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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
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SR300: /camera/driver - Error calling rs_wait_for_frames #2935

Closed pl95 closed 5 years ago

pl95 commented 5 years ago
Required Info
Camera Model SR300
Operating System & Version Ubuntu 14.04
Kernel Version (Linux Only) 4.4.0

Issue Description

<Describe your issue / question / feature request / etc..> I installed the librealsense following the instruction in https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md#Troubleshooting

When I run _roslaunch realsense_camera sr300_nodeletdefault.launch I have the following errors.

... logging to /home/fetch/.ros/log/48698a5a-03d0-11e9-9c86-d8cb8a5dca62/roslaunch-fetch6-4200.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:35116/

SUMMARY

PARAMETERS

NODES /camera/ driver (nodelet/nodelet) nodelet_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/nodelet_manager-1]: started with pid [4222] process[camera/driver-2]: started with pid [4223] [ INFO] [1545256733.842314026]: Initializing nodelet with 4 worker threads. [ INFO] [1545256734.206235227]: /camera/driver - Detected the following camera:

*[camera/nodelet_manager-1] process has died [pid 4222, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=nodelet_manager __log:=/home/fetch/.ros/log/48698a5a-03d0-11e9-9c86-d8cb8a5dca62/camera-nodelet_manager-1.log]. log file: /home/fetch/.ros/log/48698a5a-03d0-11e9-9c86-d8cb8a5dca62/camera-nodelet_manager-1.log* [camera/driver-2] process has finished cleanly log file: /home/fetch/.ros/log/48698a5a-03d0-11e9-9c86-d8cb8a5dca62/camera-driver-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

Don't know how to fix it. Can anyone helps me with this? Thank you so much!

RealSense-Customer-Engineering commented 5 years ago

[Realsense Customer Engineering Team Comment] Hi @pl95,

Please use below ROS wrapper and SR300 latest firmware 3.21.0.0. https://github.com/intel-ros/realsense

pl95 commented 5 years ago

Hi @RealSense-Customer-Engineering I follow the instruction and have an make fail when I run catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

Base path: /home/fetch/catkin_ws Source space: /home/fetch/catkin_ws/src Build space: /home/fetch/catkin_ws/build Devel space: /home/fetch/catkin_ws/devel Install space: /home/fetch/catkin_ws/install

Running command: "cmake /home/fetch/catkin_ws/src -DCATKIN_ENABLE_TESTING=False -DCATKIN_DEVEL_PREFIX=/home/fetch/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/fetch/catkin_ws/install -G Unix Makefiles" in "/home/fetch/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/fetch/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/fetch/catkin_ws/devel;/opt/ros/indigo -- This workspace overlays: /home/fetch/catkin_ws/devel;/opt/ros/indigo -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: False -- catkin 0.6.19 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - realsense2_camera -- ~~~~~~~~~~~~~ -- +++ processing catkin package: 'realsense2_camera' -- ==> add_subdirectory(realsense-2.0.3/realsense2_camera) -- Using these message generators: gencpp;genlisp;genpy -- Create Debug Build. -- realsense2_camera: 2 messages, 0 services -- Configuring done -- Generating done -- Build files have been written to: /home/fetch/catkin_ws/build

Running command: "make -j4 -l4" in "/home/fetch/catkin_ws/build"

[ 0%] Built target tf2_msgs_generate_messages_py [ 0%] [ 0%] Built target roscpp_generate_messages_cpp Built target dynamic_reconfigure_generate_messages_cpp [ 0%] [ 0%] Built target sensor_msgs_generate_messages_cpp Built target std_msgs_generate_messages_cpp [ 0%] Built target _realsense2_camera_generate_messages_check_deps_Extrinsics [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] [ 0%] Built target geometry_msgs_generate_messages_py Built target sensor_msgs_generate_messages_lisp [ 0%] [ 25%] Built target _realsense2_camera_generate_messages_check_deps_IMUInfo Built target realsense2_camera_gencfg [ 25%] Built target nodelet_generate_messages_py [ 25%] [ 25%] Built target geometry_msgs_generate_messages_lisp Built target tf_generate_messages_py [ 25%] Built target sensor_msgs_generate_messages_py [ 25%] Built target _catkin_empty_exported_target [ 25%] [ 25%] [ 25%] Built target roscpp_generate_messages_py Built target bond_generate_messages_py Built target roscpp_generate_messages_lisp [ 25%] Built target rosgraph_msgs_generate_messages_py [ 25%] [ 25%] Built target nodelet_generate_messages_cpp Built target rosgraph_msgs_generate_messages_lisp [ 25%] Built target bond_generate_messages_cpp [ 25%] [ 25%] Built target std_msgs_generate_messages_py Built target bond_generate_messages_lisp [ 25%] [ 25%] Built target rosgraph_msgs_generate_messages_cpp Built target tf_generate_messages_lisp [ 25%] [ 25%] [ 25%] Built target diagnostic_msgs_generate_messages_lisp Built target tf_generate_messages_cpp Built target nodelet_generate_messages_lisp [ 25%] Built target geometry_msgs_generate_messages_cpp [ 25%] [ 25%] Built target tf2_msgs_generate_messages_cpp Built target diagnostic_msgs_generate_messages_cpp [ 25%] [ 25%] Built target actionlib_msgs_generate_messages_cpp Built target actionlib_generate_messages_cpp [ 25%] [ 25%] Built target actionlib_generate_messages_py Built target actionlib_generate_messages_lisp [ 25%] Built target diagnostic_msgs_generate_messages_py [ 25%] Built target dynamic_reconfigure_generate_messages_py [ 25%] Built target actionlib_msgs_generate_messages_py [ 25%] Built target actionlib_msgs_generate_messages_lisp [ 25%] Built target dynamic_reconfigure_generate_messages_lisp [ 25%] Built target dynamic_reconfigure_gencfg [ 25%] [ 43%] Built target tf2_msgs_generate_messages_lisp Built target realsense2_camera_generate_messages_py [ 56%] Built target realsense2_camera_generate_messages_lisp [ 68%] Built target realsense2_camera_generate_messages_cpp [ 68%] Built target realsense2_camera_generate_messages [ 75%] Building CXX object realsense-2.0.3/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o /home/fetch/catkin_ws/src/realsense-2.0.3/realsense2_camera/src/base_realsense_node.cpp:384:0: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]

pragma omp parallel for schedule(dynamic)

^ In file included from /usr/local/include/librealsense2/hpp/rs_device.hpp:8:0, from /usr/local/include/librealsense2/hpp/rs_record_playback.hpp:8, from /usr/local/include/librealsense2/hpp/rs_context.hpp:8, from /usr/local/include/librealsense2/rs.hpp:9, from /home/fetch/catkin_ws/src/realsense-2.0.3/realsense2_camera/src/../include/../include/realsense_node_factory.h:11, from /home/fetch/catkin_ws/src/realsense-2.0.3/realsense2_camera/src/../include/base_realsense_node.h:6, from /home/fetch/catkin_ws/src/realsense-2.0.3/realsense2_camera/src/base_realsense_node.cpp:1: /usr/local/include/librealsense2/hpp/rs_sensor.hpp: In instantiation of ‘void rs2::frame_callback::on_frame(rs2_frame*) [with T = rs2::asynchronous_syncer; rs2_frame = rs2_frame]’: /home/fetch/catkin_ws/src/realsense-2.0.3/realsense2_camera/src/base_realsense_node.cpp:1394:1: required from here /usr/local/include/librealsense2/hpp/rs_sensor.hpp:109:13: error: no match for call to ‘(rs2::asynchronous_syncer) (rs2::frame)’ on_frame_function(frame{ fref }); ^ make[2]: [realsense-2.0.3/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] Error 1 make[1]: [realsense-2.0.3/realsense2_camera/CMakeFiles/realsense2_camera.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j4 -l4" failed

I am using the 2.0.3 release. Also, how can I get the firmware version and how to update to the latest version?

RealSense-Customer-Engineering commented 5 years ago

[Realsense Customer Engineering Team Comment] Hi @pl95,

Which librealsense version did you install? Please try to build and install LibRealSense v2.10.2. The latest librealsense version is not compatible with ros wrapper 2.0.3.

You can install SR300 DCM and it will upgrade your firmware automatically. https://downloadcenter.intel.com/download/25044/Intel-RealSense-Depth-Camera-Manager?product=92329

pl95 commented 5 years ago

Hi @RealSense-Customer-Engineering , Thank you so much for your help and patience! The problem is fixed with the new librealsense installed. However, when When I tried to run roslaunch realsense2_camera rs_rgbd.launch I have the following error:

$ roslaunch realsense2_camera rs_rgbd.launch ... logging to /home/fetch/.ros/log/f747509c-129a-11e9-b6f3-d8cb8a5dca62/roslaunch-fetch6-21906.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Unknown substitution command [eval depth_registered_processing and sw_registered_processing]. Valid commands are ['find', 'env', 'optenv', 'anon', 'arg'] The traceback for the exception was written to the log file

How can I fix this error?

RealSenseCustomerSupport commented 5 years ago

Hi @pl95,

How about below command? can it run normally? $ roslaunch realsense2_camera rs_camera.launch

pl95 commented 5 years ago

Hi,

$ roslaunch realsense2_camera rs_camera.launch This command works well.

According to the website, http://wiki.ros.org/roslaunch/XML, eval is an new expression in Kinetic. And I am using ROS indigo. So I changed line 161 to 189 in rs_rgbd.launch as following.

<group if="$(arg depth_registered_processing)">
  <group if ="$(arg hw_registered_processing)">
  <!-- Publish registered XYZRGB point cloud with hardware registered

input (ROS Realsense depth alignment) --> <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered" args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">

The modified file runs without error. However, it seems that there is no point cloud message. Following are the camera topics after I run rs_rgbd.launch.

/camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw /camera/aligned_depth_to_color/image_raw/compressed /camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressed/parameter_updates /camera/aligned_depth_to_color/image_raw/compressedDepth /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates /camera/aligned_depth_to_color/image_raw/theora /camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions /camera/aligned_depth_to_color/image_raw/theora/parameter_updates /camera/aligned_depth_to_infra1/camera_info /camera/aligned_depth_to_infra1/image_raw /camera/aligned_depth_to_infra1/image_raw/compressed /camera/aligned_depth_to_infra1/image_raw/compressed/parameter_descriptions /camera/aligned_depth_to_infra1/image_raw/compressed/parameter_updates /camera/aligned_depth_to_infra1/image_raw/compressedDepth /camera/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_descriptions /camera/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_updates /camera/aligned_depth_to_infra1/image_raw/theora /camera/aligned_depth_to_infra1/image_raw/theora/parameter_descriptions /camera/aligned_depth_to_infra1/image_raw/theora/parameter_updates /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/color_rectify_color/parameter_descriptions /camera/color_rectify_color/parameter_updates /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/image_rect_raw/compressed /camera/depth/image_rect_raw/compressed/parameter_descriptions /camera/depth/image_rect_raw/compressed/parameter_updates /camera/depth/image_rect_raw/compressedDepth /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions /camera/depth/image_rect_raw/compressedDepth/parameter_updates /camera/depth/image_rect_raw/theora /camera/depth/image_rect_raw/theora/parameter_descriptions /camera/depth/image_rect_raw/theora/parameter_updates /camera/extrinsics/depth_to_color /camera/extrinsics/depth_to_infra1 /camera/infra1/camera_info /camera/infra1/image_rect_raw /camera/infra1/image_rect_raw/compressed /camera/infra1/image_rect_raw/compressed/parameter_descriptions /camera/infra1/image_rect_raw/compressed/parameter_updates /camera/infra1/image_rect_raw/compressedDepth /camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions /camera/infra1/image_rect_raw/compressedDepth/parameter_updates /camera/infra1/image_rect_raw/theora /camera/infra1/image_rect_raw/theora/parameter_descriptions /camera/infra1/image_rect_raw/theora/parameter_updates /camera/realsense2_camera_manager/bond /camera/realsense2_camera_manager/parameter_descriptions /camera/realsense2_camera_manager/parameter_updates

Is the rostopics looks right? Which of this topic should be the point cloud message? Or did I modified the code incorrectly?

Thank you so much for your patience and help!

On Wed, Jan 23, 2019 at 9:42 AM RealSense Customer Support < notifications@github.com> wrote:

Hi @pl95 https://github.com/pl95,

How about below command? can it run normally? $ roslaunch realsense2_camera rs_camera.launch

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/librealsense/issues/2935#issuecomment-456826175, or mute the thread https://github.com/notifications/unsubscribe-auth/Aif03xNcLo63MC2coBOf35aWnPO5DLYdks5vGHS8gaJpZM4ZbGcU .

RealSenseCustomerSupport commented 5 years ago

Hi@pl95,

Try below command to enable pointcloud and see how it works. By the way, what's the librealsense version you currently use? $ roslaunch realsense2_camera demo_pointcloud.launch

pl95 commented 5 years ago

Hi,

demo_pointcloud.launch runs without error. But there is no image. And I am using librealsense2.10.2. Anything I can do to check what goes wrong?

On Thu, Jan 24, 2019 at 2:45 AM RealSense Customer Support < notifications@github.com> wrote:

Hi@pl95,

Try below command to enable pointcloud and see how it works. By the way, what's the librealsense version you currently use? $ roslaunch realsense2_camera demo_pointcloud.launch

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/librealsense/issues/2935#issuecomment-457098919, or mute the thread https://github.com/notifications/unsubscribe-auth/Aif034B6bwolh-_qDEPZyWnh3HjbW6Aeks5vGWStgaJpZM4ZbGcU .

RealSenseCustomerSupport commented 5 years ago

Hello @pl95,

  1. Please also show me your log when you run the command. you don't see the visualized 3D map showing in rviz?
  2. The realsense-viewer can run the depth and RGB streams normally, right?
  3. Did you upgrade the SR300 firmware to 3.21.0.0?
pl95 commented 5 years ago

Hello @RealSenseCustomerSupport , 1. $ roslaunch realsense2_camera rgbd_test.launch ... logging to /home/fetch/.ros/log/b90ffaa4-20eb-11e9-b907-d8cb8a5dca62/roslaunch-fetch6-30007.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:33597/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [30030] process[camera/realsense2_camera-2]: started with pid [30031] process[camera/color_rectify_color-3]: started with pid [30032] process[camera/points_xyzrgb_hw_registered-4]: started with pid [30033] [ INFO] [1548454917.473339322]: Initializing nodelet with 4 worker threads. [ INFO] [1548454917.530579774]: RealSense ROS v2.0.3 [ INFO] [1548454917.530627656]: Running with LibRealSense v2.10.2

[ INFO] [1548454917.742034982]: JSON file is not provided [ INFO] [1548454917.742058206]: ROS Node Namespace: camera [ INFO] [1548454917.742074820]: Device Name: Intel RealSense SR300 [ INFO] [1548454917.742105242]: Device Serial No: 620202003098 [ INFO] [1548454917.742123400]: Device FW version: 3.17.0.0 [ INFO] [1548454917.742136756]: Device Product ID: 0x0AA5 [ INFO] [1548454917.742145272]: Enable PointCloud: Off [ INFO] [1548454917.742155418]: Align Depth: On [ INFO] [1548454917.742166089]: Sync Mode: On [ INFO] [1548454917.742190712]: Device Sensors: [ INFO] [1548454917.742214971]: Coded-Light Depth Sensor was found. [ INFO] [1548454917.742228384]: RGB Camera was found. [ INFO] [1548454917.742255800]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1548454917.742268997]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1548454917.742277865]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1548454917.742285608]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1548454917.745125310]: Expected frequency for depth = 30.00000 [ INFO] [1548454917.867467413]: Expected frequency for infra1 = 30.00000 [ INFO] [1548454917.890982279]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1548454917.915180719]: Expected frequency for color = 30.00000 [ INFO] [1548454917.938171257]: Expected frequency for aligned_depth_to_color = 30.00000

25/01 17:21:57,961 WARNING [140704337487808] (sensor.cpp:313) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1548454917.968114547]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1548454917.968447743]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1548454917.969646017]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1548454917.974488547]: RealSense Node Is Up!

$ roslaunch realsense2_camera demo_pointcloud.launch ... logging to /home/fetch/.ros/log/b90ffaa4-20eb-11e9-b907-d8cb8a5dca62/roslaunch-fetch6-32453.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:36349/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [32474] process[camera/realsense2_camera-2]: started with pid [32475] process[camera/rviz-3]: started with pid [32488] [ INFO] [1548455030.823110039]: Initializing nodelet with 4 worker threads. [ INFO] [1548455030.857132911]: RealSense ROS v2.0.3 [ INFO] [1548455030.857172555]: Running with LibRealSense v2.10.2

[ INFO] [1548455031.062983111]: JSON file is not provided [ INFO] [1548455031.063007164]: ROS Node Namespace: camera [ INFO] [1548455031.063027756]: Device Name: Intel RealSense SR300 [ INFO] [1548455031.063041661]: Device Serial No: 620202003098 [ INFO] [1548455031.063055772]: Device FW version: 3.17.0.0 [ INFO] [1548455031.063068898]: Device Product ID: 0x0AA5 [ INFO] [1548455031.063081791]: Enable PointCloud: On [ INFO] [1548455031.063094721]: Align Depth: Off [ INFO] [1548455031.063107182]: Sync Mode: On [ INFO] [1548455031.063138641]: Device Sensors: [ INFO] [1548455031.063166657]: Coded-Light Depth Sensor was found. [ INFO] [1548455031.063181673]: RGB Camera was found.

[ INFO] [1548455031.066153519]: Expected frequency for depth = 30.00000 [ INFO] [1548455031.187127834]: Expected frequency for color = 30.00000

25/01 17:23:51,208 WARNING [139840598230976] (sensor.cpp:313) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1548455031.209234536]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1548455031.210192636]: color stream is enabled - width: 640, height: 480, fps: 30 25/01 17:23:51,215 WARNING [139839700215552] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,215 WARNING [139839700215552] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,215 WARNING [139839700215552] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,215 WARNING [139839700215552] (backend-v4l2.cpp:808) Empty frame has arrived.

[ INFO] [1548455031.217545770]: RealSense Node Is Up! 25/01 17:23:51,220 WARNING [139839689348864] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,220 WARNING [139839689348864] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,220 WARNING [139839689348864] (backend-v4l2.cpp:808) Empty frame has arrived. 25/01 17:23:51,220 WARNING [139839689348864] (backend-v4l2.cpp:808) Empty frame has arrived.

Following is the screenshot after running demo_pointcloud.launch screenshot from 2019-01-25 15 50 33

  1. Realsense-viewer runs normally.

  2. My current firmware is 3.17.0.0. Since the downloaded exe file cannot be run on Ubuntu directly, I tried to install wine so that the DCM can be installed. However, I keep having the broken package problem. Is there any other way to install SR300 DCM?

Thank you so much for your help!

RealSenseCustomerSupport commented 5 years ago

Hi @pl95,

  1. Please run "lsusb -t" and "lsusb -v". Like to see your USB device status.
  2. How about your system loading when you run the demo_pointcloud launch? ex: You can run the command "htop".
  3. Try below to upgrade the SR300 firmware to 3.21.0.0 and see how it works. Download the SR300 DCM from the link: https://downloadmirror.intel.com/25044/eng/intel_rs_dcm_sr300_3.3.27.5718.exe Run: intel_rs_dcm_xxx.exe --extract-to=c:\temp --extract-only Go to the C:\temp folder Run: FWUpdateSR300.exe -force -confirmed -update -printFileVer
  4. Does the warning message "Empty frame has arrived" happen continuously when you run the demo_pointcloud?
  5. You can consider to update to latest ros wrapper to see how it works.
pl95 commented 5 years ago

Hi @RealSenseCustomerSupport ,

1. $lsusb -t /: Bus 07.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/6p, 5000M | Port 1: Dev 3, If 0, Class=Hub, Driver=hub/2p, 5000M | Port 1: Dev 4, If 0, Class=Video, Driver=uvcvideo, 5000M | Port 1: Dev 4, If 1, Class=Video, Driver=uvcvideo, 5000M | Port 1: Dev 4, If 2, Class=Video, Driver=uvcvideo, 5000M | Port 1: Dev 4, If 3, Class=Video, Driver=uvcvideo, 5000M | Port 1: Dev 4, If 4, Class=Vendor Specific Class, Driver=, 5000M /: Bus 06.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/14p, 480M | Port 1: Dev 2, If 0, Class=Hub, Driver=hub/2p, 480M | Port 2: Dev 4, If 0, Class=Audio, Driver=snd-usb-audio, 12M | Port 2: Dev 4, If 1, Class=Audio, Driver=snd-usb-audio, 12M | Port 2: Dev 4, If 2, Class=Human Interface Device, Driver=usbhid, 12M | Port 2: Dev 3, If 0, Class=Human Interface Device, Driver=usbhid, 12M | Port 2: Dev 3, If 1, Class=Human Interface Device, Driver=usbhid, 12M | Port 3: Dev 5, If 0, Class=Audio, Driver=snd-usb-audio, 12M | Port 3: Dev 5, If 1, Class=Audio, Driver=snd-usb-audio, 12M | Port 3: Dev 5, If 2, Class=Human Interface Device, Driver=usbhid, 12M | Port 7: Dev 6, If 0, Class=Wireless, Driver=btusb, 12M | Port 7: Dev 6, If 1, Class=Wireless, Driver=btusb, 12M /: Bus 05.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M /: Bus 04.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M /: Bus 03.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/4p, 480M /: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M | Port 1: Dev 2, If 0, Class=Hub, Driver=hub/8p, 480M /: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M |__ Port 1: Dev 2, If 0, Class=Hub, Driver=hub/6p, 480M

$lsusb -v Bus 002 Device 002: ID 8087:8001 Intel Corp. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 1 Single TT bMaxPacketSize0 64 idVendor 0x8087 Intel Corp. idProduct 0x8001 bcdDevice 0.00 iManufacturer 0 iProduct 0 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0002 1x 2 bytes bInterval 12

Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 0 Full speed (or root) hub bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0002 2.0 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0004 1x 4 bytes bInterval 12

Bus 001 Device 002: ID 8087:8009 Intel Corp. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 1 Single TT bMaxPacketSize0 64 idVendor 0x8087 Intel Corp. idProduct 0x8009 bcdDevice 0.00 iManufacturer 0 iProduct 0 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0001 1x 1 bytes bInterval 12

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 0 Full speed (or root) hub bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0002 2.0 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0004 1x 4 bytes bInterval 12

Bus 007 Device 004: ID 8086:0aa5 Intel Corp. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 3.00 bDeviceClass 239 Miscellaneous Device bDeviceSubClass 2 ? bDeviceProtocol 1 Interface Association bMaxPacketSize0 9 idVendor 0x8086 Intel Corp. idProduct 0x0aa5 bcdDevice 31.10 iManufacturer 1 Intel(R) RealSense(TM) Camera SR300 iProduct 2 Intel(R) RealSense(TM) Camera SR300 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 1277 bNumInterfaces 5 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xc0 Self Powered MaxPower 0mA Interface Association: bLength 8 bDescriptorType 11 bFirstInterface 0 bInterfaceCount 2 bFunctionClass 14 Video bFunctionSubClass 3 Video Interface Collection bFunctionProtocol 0 iFunction 5 Intel(R) RealSense(TM) Camera SR300 RGB Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 14 Video bInterfaceSubClass 1 Video Control bInterfaceProtocol 0 iInterface 5 Intel(R) RealSense(TM) Camera SR300 RGB VideoControl Interface Descriptor: bLength 13 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdUVC 1.10 wTotalLength 81 dwClockFrequency 48.000000MHz bInCollection 1 baInterfaceNr( 0) 1 VideoControl Interface Descriptor: bLength 18 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 1 wTerminalType 0x0201 Camera Sensor bAssocTerminal 0 iTerminal 0 wObjectiveFocalLengthMin 0 wObjectiveFocalLengthMax 0 wOcularFocalLength 0 bControlSize 3 bmControls 0x0004000a Auto-Exposure Mode Exposure Time (Absolute) Privacy VideoControl Interface Descriptor: bLength 13 bDescriptorType 36 bDescriptorSubtype 5 (PROCESSING_UNIT) bUnitID 2 bSourceID 1 wMaxMultiplier 16384 bControlSize 3 bmControls 0x0000137f Brightness Contrast Hue Saturation Sharpness Gamma White Balance Temperature Backlight Compensation Gain White Balance Temperature, Auto iProcessing 0 bmVideoStandards 0x 0 VideoControl Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 6 (EXTENSION_UNIT) bUnitID 3 guidExtensionCode {6e41ecb8-aca3-8045-8d5c-0bee1597e43d} bNumControl 4 bNrPins 1 baSourceID( 0) 1 bControlSize 3 bmControls( 0) 0x0f bmControls( 1) 0x00 bmControls( 2) 0x00 iExtension 0 VideoControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 4 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bSourceID 2 iTerminal 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x84 EP 4 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0040 1x 64 bytes bInterval 9 bMaxBurst 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 14 Video bInterfaceSubClass 2 Video Streaming bInterfaceProtocol 0 iInterface 5 Intel(R) RealSense(TM) Camera SR300 RGB VideoStreaming Interface Descriptor: bLength 14 bDescriptorType 36 bDescriptorSubtype 1 (INPUT_HEADER) bNumFormats 1 wTotalLength 385 bEndPointAddress 131 bmInfo 0 bTerminalLink 4 bStillCaptureMethod 0 bTriggerSupport 0 bTriggerUsage 0 bControlSize 1 bmaControls( 0) 27 VideoStreaming Interface Descriptor: bLength 27 bDescriptorType 36 bDescriptorSubtype 4 (FORMAT_UNCOMPRESSED) bFormatIndex 1 bNumFrameDescriptors 9 guidFormat {59555932-0000-1000-8000-00aa00389b71} bBitsPerPixel 16 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 VideoStreaming Interface Descriptor: bLength 34 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 1920 wHeight 1080 dwMinBitRate 331776000 dwMaxBitRate 995328000 dwMaxVideoFrameBufferSize 3840 dwDefaultFrameInterval 333333 bFrameIntervalType 2 dwFrameInterval( 0) 333333 dwFrameInterval( 1) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 2 bmCapabilities 0x00 Still image unsupported wWidth 1280 wHeight 720 dwMinBitRate 147456000 dwMaxBitRate 884736000 dwMaxVideoFrameBufferSize 2560 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 3 bmCapabilities 0x00 Still image unsupported wWidth 960 wHeight 540 dwMinBitRate 82944000 dwMaxBitRate 497664000 dwMaxVideoFrameBufferSize 1920 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 4 bmCapabilities 0x00 Still image unsupported wWidth 848 wHeight 480 dwMinBitRate 65126400 dwMaxBitRate 390758400 dwMaxVideoFrameBufferSize 1696 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 5 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 49152000 dwMaxBitRate 294912000 dwMaxVideoFrameBufferSize 1280 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 6 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 360 dwMinBitRate 36864000 dwMaxBitRate 221184000 dwMaxVideoFrameBufferSize 1280 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 7 bmCapabilities 0x00 Still image unsupported wWidth 424 wHeight 240 dwMinBitRate 16281600 dwMaxBitRate 97689600 dwMaxVideoFrameBufferSize 848 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 8 bmCapabilities 0x00 Still image unsupported wWidth 320 wHeight 240 dwMinBitRate 12288000 dwMaxBitRate 73728000 dwMaxVideoFrameBufferSize 640 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 5 (FRAME_UNCOMPRESSED) bFrameIndex 9 bmCapabilities 0x00 Still image unsupported wWidth 320 wHeight 180 dwMinBitRate 9216000 dwMaxBitRate 55296000 dwMaxVideoFrameBufferSize 640 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 15 Interface Association: bLength 8 bDescriptorType 11 bFirstInterface 2 bInterfaceCount 2 bFunctionClass 14 Video bFunctionSubClass 3 Video Interface Collection bFunctionProtocol 0 iFunction 4 Intel(R) RealSense(TM) Camera SR300 Depth Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 14 Video bInterfaceSubClass 1 Video Control bInterfaceProtocol 0 iInterface 4 Intel(R) RealSense(TM) Camera SR300 Depth VideoControl Interface Descriptor: bLength 13 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdUVC 1.10 wTotalLength 68 dwClockFrequency 48.000000MHz bInCollection 1 baInterfaceNr( 0) 3 VideoControl Interface Descriptor: bLength 18 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 5 wTerminalType 0x0201 Camera Sensor bAssocTerminal 0 iTerminal 0 wObjectiveFocalLengthMin 0 wObjectiveFocalLengthMax 0 wOcularFocalLength 0 bControlSize 3 bmControls 0x00040000 Privacy VideoControl Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 6 (EXTENSION_UNIT) bUnitID 6 guidExtensionCode {a15157a5-c5f3-5e4a-8d5a-6854b8fa2716} bNumControl 6 bNrPins 1 baSourceID( 0) 5 bControlSize 3 bmControls( 0) 0x3f bmControls( 1) 0x00 bmControls( 2) 0x00 iExtension 6 INV_EU_STRING VideoControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 7 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bSourceID 6 iTerminal 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x85 EP 5 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0040 1x 64 bytes bInterval 9 bMaxBurst 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 3 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 14 Video bInterfaceSubClass 2 Video Streaming bInterfaceProtocol 0 iInterface 4 Intel(R) RealSense(TM) Camera SR300 Depth VideoStreaming Interface Descriptor: bLength 19 bDescriptorType 36 bDescriptorSubtype 1 (INPUT_HEADER) bNumFormats 6 wTotalLength 565 bEndPointAddress 130 bmInfo 0 bTerminalLink 7 bStillCaptureMethod 0 bTriggerSupport 0 bTriggerUsage 0 bControlSize 1 bmaControls( 0) 28 bmaControls( 1) 28 bmaControls( 2) 28 bmaControls( 3) 28 bmaControls( 4) 28 bmaControls( 5) 28 VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 1 bNumFrameDescriptors 1 guidFormat {59555932-0000-1000-8000-00aa00389b71} bBitsPerPixel 16 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 30 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 147456000 dwMaxBitRate 147456000 dwDefaultFrameInterval 333333 bFrameIntervalType 1 dwBytesPerLine 1280 dwFrameInterval( 0) 333333 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 2 bNumFrameDescriptors 2 guidFormat {494e565a-902d-584a-920b-773f1f2c556b} bBitsPerPixel 16 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 49152000 dwMaxBitRate 294912000 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwBytesPerLine 1280 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 42 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 2 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 240 dwMinBitRate 24576000 dwMaxBitRate 270336000 dwDefaultFrameInterval 90909 bFrameIntervalType 4 dwBytesPerLine 1280 dwFrameInterval( 0) 90909 dwFrameInterval( 1) 166666 dwFrameInterval( 2) 333333 dwFrameInterval( 3) 1000000 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 3 bNumFrameDescriptors 2 guidFormat {494e5a49-661a-42a2-9065-d01814a8ef8a} bBitsPerPixel 32 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 98304000 dwMaxBitRate 589824000 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwBytesPerLine 2560 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 42 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 2 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 240 dwMinBitRate 49152000 dwMaxBitRate 540672000 dwDefaultFrameInterval 90909 bFrameIntervalType 4 dwBytesPerLine 2560 dwFrameInterval( 0) 90909 dwFrameInterval( 1) 166666 dwFrameInterval( 2) 333333 dwFrameInterval( 3) 1000000 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 4 bNumFrameDescriptors 2 guidFormat {494e5a43-02b6-0f48-978c-e4e88ae89b89} bBitsPerPixel 32 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 38 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 98304000 dwMaxBitRate 589824000 dwDefaultFrameInterval 166666 bFrameIntervalType 3 dwBytesPerLine 2560 dwFrameInterval( 0) 166666 dwFrameInterval( 1) 333333 dwFrameInterval( 2) 1000000 VideoStreaming Interface Descriptor: bLength 42 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 2 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 240 dwMinBitRate 49152000 dwMaxBitRate 540672000 dwDefaultFrameInterval 90909 bFrameIntervalType 4 dwBytesPerLine 2560 dwFrameInterval( 0) 90909 dwFrameInterval( 1) 166666 dwFrameInterval( 2) 333333 dwFrameInterval( 3) 1000000 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 5 bNumFrameDescriptors 1 guidFormat {494e5649-db57-495e-8e3f-f479532b946f} bBitsPerPixel 16 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 42 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 147456000 dwMaxBitRate 983040000 dwDefaultFrameInterval 50000 bFrameIntervalType 4 dwBytesPerLine 1280 dwFrameInterval( 0) 50000 dwFrameInterval( 1) 83333 dwFrameInterval( 2) 166666 dwFrameInterval( 3) 333333 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) VideoStreaming Interface Descriptor: bLength 28 bDescriptorType 36 bDescriptorSubtype 16 (FORMAT_FRAME_BASED) bFormatIndex 6 bNumFrameDescriptors 1 guidFormat {50414952-3685-4148-b6bf-8fc6ffb083a8} bBitsPerPixel 16 bDefaultFrameIndex 1 bAspectRatioX 0 bAspectRatioY 0 bmInterlaceFlags 0x00 Interlaced stream or variable: No Fields per frame: 2 fields Field 1 first: No Field pattern: Field 1 only bCopyProtect 0 bVariableSize 0 VideoStreaming Interface Descriptor: bLength 30 bDescriptorType 36 bDescriptorSubtype 17 (FRAME_FRAME_BASED) bFrameIndex 1 bmCapabilities 0x00 Still image unsupported wWidth 640 wHeight 480 dwMinBitRate 294912000 dwMaxBitRate 294912000 dwDefaultFrameInterval 166666 bFrameIntervalType 1 dwBytesPerLine 1280 dwFrameInterval( 0) 166666 VideoStreaming Interface Descriptor: bLength 6 bDescriptorType 36 bDescriptorSubtype 13 (COLORFORMAT) bColorPrimaries 0 (Unspecified) bTransferCharacteristics 0 (Unspecified) bMatrixCoefficients 0 (Unspecified) Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x82 EP 2 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 15 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 4 bAlternateSetting 0 bNumEndpoints 2 bInterfaceClass 255 Vendor Specific Class bInterfaceSubClass 0 bInterfaceProtocol 0 iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x01 EP 1 OUT bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 15 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 15 ** UNRECOGNIZED: 14 ff 42 49 53 54 00 01 01 02 10 00 00 00 00 00 01 07 ff 3f Binary Object Store Descriptor: bLength 5 bDescriptorType 15 wTotalLength 22 bNumDeviceCaps 2 SuperSpeed USB Device Capability: bLength 10 bDescriptorType 16 bDevCapabilityType 3 bmAttributes 0x00 wSpeedsSupported 0x000c Device can operate at High Speed (480Mbps) Device can operate at SuperSpeed (5Gbps) bFunctionalitySupport 3 Lowest fully-functional device speed is SuperSpeed (5Gbps) bU1DevExitLat 10 micro seconds bU2DevExitLat 192 micro seconds USB 2.0 Extension Device Capability: bLength 7 bDescriptorType 16 bDevCapabilityType 2 bmAttributes 0x00000002 Link Power Management (LPM) Supported Device Status: 0x0001 Self Powered

Bus 007 Device 003: ID 05e3:0616 Genesys Logic, Inc. hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 3.10 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 3 bMaxPacketSize0 9 idVendor 0x05e3 Genesys Logic, Inc. idProduct 0x0616 hub bcdDevice 44.70 iManufacturer 1 iProduct 2 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 31 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 36mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 19 Transfer Type Interrupt Synch Type None Usage Type Feedback wMaxPacketSize 0x0002 1x 2 bytes bInterval 8 bMaxBurst 0

Bus 007 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 3.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 3 bMaxPacketSize0 9 idVendor 0x1d6b Linux Foundation idProduct 0x0003 3.0 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 31 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0004 1x 4 bytes bInterval 12 bMaxBurst 0

Bus 006 Device 006: ID 8087:07dc Intel Corp. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 224 Wireless bDeviceSubClass 1 Radio Frequency bDeviceProtocol 1 Bluetooth bMaxPacketSize0 64 idVendor 0x8087 Intel Corp. idProduct 0x07dc bcdDevice 0.01 iManufacturer 0 iProduct 0 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 177 bNumInterfaces 2 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 100mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 3 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0040 1x 64 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x02 EP 2 OUT bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0040 1x 64 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x82 EP 2 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0040 1x 64 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0000 1x 0 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0000 1x 0 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 1 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0009 1x 9 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0009 1x 9 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 2 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0011 1x 17 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0011 1x 17 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 3 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0019 1x 25 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0019 1x 25 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 4 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0021 1x 33 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0021 1x 33 bytes bInterval 1 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 5 bNumEndpoints 2 bInterfaceClass 224 Wireless bInterfaceSubClass 1 Radio Frequency bInterfaceProtocol 1 Bluetooth iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x03 EP 3 OUT bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0031 1x 49 bytes bInterval 1 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0031 1x 49 bytes bInterval 1

Bus 006 Device 005: ID 0d8c:0126 C-Media Electronics, Inc. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 1.10 bDeviceClass 0 (Defined at Interface level) bDeviceSubClass 0 bDeviceProtocol 0 bMaxPacketSize0 16 idVendor 0x0d8c C-Media Electronics, Inc. idProduct 0x0126 bcdDevice 1.00 iManufacturer 1 iProduct 2 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 141 bNumInterfaces 3 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xa0 (Bus Powered) Remote Wakeup MaxPower 500mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 1 Control Device bInterfaceProtocol 0 iInterface 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdADC 1.00 wTotalLength 43 bInCollection 1 baInterfaceNr( 0) 1 AudioControl Interface Descriptor: bLength 12 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 1 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bNrChannels 2 wChannelConfig 0x0003 Left Front (L) Right Front (R) iChannelNames 0 iTerminal 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 6 wTerminalType 0x0301 Speaker bAssocTerminal 0 bSourceID 9 iTerminal 0 AudioControl Interface Descriptor: bLength 13 bDescriptorType 36 bDescriptorSubtype 6 (FEATURE_UNIT) bUnitID 9 bSourceID 1 bControlSize 2 bmaControls( 0) 0x01 bmaControls( 0) 0x00 Mute Control bmaControls( 1) 0x02 bmaControls( 1) 0x00 Volume Control bmaControls( 2) 0x02 bmaControls( 2) 0x00 Volume Control iFeature 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 AudioStreaming Interface Descriptor: bLength 7 bDescriptorType 36 bDescriptorSubtype 1 (AS_GENERAL) bTerminalLink 1 bDelay 1 frames wFormatTag 1 PCM AudioStreaming Interface Descriptor: bLength 14 bDescriptorType 36 bDescriptorSubtype 2 (FORMAT_TYPE) bFormatType 1 (FORMAT_TYPE_I) bNrChannels 2 bSubframeSize 2 bBitResolution 16 bSamFreqType 2 Discrete tSamFreq[ 0] 44100 tSamFreq[ 1] 48000 Endpoint Descriptor: bLength 9 bDescriptorType 5 bEndpointAddress 0x01 EP 1 OUT bmAttributes 9 Transfer Type Isochronous Synch Type Adaptive Usage Type Data wMaxPacketSize 0x00c8 1x 200 bytes bInterval 1 bRefresh 0 bSynchAddress 0 AudioControl Endpoint Descriptor: bLength 7 bDescriptorType 37 bDescriptorSubtype 1 (EP_GENERAL) bmAttributes 0x01 Sampling Frequency bLockDelayUnits 1 Milliseconds wLockDelay 1 Milliseconds Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 3 Human Interface Device bInterfaceSubClass 0 No Subclass bInterfaceProtocol 0 None iInterface 0 HID Device Descriptor: bLength 9 bDescriptorType 33 bcdHID 1.00 bCountryCode 0 Not supported bNumDescriptors 1 bDescriptorType 34 Report wDescriptorLength 54 Report Descriptors: UNAVAILABLE Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x87 EP 7 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0010 1x 16 bytes bInterval 1

Bus 006 Device 003: ID 046d:c534 Logitech, Inc. Unifying Receiver Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 0 (Defined at Interface level) bDeviceSubClass 0 bDeviceProtocol 0 bMaxPacketSize0 8 idVendor 0x046d Logitech, Inc. idProduct 0xc534 Unifying Receiver bcdDevice 29.01 iManufacturer 1 iProduct 2 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 59 bNumInterfaces 2 bConfigurationValue 1 iConfiguration 4 bmAttributes 0xa0 (Bus Powered) Remote Wakeup MaxPower 98mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 3 Human Interface Device bInterfaceSubClass 1 Boot Interface Subclass bInterfaceProtocol 1 Keyboard iInterface 0 HID Device Descriptor: bLength 9 bDescriptorType 33 bcdHID 1.11 bCountryCode 0 Not supported bNumDescriptors 1 bDescriptorType 34 Report wDescriptorLength 59 Report Descriptors: UNAVAILABLE Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0008 1x 8 bytes bInterval 8 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 3 Human Interface Device bInterfaceSubClass 1 Boot Interface Subclass bInterfaceProtocol 2 Mouse iInterface 0 HID Device Descriptor: bLength 9 bDescriptorType 33 bcdHID 1.11 bCountryCode 0 Not supported bNumDescriptors 1 bDescriptorType 34 Report wDescriptorLength 177 Report Descriptors: UNAVAILABLE Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x82 EP 2 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0014 1x 20 bytes bInterval 2

Bus 006 Device 004: ID 041e:409b Creative Technology, Ltd Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 0 (Defined at Interface level) bDeviceSubClass 0 bDeviceProtocol 0 bMaxPacketSize0 64 idVendor 0x041e Creative Technology, Ltd idProduct 0x409b bcdDevice 1.02 iManufacturer 1 iProduct 2 iSerial 3 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 150 bNumInterfaces 3 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xc0 Self Powered MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 1 Control Device bInterfaceProtocol 0 iInterface 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdADC 1.00 wTotalLength 40 bInCollection 1 baInterfaceNr( 0) 1 AudioControl Interface Descriptor: bLength 12 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 1 wTerminalType 0x0205 Microphone Array bAssocTerminal 0 bNrChannels 2 wChannelConfig 0x0003 Left Front (L) Right Front (R) iChannelNames 0 iTerminal 0 AudioControl Interface Descriptor: bLength 10 bDescriptorType 36 bDescriptorSubtype 6 (FEATURE_UNIT) bUnitID 2 bSourceID 1 bControlSize 1 bmaControls( 0) 0x01 Mute Control bmaControls( 1) 0x02 Volume Control bmaControls( 2) 0x02 Volume Control iFeature 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 3 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bSourceID 2 iTerminal 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 AudioStreaming Interface Descriptor: bLength 7 bDescriptorType 36 bDescriptorSubtype 1 (AS_GENERAL) bTerminalLink 3 bDelay 1 frames wFormatTag 1 PCM AudioStreaming Interface Descriptor: bLength 26 bDescriptorType 36 bDescriptorSubtype 2 (FORMAT_TYPE) bFormatType 1 (FORMAT_TYPE_I) bNrChannels 2 bSubframeSize 2 bBitResolution 16 bSamFreqType 6 Discrete tSamFreq[ 0] 8000 tSamFreq[ 1] 16000 tSamFreq[ 2] 24000 tSamFreq[ 3] 32000 tSamFreq[ 4] 44100 tSamFreq[ 5] 48000 Endpoint Descriptor: bLength 9 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 5 Transfer Type Isochronous Synch Type Asynchronous Usage Type Data wMaxPacketSize 0x00c8 1x 200 bytes bInterval 1 bRefresh 0 bSynchAddress 0 AudioControl Endpoint Descriptor: bLength 7 bDescriptorType 37 bDescriptorSubtype 1 (EP_GENERAL) bmAttributes 0x01 Sampling Frequency bLockDelayUnits 0 Undefined wLockDelay 0 Undefined Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 3 Human Interface Device bInterfaceSubClass 0 No Subclass bInterfaceProtocol 0 None iInterface 0 HID Device Descriptor: bLength 9 bDescriptorType 33 bcdHID 1.11 bCountryCode 0 Not supported bNumDescriptors 1 bDescriptorType 34 Report wDescriptorLength 124 Report Descriptors: UNAVAILABLE Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x84 EP 4 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0025 1x 37 bytes bInterval 1

Bus 006 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.10 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 2 TT per port bMaxPacketSize0 64 idVendor 0x05e3 Genesys Logic, Inc. idProduct 0x0610 4-port hub bcdDevice 44.70 iManufacturer 1 iProduct 2 iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 41 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 100mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 1 Single TT iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0001 1x 1 bytes bInterval 12 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 2 TT per port iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0001 1x 1 bytes bInterval 12

Bus 006 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 1 Single TT bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0002 2.0 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0004 1x 4 bytes bInterval 12

Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.00 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 0 Full speed (or root) hub bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0002 2.0 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0004 1x 4 bytes bInterval 12

Bus 005 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 1.10 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 0 Full speed (or root) hub bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0001 1.1 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0002 1x 2 bytes bInterval 255

Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 1.10 bDeviceClass 9 Hub bDeviceSubClass 0 Unused bDeviceProtocol 0 Full speed (or root) hub bMaxPacketSize0 64 idVendor 0x1d6b Linux Foundation idProduct 0x0001 1.1 root hub bcdDevice 4.04 iManufacturer 3 iProduct 2 iSerial 1 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 25 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 Unused bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0002 1x 2 bytes bInterval 255

2. I don't have htop installed. So I run "top" instead screenshot from 2019-01-28 11 01 38

Following is when demo_pointcloud.launch is not running. screenshot from 2019-01-28 11 06 19

  1. I think these command are used in Windows system. My computer has Ubuntu 14.04 system. If I run $intel_rs_dcm_sr300_3.3.27.5718.exe --extract-to=\home\fetch\ --extract-only intel_rs_dcm_sr300_3.3.27.5718.exe: command not found

4.The warning message "Empty frame has arrived" didn't happen every time. And it usually stop printing that warning message after few second.

  1. Since my computer is using Ubuntu 14.04 system with ROS indigo, and the newest wrapper don't support ROS indigo, I used the newest wrapper that can support indigo. Should I tried using the newest wrapper anyway?
RealSenseCustomerSupport commented 5 years ago

Freeman Lo, Jan 31, 2:39 PM

Hi @pl95,

If you have other items' update, let me know.

RealSenseCustomerSupport commented 5 years ago

Hi @pl95,

Did you try the latest ROS wrapper on ROS Kinetic? If no additional support required, will close this.

pl95 commented 5 years ago

Hi,

I didn't try the ROS wrapper on ROS Kinetic. Because I have ROS indigo instead of ROS Kinetic, and everything else on the computer is build for Indigo. I don't think I can upgrade the ROS version to Kinetic. I do need additional support. When I run the rgbd launch file, it sometimes gives me the following error.

... logging to /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/roslaunch-fetch6-27004.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:40598/

SUMMARY

PARAMETERS

NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) register_depth (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [27022] process[camera/realsense2_camera-2]: started with pid [27023] process[camera/color_rectify_color-3]: started with pid [27029] process[camera/register_depth-4]: started with pid [27034] process[camera/points_xyzrgb_sw_registered-5]: started with pid [27036] process[camera/points_xyzrgb_hw_registered-6]: started with pid [27039] [ INFO] [1551298797.817294736]: Initializing nodelet with 4 worker threads. [ INFO] [1551298797.855250530]: RealSense ROS v2.0.3 [ INFO] [1551298797.855337152]: Running with LibRealSense v2.10.2

[ INFO] [1551298798.069888008]: JSON file is not provided [ INFO] [1551298798.069908264]: ROS Node Namespace: camera [ INFO] [1551298798.069926606]: Device Name: Intel RealSense SR300 [ INFO] [1551298798.069940006]: Device Serial No: 620202003098 [ INFO] [1551298798.069951032]: Device FW version: 3.17.0.0 [ INFO] [1551298798.069961308]: Device Product ID: 0x0AA5 [ INFO] [1551298798.069974564]: Enable PointCloud: Off [ INFO] [1551298798.069983016]: Align Depth: On [ INFO] [1551298798.069991538]: Sync Mode: On [ INFO] [1551298798.070016186]: Device Sensors: [ INFO] [1551298798.070043105]: Coded-Light Depth Sensor was found. [ INFO] [1551298798.070054765]: RGB Camera was found. [ INFO] [1551298798.070082161]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1551298798.070096865]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551298798.070109340]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551298798.070118883]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1551298798.073014407]: Expected frequency for depth = 30.00000 [ INFO] [1551298798.202256525]: Expected frequency for infra1 = 30.00000 [ INFO] [1551298798.225239333]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1551298798.251012841]: Expected frequency for color = 30.00000 [ INFO] [1551298798.272607788]: Expected frequency for aligned_depth_to_color = 30.00000

27/02 15:19:58,294 WARNING [140095634999232] (sensor.cpp:313) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1551298798.295241903]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551298798.295538761]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551298798.296678607]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1551298798.301751608]: RealSense Node Is Up! 27/02 15:19:58,305 WARNING [140094721324800] (backend-v4l2.cpp:808) Empty frame has arrived. 27/02 15:19:58,305 WARNING [140094721324800] (backend-v4l2.cpp:808) Empty frame has arrived. 27/02 15:19:58,305 WARNING [140094721324800] (backend-v4l2.cpp:808) Empty frame has arrived. 27/02 15:19:58,305 WARNING [140094721324800] (backend-v4l2.cpp:808) Empty frame has arrived. [FATAL] [1551298799.190459529]: Failed to load nodelet '/camera/points_xyzrgb_hw_registeredof type depth_image_proc/point_cloud_xyzrgbto manager realsense2_camera_manager' [FATAL] [1551298799.190854369]: Failed to load nodelet '/camera/register_depthof typedepth_image_proc/registerto manager realsense2_camera_manager' [FATAL] [1551298799.190936467]: Failed to load nodelet '/camera/points_xyzrgb_sw_registeredof type depth_image_proc/point_cloud_xyzrgbto manager realsense2_camera_manager' [FATAL] [1551298799.191922386]: Failed to load nodelet '/camera/color_rectify_colorof typeimage_proc/rectifyto manager realsense2_camera_manager' [camera/realsense2_camera_manager-1] process has died [pid 27022, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-realsense2_camera_manager-1.log]. log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-realsense2_camera_manager-1.log [camera/color_rectify_color-3] process has died [pid 27029, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify realsense2_camera_manager --no-bond image_mono:=color/image_raw image_rect:=color/image_rect_color name:=color_rectify_color log:=/home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-color_rectify_color-3.log]. log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-color_rectify_color-3.log [camera/register_depth-4] process has died [pid 27034, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/register realsense2_camera_manager false rgb/camera_info:=color/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=aligned_depth_to_color/sw_registered/image_rect_raw __name:=register_depth __log:=/home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-register_depth-4.log]. log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-register_depth-4.log [camera/points_xyzrgb_sw_registered-5] process has died [pid 27036, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb realsense2_camera_manager false rgb/image_rect_color:=color/image_rect_color rgb/camera_info:=color/camera_info depth_registered/image_rect:=aligned_depth_to_color/sw_registered/image_rect_raw depth_registered/points:=aligned_depth_to_color/points name:=points_xyzrgb_sw_registered __log:=/home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-points_xyzrgb_sw_registered-5.log]. log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-points_xyzrgb_sw_registered-5.log *[camera/points_xyzrgb_hw_registered-6] process has died [pid 27039, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb realsense2_camera_manager false rgb/image_rect_color:=color/image_rect_color rgb/camera_info:=color/camera_info depth_registered/image_rect:=aligned_depth_to_color/image_raw depth_registered/points:=depth_registered/points name:=points_xyzrgb_hw_registered __log:=/home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-points_xyzrgb_hw_registered-6.log]. log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-points_xyzrgb_hw_registered-6.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/fetch/.ros/log/09768c8e-3aa4-11e9-aa0b-d8cb8a5dca62/camera-realsense2_camera-2*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

Sometimes it runs without error. But it still won't have any image. Following is the log. ... logging to /home/fetch/.ros/log/09ec9f3a-3ace-11e9-9358-d8cb8a5dca62/roslaunch-fetch6-4710.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:42654/

SUMMARY

PARAMETERS

NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) register_depth (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [4728] process[camera/realsense2_camera-2]: started with pid [4729] process[camera/color_rectify_color-3]: started with pid [4730] process[camera/register_depth-4]: started with pid [4740] process[camera/points_xyzrgb_sw_registered-5]: started with pid [4749] process[camera/points_xyzrgb_hw_registered-6]: started with pid [4751] [ INFO] [1551299271.647355610]: Initializing nodelet with 4 worker threads.

I will need the pointcloud data later. Could you help me figure out what is wrong with this?

Thank you so much!

On Wed, Feb 27, 2019 at 9:37 AM RealSense Customer Support < notifications@github.com> wrote:

Hi @pl95 https://github.com/pl95,

Did you try the latest ROS wrapper on ROS Kinetic? If no additional support required, will close this.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/librealsense/issues/2935#issuecomment-467885368, or mute the thread https://github.com/notifications/unsubscribe-auth/Aif031eA_d5_etcWNa0B0SfeGMFVXOR4ks5vRpglgaJpZM4ZbGcU .

RealSenseCustomerSupport commented 5 years ago

Hi @pl95,

  1. From "top" log, it looks the overall cpu consumption/loading is quite heavy when you run "demo_pointcloud". Please run also "lscpu" to show the info.
  2. Try below command to see how it works. $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
  3. Indeed, above DCM exe command is used for Windows to upgrade your SR300 firmware.
  4. So far, I don't have Ubuntu 14.04 + Indigo environment. Will try to setup to see how it goes.
pl95 commented 5 years ago

HI,

  1. The "lscpu" log when "demo_pointclould" is running: $ lscpu Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Thread(s) per core: 1 Core(s) per socket: 4 Socket(s): 1 NUMA node(s): 1 Vendor ID: GenuineIntel CPU family: 6 Model: 60 Stepping: 3 CPU MHz: 3226.816 BogoMIPS: 5799.92 Virtualization: VT-x L1d cache: 32K L1i cache: 32K L2 cache: 256K L3 cache: 6144K NUMA node0 CPU(s): 0-3

"lscpu" log when "demo_pointcloud" NOT running: $ lscpu Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Thread(s) per core: 1 Core(s) per socket: 4 Socket(s): 1 NUMA node(s): 1 Vendor ID: GenuineIntel CPU family: 6 Model: 60 Stepping: 3 CPU MHz: 3306.453 BogoMIPS: 5799.92 Virtualization: VT-x L1d cache: 32K L1i cache: 32K L2 cache: 256K L3 cache: 6144K NUMA node0 CPU(s): 0-3

2. $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ... logging to /home/fetch/.ros/log/c5bee004-410b-11e9-b06f-d8cb8a5dca62/roslaunch-fetch6-16790.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:40161/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [16808] process[camera/realsense2_camera-2]: started with pid [16809] [ INFO] [1551988395.758642023]: Initializing nodelet with 4 worker threads. [ INFO] [1551988395.795874419]: RealSense ROS v2.0.3 [ INFO] [1551988395.795911935]: Running with LibRealSense v2.10.2

[ INFO] [1551988396.002507340]: JSON file is not provided [ INFO] [1551988396.002535316]: ROS Node Namespace: camera [ INFO] [1551988396.002557651]: Device Name: Intel RealSense SR300 [ INFO] [1551988396.002573471]: Device Serial No: 620202003098 [ INFO] [1551988396.002587263]: Device FW version: 3.17.0.0 [ INFO] [1551988396.002599760]: Device Product ID: 0x0AA5 [ INFO] [1551988396.002610195]: Enable PointCloud: Off [ INFO] [1551988396.002622229]: Align Depth: Off [ INFO] [1551988396.002640664]: Sync Mode: Off [ INFO] [1551988396.002677609]: Device Sensors: [ INFO] [1551988396.002709250]: Coded-Light Depth Sensor was found. [ INFO] [1551988396.002724746]: RGB Camera was found. [ INFO] [1551988396.002760196]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002773979]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002802157]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002816048]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1551988396.006296502]: Expected frequency for depth = 30.00000 [ INFO] [1551988396.126424813]: Expected frequency for infra1 = 30.00000 [ INFO] [1551988396.147114510]: Expected frequency for color = 30.00000

07/03 14:53:16,169 WARNING [140206503659456] (sensor.cpp:313) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1551988396.169831753]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551988396.169954137]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551988396.170957074]: color stream is enabled - width: 640, height: 480, fps: 30 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived.

[ INFO] [1551988396.179070655]: RealSense Node Is Up! 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived.

Raw image, depth image and infra image are received. But poincloud data is not received.

On Thu, Mar 7, 2019 at 4:35 AM RealSense Customer Support < notifications@github.com> wrote:

Hi @pl95 https://github.com/pl95,

  1. From "top" log, it looks the overall cpu consumption/loading is quite heavy when you run "demo_pointcloud". Please run also "lscpu" to show the info.
  2. Try below command to see how it works. $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
  3. Indeed, above DCM exe command is used for Windows to upgrade your SR300 firmware.
  4. So far, I don't have Ubuntu 14.04 + Indigo environment. Will try to setup to see how it goes.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/librealsense/issues/2935#issuecomment-470453129, or mute the thread https://github.com/notifications/unsubscribe-auth/Aif038BgzQ0sMAL_CUVbkB_vnMO_LBYlks5vUN1CgaJpZM4ZbGcU .

pl95 commented 5 years ago

Hi,

I re-installed the point cloud package and check the image when I run the demo_point cloud. It shows images now when I run the demo. But I still not have any image data for rs_rgbd.launch,

Is this information helps you solve the problem? Thank you so much for your patience!

On Thu, Mar 7, 2019 at 3:04 PM Purong Liu pl95@vt.edu wrote:

HI,

  1. The "lscpu" log when "demo_pointclould" is running: $ lscpu Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Thread(s) per core: 1 Core(s) per socket: 4 Socket(s): 1 NUMA node(s): 1 Vendor ID: GenuineIntel CPU family: 6 Model: 60 Stepping: 3 CPU MHz: 3226.816 BogoMIPS: 5799.92 Virtualization: VT-x L1d cache: 32K L1i cache: 32K L2 cache: 256K L3 cache: 6144K NUMA node0 CPU(s): 0-3

"lscpu" log when "demo_pointcloud" NOT running: $ lscpu Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Thread(s) per core: 1 Core(s) per socket: 4 Socket(s): 1 NUMA node(s): 1 Vendor ID: GenuineIntel CPU family: 6 Model: 60 Stepping: 3 CPU MHz: 3306.453 BogoMIPS: 5799.92 Virtualization: VT-x L1d cache: 32K L1i cache: 32K L2 cache: 256K L3 cache: 6144K NUMA node0 CPU(s): 0-3

2. $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ... logging to /home/fetch/.ros/log/c5bee004-410b-11e9-b06f-d8cb8a5dca62/roslaunch-fetch6-16790.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fetch6:40161/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 1000
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/camera_aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/camera_aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/camera_aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/camera_aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_imu: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 1000
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
  • /camera/realsense2_camera/infra1_fps: 30
  • /camera/realsense2_camera/infra1_height: 480
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
  • /camera/realsense2_camera/infra1_width: 640
  • /camera/realsense2_camera/infra2_fps: 30
  • /camera/realsense2_camera/infra2_height: 480
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
  • /camera/realsense2_camera/infra2_width: 640
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/serial_no:
  • /rosdistro: indigo
  • /rosversion: 1.11.21

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera/realsense2_camera_manager-1]: started with pid [16808] process[camera/realsense2_camera-2]: started with pid [16809] [ INFO] [1551988395.758642023]: Initializing nodelet with 4 worker threads. [ INFO] [1551988395.795874419]: RealSense ROS v2.0.3 [ INFO] [1551988395.795911935]: Running with LibRealSense v2.10.2

[ INFO] [1551988396.002507340]: JSON file is not provided [ INFO] [1551988396.002535316]: ROS Node Namespace: camera [ INFO] [1551988396.002557651]: Device Name: Intel RealSense SR300 [ INFO] [1551988396.002573471]: Device Serial No: 620202003098 [ INFO] [1551988396.002587263]: Device FW version: 3.17.0.0 [ INFO] [1551988396.002599760]: Device Product ID: 0x0AA5 [ INFO] [1551988396.002610195]: Enable PointCloud: Off [ INFO] [1551988396.002622229]: Align Depth: Off [ INFO] [1551988396.002640664]: Sync Mode: Off [ INFO] [1551988396.002677609]: Device Sensors: [ INFO] [1551988396.002709250]: Coded-Light Depth Sensor was found. [ INFO] [1551988396.002724746]: RGB Camera was found. [ INFO] [1551988396.002760196]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002773979]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002802157]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1551988396.002816048]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1551988396.006296502]: Expected frequency for depth = 30.00000 [ INFO] [1551988396.126424813]: Expected frequency for infra1 = 30.00000 [ INFO] [1551988396.147114510]: Expected frequency for color = 30.00000

07/03 14:53:16,169 WARNING [140206503659456] (sensor.cpp:313) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1551988396.169831753]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551988396.169954137]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1551988396.170957074]: color stream is enabled - width: 640, height: 480, fps: 30 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,177 WARNING [140205670668032] (backend-v4l2.cpp:808) Empty frame has arrived.

[ INFO] [1551988396.179070655]: RealSense Node Is Up! 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived. 07/03 14:53:16,182 WARNING [140205659801344] (backend-v4l2.cpp:808) Empty frame has arrived.

Raw image, depth image and infra image are received. But poincloud data is not received.

On Thu, Mar 7, 2019 at 4:35 AM RealSense Customer Support < notifications@github.com> wrote:

Hi @pl95 https://github.com/pl95,

  1. From "top" log, it looks the overall cpu consumption/loading is quite heavy when you run "demo_pointcloud". Please run also "lscpu" to show the info.
  2. Try below command to see how it works. $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
  3. Indeed, above DCM exe command is used for Windows to upgrade your SR300 firmware.
  4. So far, I don't have Ubuntu 14.04 + Indigo environment. Will try to setup to see how it goes.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/librealsense/issues/2935#issuecomment-470453129, or mute the thread https://github.com/notifications/unsubscribe-auth/Aif038BgzQ0sMAL_CUVbkB_vnMO_LBYlks5vUN1CgaJpZM4ZbGcU .

freemanlo commented 5 years ago

Hi @pl95 Is demo_pointcloud.launch can't fit your usage? Instead of rs_rgbd.launch, you can also try below to have depth/ir/color images and visualize pointcloud via rviz. $ roslaunch realsense2_camera rs_camera.launch enable_pointcloud:=true

pl95 commented 5 years ago

HI @RealSenseCustomerSupport ,

I change the launch file rs_rgbd.launch as following, which match the demo_pointcloud.launch.

Now, I have the image on with the robot model. I don't know whether the problem should be solved in this way. But I think it is something I can try.