduced performance is expected

[ WARN] [1720882494.464276623]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
MartyG-RealSense commented 1 month ago

A lot of people get the power_line_frequency warning. You can safely ignore that.

The ROS1 wrapper can still work with a USB 2.1 connection.

MartyG-RealSense commented 1 month ago

Hi @HowieHepburn Do you require further assistance with this case, please? Thanks!

HowieHepburn commented 1 month ago

Hi @HowieHepburn Do you require further assistance with this case, please? Thanks! Sorry for the late response. I purchase a USB3.2 wire in these days. And work on sync the time between my sensors. And I have figured out the relationship between the imu parameters and output FPS. Now the output of the camera is :


[ INFO] [1721621098.015974100]: RealSense ROS v2.3.2
[ INFO] [1721621098.015997632]: Built with LibRealSense v2.50.0
[ INFO] [1721621098.016006859]: Running with LibRealSense v2.50.0
[ INFO] [1721621098.035622321]:  
[ INFO] [1721621098.278269216]: Device with serial number 042222071449 was found.

[ INFO] [1721621098.278317004]: Device with physical ID 2-1-2 was found. [ INFO] [1721621098.278329076]: Device with name Intel RealSense D435I was found. [ INFO] [1721621098.278655498]: Device with port number 2-1 was found. [ INFO] [1721621098.278673181]: Device USB type: 3.2

[ INFO] [1721621098.298727565]: JSON file is not provided [ INFO] [1721621098.298734670]: ROS Node Namespace: camera [ INFO] [1721621098.298744245]: Device Name: Intel RealSense D435I [ INFO] [1721621098.298752609]: Device Serial No: 042222071449 [ INFO] [1721621098.298761578]: Device physical port: 2-1-2 [ INFO] [1721621098.298768802]: Device FW version: 05.13.00.50 [ INFO] [1721621098.298777411]: Device Product ID: 0x0B3A [ INFO] [1721621098.298786255]: Enable PointCloud: Off [ INFO] [1721621098.298794419]: Align Depth: Off [ INFO] [1721621098.298801294]: Sync Mode: On [ INFO] [1721621098.298830253]: Device Sensors: [ INFO] [1721621098.357137383]: Stereo Module was found. [ INFO] [1721621098.366373999]: RGB Camera was found. [ INFO] [1721621098.366484910]: Motion Module was found. [ INFO] [1721621098.366505085]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1721621098.366523124]: num_filters: 0 [ INFO] [1721621098.366535289]: Setting Dynamic reconfig parameters. [ INFO] [1721621100.716509961]: Done Setting Dynamic reconfig parameters. [ INFO] [1721621100.716688420]: gyro stream is enabled - fps: 200 [ INFO] [1721621100.716716495]: accel stream is enabled - fps: 250

[ INFO] [1721621100.717866429]: Start publisher IMU

[ INFO] [1721621101.041665108]: SELECTED BASE:Depth, 0 [ WARN] [1721621101.042132851]: [ WARN] [1721621101.042160704]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically. [ INFO] [1721621101.044252969]: RealSense Node Is Up! 22/07 12:05:01,496 WARNING [140032903997184] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

And I found that the timestamp is not we expected, I am not sure is this related to the warning above? ( frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically. && control_transfer returned error )
So how can I synchronised the camera timestamp?

System time: r1436@r1436-miniPC:~$ sudo phc_ctl /dev/ptp0 get phc_ctl[6615.957]: clock time is 1721621633.318417467 or Mon Jul 22 12:13:53 2024

Lidar time: r1436@r1436-miniPC:~$ rostopic echo /hesai/pandar | grep sec secs: 1721621635 nsecs: 261912000 Camera time: r1436@r1436-miniPC:~$ rostopic echo /camera/imu | grep sec secs: 1721621576 nsecs: 680224895

MartyG-RealSense commented 1 month ago

Having the time domain as HARDWARE_CLOCK may not necessarily affect the data negatively. If you are concerned though then you could try adding enable_sync:=true to your roslaunch instruction. When true this parameter gathers the closest frames of different sensors, such as infrared, color and depth, to be sent with the same timetag.

MartyG-RealSense commented 3 weeks ago

Hi @HowieHepburn Do you have an update about this case that you can provide, please? Thanks!

MartyG-RealSense commented 2 weeks ago

Hi @HowieHepburn Do you require further assistance with this case, please? Thanks!

MartyG-RealSense commented 1 week ago

Case closed due to no further comments received.