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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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Using T265 with Raspberry Pi 3 on ROS #3650

Closed imasoul2 closed 5 years ago

imasoul2 commented 5 years ago
Required Info
Camera Model { T265}
Firmware Version 0.0.18.5129
Operating System & Version Ubuntu 16.04
Kernel Version (Linux Only) 4.14.98-v7+
Platform Raspberry Pi 3.
SDK Version SDK 2.0 , librealsense version : 2.19.1
Language C++
Segment {Robot: Turtlebot 3 from Robotis}

Issue Description

Hello, I am trying to get T265 camera to publish its topics from Pi 3 on Turtlebot3 and ultimately use VSLAM of T265 fused with turtlebot 3.

I am quite new at integrating camera with ROS platform and any help to resolve my current issue would be appreciated.

Currently, I have installed the library and all related files onto the Pi with kernel version of 4.14. (followed by https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_raspbian.md )

However, whenever I run the launch for t265 (roslaunch realsense2_camera rs_t265.launch ), it seems like topics aren't actually publishing and it ends with error every time I try to access the topic from my pc. I can access any other topics on turtlebot 3 but any topics from T265. Or sometimes it would go straight to showing connect error 101.

::connect error = 101

Could you assist me on identifying what is causing this problem?

The lines below shows the output of error after I run the launch file.

... logging to /home/pi/.ros/log/44ef14d0-54f2-11e9-906e-9cb6d06972c5/roslaunch-raspberrypi-2260.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://192.168.0.105:36407/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.0.109:11311

process[camera/realsense2_camera_manager-1]: started with pid [2269] process[camera/realsense2_camera-2]: started with pid [2270] [ INFO] [1554173524.664196419]: Initializing nodelet with 4 worker threads. [ INFO] [1554173524.866405251]: RealSense ROS v2.2.1 [ INFO] [1554173524.866534482]: Running with LibRealSense v2.19.1 [ WARN] [1554173524.999257944]: No RealSense devices were found! [ INFO] [1554173525.504473409]: Checking new devices...

[ INFO] [1554173527.611420193]: JSON file is not provided [ INFO] [1554173527.611650213]: ROS Node Namespace: camera [ INFO] [1554173527.611890964]: Device Name: Intel RealSense T265 [ INFO] [1554173527.612066084]: Device Serial No: 852212110089 [ INFO] [1554173527.612248183]: Device FW version: 0.0.18.5129 [ INFO] [1554173527.612454296]: Device Product ID: 0x0B37 [ INFO] [1554173527.612624727]: Enable PointCloud: Off [ INFO] [1554173527.612779637]: Align Depth: Off [ INFO] [1554173527.612933349]: Sync Mode: Off [ INFO] [1554173527.613288797]: Device Sensors: [ INFO] [1554173527.613608774]: Tracking Module was found. [ INFO] [1554173527.614064231]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1554173527.614268781]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1554173527.614442181]: (Infrared, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1554173527.614594591]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1554173527.614747417]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1554173527.659799199]: Expected frequency for fisheye1 = 30.00000 [ INFO] [1554173529.090667244]: Expected frequency for fisheye2 = 30.00000

[ INFO] [1554173529.397091682]: fisheye1 stream is enabled - width: 848, height: 800, fps: 30 [ INFO] [1554173529.398482796]: fisheye2 stream is enabled - width: 848, height: 800, fps: 30 [ INFO] [1554173529.398972579]: insert Fisheye to Tracking Module [ INFO] [1554173529.399244166]: insert Fisheye to Tracking Module [ INFO] [1554173529.399448611]: insert Gyro to Tracking Module [ INFO] [1554173529.399611021]: insert Accel to Tracking Module [ INFO] [1554173529.399764629]: insert Pose to Tracking Module [ INFO] [1554173529.425119548]: num_filters: 0 [ INFO] [1554173529.425279615]: SELECTED BASE:Gyro, 0 02/04 02:52:09,425 WARNING [1803543584] (types.cpp:59) Requested extrinsics are not available! [ WARN] [1554173529.426284861]: Requested extrinsics are not available! : using unity as default. 02/04 02:52:09,426 WARNING [1803543584] (types.cpp:59) Requested extrinsics are not available! [ WARN] [1554173529.427084568]: Requested extrinsics are not available! : using unity as default. 02/04 02:52:09,427 WARNING [1803543584] (types.cpp:59) Requested extrinsics are not available! [ WARN] [1554173529.427648628]: Requested extrinsics are not available! : using unity as default. 02/04 02:52:09,427 WARNING [1803543584] (types.cpp:59) Requested extrinsics are not available! [ WARN] [1554173529.428105232]: Requested extrinsics are not available! : using unity as default. [ INFO] [1554173529.428321970]: RealSense Node Is Up! [ INFO] [1554173529.428413436]: Setting Dynamic reconfig parameters. [ INFO] [1554173529.487343801]: Done Setting Dynamic reconfig parameters. ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 ::connect error = 101 [camera/realsense2_camera_manager-1] process has died [pid 2269, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/pi/.ros/log/44ef14d0-54f2-11e9-906e-9cb6d06972c5/camera-realsense2_camera_manager-1.log]. log file: /home/pi/.ros/log/44ef14d0-54f2-11e9-906e-9cb6d06972c5/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/pi/.ros/log/44ef14d0-54f2-11e9-906e-9cb6d06972c5/camera-realsense2_camera-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

imasoul2 commented 5 years ago

Turns out it was the network problem.