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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
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D435 "No device detected". Raspberry Pi 3B+ #8874

Closed williamx97 closed 3 years ago

williamx97 commented 3 years ago
Required Info
Camera Model D435
Firmware Version 5.12.12.100
Operating System & Version Raspbian GNU / Linux 9
Kernel Version (Linux Only) 4.14.79
Platform Raspberry Pi 3B+
SDK Version 2.43.0
Language ROS (Using Realsense ROS Wrapper 2.2.23)
Segment Robot

Issue Description

Hi there,

Our team is having issues getting our D435 to show on rs-enumerate-devices . We are getting the No device found. Is it plugged in? error message. We are using a custom version of raspbian provided by our robot manufacturer called TurtleOS: https://github.com/TurtleRover/turtleos
It is based on Linux Kernel 4.14.79

Here are the troubleshooting steps applied:

  1. Installing librealsense via these instructions https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_raspbian.md
  2. Installing librealsense via direct download of v2.43.0: https://github.com/IntelRealSense/librealsense/releases/tag/v2.43.0 and into ~/catkin_ws/src and using ROS command catkin build . The UDEV rules were also updated.
  3. Upgrading the linux kernel using sudo apt-get update && sudo apt-get upgrade. Kernel patched to 3.19
  4. Upgrading the linux kernel using sudo rpi-update. Kernel patched to 5.10 ,still did not work
  5. Upgrading the linux kernel to a supported version using sudo rpi-update 453e49bdd87325369b462b40e809d5f3187df21d the specific commit this command used was here https://github.com/Hexxeh/rpi-firmware/commit/453e49bdd87325369b462b40e809d5f3187df21d we could not connect to our raspberry pi after this command however

Note both methods 1 and 2 seem to detect our other T265 camera that we have with us: 

pi@raspberrypi:~ $ rs-enumerate-devices
Device info:
    Name                          :     Intel RealSense T265
    Serial Number                 :     948422110797
    Firmware Version              :     0.2.0.951
    Physical Port                 :     1-1.1.2-9
    Product Id                    :     0B37
    Usb Type Descriptor           :     2.1
    Product Line                  :     T200

Stream Profiles supported by Tracking Module
 Supported modes:
    stream       resolution      fps       format
    Fisheye 1     848x800       @ 30Hz     Y8
    Fisheye 2     848x800       @ 30Hz     Y8
    Gyro         N/A            @ 200Hz    MOTION_XYZ32F
    Accel        N/A            @ 62Hz     MOTION_XYZ32F
    Pose         N/A            @ 200Hz    6DOF
pi@raspberrypi:~ $

The outputs of lsusb and dmesg seem to also detect the D435 camera:

pi@raspberrypi:~/turtle_ws $ lsusb
Bus 001 Device 004: ID 148f:3070 Ralink Technology, Corp. RT2870/RT3070 Wireless Adapter
Bus 001 Device 006: ID 8086:0b07 Intel Corp.
Bus 001 Device 005: ID 0424:7800 Standard Microsystems Corp.
Bus 001 Device 003: ID 0424:2514 Standard Microsystems Corp. USB 2.0 Hub
Bus 001 Device 002: ID 0424:2514 Standard Microsystems Corp. USB 2.0 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
dmesg output (click to expand) pi@raspberrypi:~/turtle_ws $ dmesg [ 0.000000] Booting Linux on physical CPU 0x0 [ 0.000000] Linux version 4.14.79-v7+ (dc4@dc4-XPS13-9333) (gcc version 4.9.3 (crosstool-NG crosstool-ng-1.22.0-88-g8460611)) #1159 SMP Sun Nov 4 17:50:20 GMT 2018 [ 0.000000] CPU: ARMv7 Processor [410fd034] revision 4 (ARMv7), cr=10c5383d [ 0.000000] CPU: div instructions available: patching division code [ 0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache [ 0.000000] OF: fdt: Machine model: Raspberry Pi 3 Model B Plus Rev 1.3 [ 0.000000] Memory policy: Data cache writealloc [ 0.000000] cma: Reserved 8 MiB at 0x2f800000 [ 0.000000] On node 0 totalpages: 196608 [ 0.000000] free_area_init_node: node 0, pgdat 80c85280, node_mem_map af134000 [ 0.000000] Normal zone: 1728 pages used for memmap [ 0.000000] Normal zone: 0 pages reserved [ 0.000000] Normal zone: 196608 pages, LIFO batch:31 [ 0.000000] percpu: Embedded 17 pages/cpu @af0dd000 s38720 r8192 d22720 u69632 [ 0.000000] pcpu-alloc: s38720 r8192 d22720 u69632 alloc=17*4096 [ 0.000000] pcpu-alloc: [0] 0 [0] 1 [0] 2 [0] 3 [ 0.000000] Built 1 zonelists, mobility grouping on. Total pages: 194880 [ 0.000000] Kernel command line: 8250.nr_uarts=1 bcm2708_fb.fbwidth=656 bcm2708_fb.fbheight=416 bcm2708_fb.fbswap=1 vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000 dwc_otg.lpm_enable=0 console=tty1 root=PARTUUID=1f12bb92-02 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait [ 0.000000] PID hash table entries: 4096 (order: 2, 16384 bytes) [ 0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes) [ 0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes) [ 0.000000] Memory: 757532K/786432K available (7168K kernel code, 576K rwdata, 2076K rodata, 1024K init, 698K bss, 20708K reserved, 8192K cma-reserved) [ 0.000000] Virtual kernel memory layout: vector : 0xffff0000 - 0xffff1000 ( 4 kB) fixmap : 0xffc00000 - 0xfff00000 (3072 kB) vmalloc : 0xb0800000 - 0xff800000 (1264 MB) lowmem : 0x80000000 - 0xb0000000 ( 768 MB) modules : 0x7f000000 - 0x80000000 ( 16 MB) .text : 0x80008000 - 0x80800000 (8160 kB) .init : 0x80b00000 - 0x80c00000 (1024 kB) .data : 0x80c00000 - 0x80c9017c ( 577 kB) .bss : 0x80c97f04 - 0x80d468b0 ( 699 kB) [ 0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=4, Nodes=1 [ 0.000000] ftrace: allocating 25287 entries in 75 pages [ 0.000000] Hierarchical RCU implementation. [ 0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16 [ 0.000000] arch_timer: cp15 timer(s) running at 19.20MHz (phys). [ 0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x46d987e47, max_idle_ns: 440795202767 ns [ 0.000007] sched_clock: 56 bits at 19MHz, resolution 52ns, wraps every 4398046511078ns [ 0.000023] Switching to timer-based delay loop, resolution 52ns [ 0.000273] Console: colour dummy device 80x30 [ 0.000806] console [tty1] enabled [ 0.000847] Calibrating delay loop (skipped), value calculated using timer frequency.. 38.40 BogoMIPS (lpj=192000) [ 0.000887] pid_max: default: 32768 minimum: 301 [ 0.001224] Mount-cache hash table entries: 2048 (order: 1, 8192 bytes) [ 0.001258] Mountpoint-cache hash table entries: 2048 (order: 1, 8192 bytes) [ 0.002211] Disabling memory control group subsystem [ 0.002305] CPU: Testing write buffer coherency: ok [ 0.002737] CPU0: thread -1, cpu 0, socket 0, mpidr 80000000 [ 0.003154] Setting up static identity map for 0x100000 - 0x10003c [ 0.003292] Hierarchical SRCU implementation. [ 0.003984] smp: Bringing up secondary CPUs ... [ 0.004782] CPU1: thread -1, cpu 1, socket 0, mpidr 80000001 [ 0.005619] CPU2: thread -1, cpu 2, socket 0, mpidr 80000002 [ 0.006440] CPU3: thread -1, cpu 3, socket 0, mpidr 80000003 [ 0.006545] smp: Brought up 1 node, 4 CPUs [ 0.006617] SMP: Total of 4 processors activated (153.60 BogoMIPS). [ 0.006639] CPU: All CPU(s) started in HYP mode. [ 0.006657] CPU: Virtualization extensions available. [ 0.007564] devtmpfs: initialized [ 0.017684] random: get_random_u32 called from bucket_table_alloc+0xfc/0x24c with crng_init=0 [ 0.018327] VFP support v0.3: implementor 41 architecture 3 part 40 variant 3 rev 4 [ 0.018573] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns [ 0.018618] futex hash table entries: 1024 (order: 4, 65536 bytes) [ 0.019193] pinctrl core: initialized pinctrl subsystem [ 0.019997] NET: Registered protocol family 16 [ 0.022565] DMA: preallocated 1024 KiB pool for atomic coherent allocations [ 0.027312] hw-breakpoint: found 5 (+1 reserved) breakpoint and 4 watchpoint registers. [ 0.027344] hw-breakpoint: maximum watchpoint size is 8 bytes. [ 0.027563] Serial: AMBA PL011 UART driver [ 0.029246] bcm2835-mbox 3f00b880.mailbox: mailbox enabled [ 0.029720] uart-pl011 3f201000.serial: could not find pctldev for node /soc/gpio@7e200000/uart0_pins, deferring probe [ 0.061185] bcm2835-dma 3f007000.dma: DMA legacy API manager at b0813000, dmachans=0x1 [ 0.062641] SCSI subsystem initialized [ 0.062882] usbcore: registered new interface driver usbfs [ 0.062952] usbcore: registered new interface driver hub [ 0.063052] usbcore: registered new device driver usb [ 0.070089] raspberrypi-firmware soc:firmware: Attached to firmware from 2018-11-04 16:31 [ 0.071365] clocksource: Switched to clocksource arch_sys_counter [ 0.148264] VFS: Disk quotas dquot_6.6.0 [ 0.148378] VFS: Dquot-cache hash table entries: 1024 (order 0, 4096 bytes) [ 0.148583] FS-Cache: Loaded [ 0.148796] CacheFiles: Loaded [ 0.157694] NET: Registered protocol family 2 [ 0.158430] TCP established hash table entries: 8192 (order: 3, 32768 bytes) [ 0.158560] TCP bind hash table entries: 8192 (order: 4, 65536 bytes) [ 0.158762] TCP: Hash tables configured (established 8192 bind 8192) [ 0.158907] UDP hash table entries: 512 (order: 2, 16384 bytes) [ 0.158969] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes) [ 0.159216] NET: Registered protocol family 1 [ 0.159691] RPC: Registered named UNIX socket transport module. [ 0.159716] RPC: Registered udp transport module. [ 0.159735] RPC: Registered tcp transport module. [ 0.159754] RPC: Registered tcp NFSv4.1 backchannel transport module. [ 0.161215] hw perfevents: enabled with armv7_cortex_a7 PMU driver, 7 counters available [ 0.163986] workingset: timestamp_bits=14 max_order=18 bucket_order=4 [ 0.171979] FS-Cache: Netfs 'nfs' registered for caching [ 0.172599] NFS: Registering the id_resolver key type [ 0.172654] Key type id_resolver registered [ 0.172673] Key type id_legacy registered [ 0.172702] nfs4filelayout_init: NFSv4 File Layout Driver Registering... [ 0.174637] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 251) [ 0.174794] io scheduler noop registered [ 0.174817] io scheduler deadline registered (default) [ 0.175000] io scheduler cfq registered [ 0.175022] io scheduler mq-deadline registered [ 0.175042] io scheduler kyber registered [ 0.177356] BCM2708FB: allocated DMA memory ef900000 [ 0.177400] BCM2708FB: allocated DMA channel 0 @ b0813000 [ 0.185915] Console: switching to colour frame buffer device 82x26 [ 0.193345] Serial: 8250/16550 driver, 1 ports, IRQ sharing enabled [ 0.196896] bcm2835-rng 3f104000.rng: hwrng registered [ 0.199362] vc-mem: phys_addr:0x00000000 mem_base=0x3ec00000 mem_size:0x40000000(1024 MiB) [ 0.204477] vc-sm: Videocore shared memory driver [ 0.207041] gpiomem-bcm2835 3f200000.gpiomem: Initialised: Registers at 0x3f200000 [ 0.221238] brd: module loaded [ 0.232216] loop: module loaded [ 0.234582] Loading iSCSI transport class v2.0-870. [ 0.237538] libphy: Fixed MDIO Bus: probed [ 0.239887] usbcore: registered new interface driver lan78xx [ 0.242216] usbcore: registered new interface driver smsc95xx [ 0.244418] dwc_otg: version 3.00a 10-AUG-2012 (platform bus) [ 0.274528] dwc_otg 3f980000.usb: base=0xf0980000 [ 0.476979] Core Release: 2.80a [ 0.479220] Setting default values for core params [ 0.481572] Finished setting default values for core params [ 0.684152] Using Buffer DMA mode [ 0.686495] Periodic Transfer Interrupt Enhancement - disabled [ 0.688882] Multiprocessor Interrupt Enhancement - disabled [ 0.691254] OTG VER PARAM: 0, OTG VER FLAG: 0 [ 0.693604] Dedicated Tx FIFOs mode [ 0.696175] WARN::dwc_otg_hcd_init:1046: FIQ DMA bounce buffers: virt = 0xaf914000 dma = 0xef914000 len=9024 [ 0.700737] FIQ FSM acceleration enabled for : Non-periodic Split Transactions Periodic Split Transactions High-Speed Isochronous Endpoints Interrupt/Control Split Transaction hack enabled [ 0.711612] dwc_otg: Microframe scheduler enabled [ 0.711669] WARN::hcd_init_fiq:459: FIQ on core 1 at 0x805ea470 [ 0.713930] WARN::hcd_init_fiq:460: FIQ ASM at 0x805ea7d8 length 36 [ 0.716156] WARN::hcd_init_fiq:486: MPHI regs_base at 0xf0006000 [ 0.718467] dwc_otg 3f980000.usb: DWC OTG Controller [ 0.720743] dwc_otg 3f980000.usb: new USB bus registered, assigned bus number 1 [ 0.723097] dwc_otg 3f980000.usb: irq 62, io mem 0x00000000 [ 0.725417] Init: Port Power? op_state=1 [ 0.727668] Init: Power Port (0) [ 0.730042] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002 [ 0.732376] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1 [ 0.734676] usb usb1: Product: DWC OTG Controller [ 0.736917] usb usb1: Manufacturer: Linux 4.14.79-v7+ dwc_otg_hcd [ 0.739182] usb usb1: SerialNumber: 3f980000.usb [ 0.742034] hub 1-0:1.0: USB hub found [ 0.744238] hub 1-0:1.0: 1 port detected [ 0.746820] dwc_otg: FIQ enabled [ 0.746825] dwc_otg: NAK holdoff enabled [ 0.746830] dwc_otg: FIQ split-transaction FSM enabled [ 0.746840] Module dwc_common_port init [ 0.747087] usbcore: registered new interface driver usb-storage [ 0.749363] mousedev: PS/2 mouse device common for all mice [ 0.751600] IR NEC protocol handler initialized [ 0.753765] IR RC5(x/sz) protocol handler initialized [ 0.755960] IR RC6 protocol handler initialized [ 0.758127] IR JVC protocol handler initialized [ 0.760197] IR Sony protocol handler initialized [ 0.762292] IR SANYO protocol handler initialized [ 0.764374] IR Sharp protocol handler initialized [ 0.766358] IR MCE Keyboard/mouse protocol handler initialized [ 0.768375] IR XMP protocol handler initialized [ 0.771047] bcm2835-wdt 3f100000.watchdog: Broadcom BCM2835 watchdog timer [ 0.773408] bcm2835-cpufreq: min=600000 max=1400000 [ 0.775861] sdhci: Secure Digital Host Controller Interface driver [ 0.777981] sdhci: Copyright(c) Pierre Ossman [ 0.780410] mmc-bcm2835 3f300000.mmc: could not get clk, deferring probe [ 0.782910] sdhost-bcm2835 3f202000.mmc: could not get clk, deferring probe [ 0.785198] sdhci-pltfm: SDHCI platform and OF driver helper [ 0.788821] ledtrig-cpu: registered to indicate activity on CPUs [ 0.791208] hidraw: raw HID events driver (C) Jiri Kosina [ 0.793690] usbcore: registered new interface driver usbhid [ 0.795991] usbhid: USB HID core driver [ 0.798822] vchiq: vchiq_init_state: slot_zero = af980000, is_master = 0 [ 0.802613] [vc_sm_connected_init]: start [ 0.811446] [vc_sm_connected_init]: end - returning 0 [ 0.814365] Initializing XFRM netlink socket [ 0.816744] NET: Registered protocol family 17 [ 0.819192] Key type dns_resolver registered [ 0.821955] Registering SWP/SWPB emulation handler [ 0.824979] registered taskstats version 1 [ 0.833206] uart-pl011 3f201000.serial: cts_event_workaround enabled [ 0.835767] 3f201000.serial: ttyAMA0 at MMIO 0x3f201000 (irq = 87, base_baud = 0) is a PL011 rev2 [ 0.842546] mmc-bcm2835 3f300000.mmc: mmc_debug:0 mmc_debug2:0 [ 0.845080] mmc-bcm2835 3f300000.mmc: DMA channel allocated [ 0.901978] sdhost: log_buf @ af913000 (ef913000) [ 0.942002] mmc1: queuing unknown CIS tuple 0x80 (2 bytes) [ 0.945988] mmc1: queuing unknown CIS tuple 0x80 (3 bytes) [ 0.949852] mmc1: queuing unknown CIS tuple 0x80 (3 bytes) [ 0.954841] mmc1: queuing unknown CIS tuple 0x80 (7 bytes) [ 0.961493] Indeed it is in host mode hprt0 = 00021501 [ 1.037399] random: fast init done [ 1.051387] mmc0: sdhost-bcm2835 loaded - DMA enabled (>1) [ 1.054512] of_cfs_init [ 1.056598] of_cfs_init: OK [ 1.059034] Waiting for root device PARTUUID=1f12bb92-02... [ 1.106714] mmc1: new high speed SDIO card at address 0001 [ 1.171408] usb 1-1: new high-speed USB device number 2 using dwc_otg [ 1.173636] Indeed it is in host mode hprt0 = 00001101 [ 1.245832] mmc0: host does not support reading read-only switch, assuming write-enable [ 1.253768] mmc0: new high speed SDHC card at address aaaa [ 1.256469] mmcblk0: mmc0:aaaa SC16G 14.8 GiB [ 1.263029] mmcblk0: p1 p2 [ 1.295204] EXT4-fs (mmcblk0p2): INFO: recovery required on readonly filesystem [ 1.297444] EXT4-fs (mmcblk0p2): write access will be enabled during recovery [ 1.411660] usb 1-1: New USB device found, idVendor=0424, idProduct=2514 [ 1.413935] usb 1-1: New USB device strings: Mfr=0, Product=0, SerialNumber=0 [ 1.416883] hub 1-1:1.0: USB hub found [ 1.419350] hub 1-1:1.0: 4 ports detected [ 1.741401] usb 1-1.1: new high-speed USB device number 3 using dwc_otg [ 1.871614] usb 1-1.1: New USB device found, idVendor=0424, idProduct=2514 [ 1.874120] usb 1-1.1: New USB device strings: Mfr=0, Product=0, SerialNumber=0 [ 1.877202] hub 1-1.1:1.0: USB hub found [ 1.879716] hub 1-1.1:1.0: 3 ports detected [ 1.981391] usb 1-1.3: new high-speed USB device number 4 using dwc_otg [ 2.128498] usb 1-1.3: New USB device found, idVendor=148f, idProduct=3070 [ 2.131065] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [ 2.133627] usb 1-1.3: Product: 802.11 n WLAN [ 2.136092] usb 1-1.3: Manufacturer: Ralink [ 2.138460] usb 1-1.3: SerialNumber: 1.0 [ 2.651390] usb 1-1.1.1: new high-speed USB device number 5 using dwc_otg [ 2.781736] usb 1-1.1.1: New USB device found, idVendor=0424, idProduct=7800 [ 2.784081] usb 1-1.1.1: New USB device strings: Mfr=0, Product=0, SerialNumber=0 [ 3.056535] libphy: lan78xx-mdiobus: probed [ 3.557999] EXT4-fs (mmcblk0p2): recovery complete [ 3.562288] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null) [ 3.566811] VFS: Mounted root (ext4 filesystem) readonly on device 179:2. [ 3.577575] devtmpfs: mounted [ 3.583199] Freeing unused kernel memory: 1024K [ 3.999655] systemd[1]: System time before build time, advancing clock. [ 4.136253] NET: Registered protocol family 10 [ 4.139895] Segment Routing with IPv6 [ 4.153409] ip_tables: (C) 2000-2006 Netfilter Core Team [ 4.175469] random: systemd: uninitialized urandom read (16 bytes read) [ 4.183491] systemd[1]: systemd 232 running in system mode. (+PAM +AUDIT +SELINUX +IMA +APPARMOR +SMACK +SYSVINIT +UTMP +LIBCRYPTSETUP +GCRYPT +GNUTLS +ACL +XZ +LZ4 +SECCOMP +BLKID +ELFUTILS +KMOD +IDN) [ 4.191927] systemd[1]: Detected architecture arm. [ 4.208649] systemd[1]: Set hostname to . [ 4.243637] random: systemd: uninitialized urandom read (16 bytes read) [ 4.264160] random: systemd-gpt-aut: uninitialized urandom read (16 bytes read) [ 4.683110] systemd[1]: Set up automount Arbitrary Executable File Formats File System Automount Point. [ 4.692437] systemd[1]: Listening on Syslog Socket. [ 4.698669] systemd[1]: Started Forward Password Requests to Wall Directory Watch. [ 4.708065] systemd[1]: Listening on Network Service Netlink Socket. [ 4.731885] systemd[1]: Listening on udev Control Socket. [ 4.738534] systemd[1]: Listening on Journal Socket. [ 4.745405] systemd[1]: Created slice System Slice. [ 4.834147] fuse init (API version 7.26) [ 5.254952] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null) [ 5.350717] systemd-journald[94]: Received request to flush runtime journal from PID 1 [ 5.974820] snd_bcm2835: module is from the staging directory, the quality is unknown, you have been warned. [ 5.979237] bcm2835_alsa bcm2835_alsa: card created with 8 channels [ 6.105296] brcmfmac: F1 signature read @0x18000000=0x15264345 [ 6.115933] brcmfmac: brcmf_fw_map_chip_to_name: using brcm/brcmfmac43455-sdio.bin for chip 0x004345(17221) rev 0x000006 [ 6.116755] usbcore: registered new interface driver brcmfmac [ 6.383941] random: crng init done [ 6.383956] random: 7 urandom warning(s) missed due to ratelimiting [ 6.422443] brcmfmac: brcmf_c_preinit_dcmds: Firmware version = wl0: Feb 27 2018 03:15:32 version 7.45.154 (r684107 CY) FWID 01-4fbe0b04 [ 6.423163] brcmfmac: brcmf_c_preinit_dcmds: CLM version = API: 12.2 Data: 9.10.105 Compiler: 1.29.4 ClmImport: 1.36.3 Creation: 2018-03-09 18:56:28 [ 6.431676] usb 1-1.3: reset high-speed USB device number 4 using dwc_otg [ 6.581576] brcmfmac mmc1:0001:1 wlan_int: renamed from wlan0 [ 6.596550] ieee80211 phy1: rt2x00_set_rt: Info - RT chipset 3070, rev 0201 detected [ 6.615608] ieee80211 phy1: rt2x00_set_rf: Info - RF chipset 0005 detected [ 6.665309] ieee80211 phy1: Selected rate control algorithm 'minstrel_ht' [ 6.666939] usbcore: registered new interface driver rt2800usb [ 6.724061] rt2800usb 1-1.3:1.0 wlan_ext: renamed from wlan0 [ 6.792291] ieee80211 phy1: rt2x00lib_request_firmware: Info - Loading firmware file 'rt2870.bin' [ 6.808629] ieee80211 phy1: rt2x00lib_request_firmware: Info - Firmware detected - version: 0.36 [ 7.298376] nf_conntrack version 0.5.0 (12288 buckets, 49152 max) [ 8.311502] Under-voltage detected! (0x00050005) [ 8.428016] Adding 2097148k swap on /var/swap. Priority:-2 extents:3 across:2400252k SSFS [ 9.902740] IPv6: ADDRCONF(NETDEV_UP): wlan_int: link is not ready [ 9.928968] IPv6: ADDRCONF(NETDEV_UP): wlan_int: link is not ready [ 9.929122] brcmfmac: power management disabled [ 10.462484] IPv6: ADDRCONF(NETDEV_UP): wlan_int: link is not ready [ 10.462541] brcmfmac: power management disabled [ 10.868640] IPv6: ADDRCONF(NETDEV_UP): wlan_int: link is not ready [ 13.388616] uart-pl011 3f201000.serial: no DMA platform data [ 14.585410] IPv6: ADDRCONF(NETDEV_UP): wlan_int: link is not ready [ 14.585465] brcmfmac: power management disabled [ 21.971220] IPv6: ADDRCONF(NETDEV_CHANGE): wlan_int: link becomes ready [ 29.110708] Voltage normalised (0x00000000) [ 37.429479] Under-voltage detected! (0x00050005) [ 66.546543] Voltage normalised (0x00000000) [ 74.865926] Under-voltage detected! (0x00050005) [ 83.185400] Voltage normalised (0x00000000) [ 220.451859] usb 1-1.1.2: new high-speed USB device number 6 using dwc_otg [ 220.583208] usb 1-1.1.2: New USB device found, idVendor=8086, idProduct=0b07 [ 220.583221] usb 1-1.1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0 [ 220.583230] usb 1-1.1.2: Product: Intel(R) RealSense(TM) Depth Camera 435 [ 220.583239] usb 1-1.1.2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435 pi@raspberrypi:~/turtle_ws $ rs-enumerate-devices No device detected. Is it plugged in? pi@raspberrypi:~/turtle_ws $

Was it strictly necessary that the Linux kernel be upgraded to a supported version mentioned in the release notes?

Furthermore was there an alternate way to upgrade the Linux Kernel, considering method 5 caused a disconnect from the raspberry pi?

RealSenseSupport commented 3 years ago

@williamx97 So I understood you followed https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_raspbian.md#install-realsense-sdklibrealsense to build librealsense, right? LibUVC and WinUSB are deprecated from the build in SDK 2.30+, replaced by RSUSB. So could you please try to re-build with the following? Thanks! cmake .. .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_RSUSB_BACKEND=true

williamx97 commented 3 years ago

Thanks! I've recompiled it with the cmake flags listed above and now rs-enumerate-devices is detecting the D435, however I am getting the RS2_USB_STATUS_BUSY error:

pi@raspberrypi:~ $ rs-enumerate-devices
Could not create device - failed to set power state . Check SDK logs for details
 27/04 10:00:11,542 ERROR [1939432528] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 27/04 10:00:11,543 ERROR [1995515488] (sensor.cpp:526) acquire_power failed: failed to set power state

I have rebooted the raspberry pi and changed the usb ports. The T265 camera still detects correctly though.

Would there be a way to detect whether a linux process is using the D435 or were there some other realsense debugging tools I could employ?

librealsense was compiled using the 'source code' tar.gz file using v2.44.0 https://github.com/IntelRealSense/librealsense/releases/tag/v2.44.0

williamx97 commented 3 years ago

Update to the above: Reversing the USBC connection to the D435 seemed to fix the issue temporarily. I unplugged and replugged the USBC sides to confirm that only one side of the USBC connection was causing the RS2_USB_STATUS error.

However after running some tests within the Realsense ROS wrapper seemed to cause the RS2_USB_STATUS message to come back after a few roslaunch files:

Output of Roslaunch commands (click to expand) ``` pi@raspberrypi:~/turtle_ws $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ... logging to /home/pi/.ros/log/f217f562-a759-11eb-856b-b827eb203c41/roslaunch-raspberrypi-26953.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://raspberrypi:38661/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: -1 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: False * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -2.0 * /camera/realsense2_camera/color_fps: -1 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: -1 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: -1 * /camera/realsense2_camera/confidence_fps: -1 * /camera/realsense2_camera/confidence_height: -1 * /camera/realsense2_camera/confidence_width: -1 * /camera/realsense2_camera/depth_fps: -1 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: -1 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: -1 * /camera/realsense2_camera/device_type: * /camera/realsense2_camera/enable_accel: False * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_confidence: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: False * /camera/realsense2_camera/enable_fisheye2: False * /camera/realsense2_camera/enable_fisheye: False * /camera/realsense2_camera/enable_gyro: False * /camera/realsense2_camera/enable_infra1: False * /camera/realsense2_camera/enable_infra2: False * /camera/realsense2_camera/enable_infra: False * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_pose: False * /camera/realsense2_camera/enable_sync: False * /camera/realsense2_camera/filters: pointcloud * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: -1 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: -1 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: -1 * /camera/realsense2_camera/gyro_fps: -1 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 480 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: 848 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/ordered_pc: False * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/stereo_module/exposure/1: 7500 * /camera/realsense2_camera/stereo_module/exposure/2: 1 * /camera/realsense2_camera/stereo_module/gain/1: 16 * /camera/realsense2_camera/stereo_module/gain/2: 16 * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: odom_in * /camera/realsense2_camera/unite_imu_method: * /camera/realsense2_camera/usb_port_id: * /rosdistro: kinetic * /rosversion: 1.12.14 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [26963] ROS_MASTER_URI=http://localhost:11311 setting /run_id to f217f562-a759-11eb-856b-b827eb203c41 process[rosout-1]: started with pid [26976] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [26993] process[camera/realsense2_camera-3]: started with pid [26994] [ INFO] [1619529046.588063528]: Initializing nodelet with 4 worker threads. [ INFO] [1619529046.969919880]: RealSense ROS v2.2.24 [ INFO] [1619529046.970136910]: Built with LibRealSense v2.44.0 [ INFO] [1619529046.970335712]: Running with LibRealSense v2.44.0 [ INFO] [1619529047.147712109]: [ INFO] [1619529047.361993228]: Device with serial number 045322072234 was found. [ INFO] [1619529047.362270623]: Device with physical ID 1-1.1.3-13 was found. [ INFO] [1619529047.362430310]: Device with name Intel RealSense D435 was found. [ INFO] [1619529047.369436641]: Device with port number 1-1.1.3 was found. [ INFO] [1619529047.369727943]: Device USB type: 2.1 [ WARN] [1619529047.369918202]: Device 045322072234 is connected using a 2.1 port. Reduced performance is expected. [ INFO] [1619529047.388604703]: getParameters... Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] [ INFO] [1619529048.376470627]: setupDevice... [ INFO] [1619529048.377976403]: JSON file is not provided [ INFO] [1619529048.379207388]: ROS Node Namespace: camera [ INFO] [1619529048.380361916]: Device Name: Intel RealSense D435 [ INFO] [1619529048.381549100]: Device Serial No: 045322072234 [ INFO] [1619529048.382795502]: Device physical port: 1-1.1.3-13 [ INFO] [1619529048.384189976]: Device FW version: 05.12.12.100 [ INFO] [1619529048.385353045]: Device Product ID: 0x0B07 [ INFO] [1619529048.386439708]: Enable PointCloud: On [ INFO] [1619529048.387413612]: Align Depth: Off [ INFO] [1619529048.388308244]: Sync Mode: On [ INFO] [1619529048.389533188]: Device Sensors: [ INFO] [1619529048.426980148]: Stereo Module was found. [ INFO] [1619529048.462550708]: RGB Camera was found. [ INFO] [1619529048.464293151]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1619529048.465972833]: Add Filter: pointcloud [ INFO] [1619529048.471656251]: num_filters: 1 [ INFO] [1619529048.472909789]: Setting Dynamic reconfig parameters. [ WARN] [1619529049.083678043]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options. [ WARN] [1619529049.102438606]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options. [ INFO] [1619529049.515094905]: Done Setting Dynamic reconfig parameters. [ INFO] [1619529049.518467290]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16 [ INFO] [1619529049.521767279]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8 [ INFO] [1619529049.522404517]: setupPublishers... [ INFO] [1619529049.547393133]: Expected frequency for depth = 15.00000 [ INFO] [1619529049.586542431]: Expected frequency for color = 15.00000 [ INFO] [1619529049.614792911]: setupStreams... [ INFO] [1619529049.640657461]: insert Depth to Stereo Module [ INFO] [1619529049.641064387]: insert Color to RGB Camera 27/04 14:10:49,783 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1619529049.835220311]: SELECTED BASE:Depth, 0 [ INFO] [1619529049.970696428]: RealSense Node Is Up! [ WARN] [1619529050.029147069]: [ERROR] [1619529050.030700918]: An error has occurred during frame callback: Time is out of dual 32-bit range [ERROR] [1619529050.092432486]: An error has occurred during frame callback: Time is out of dual 32-bit range 27/04 14:10:50,160 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,211 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,262 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,313 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,365 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,415 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 27/04 14:10:50,466 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ WARN] [1619529050.517210932]: Hardware Notification:RT IC2 Config error,1.61953e+12,Error,Hardware Error [ERROR] [1619529050.517538587]: Performing Hardware Reset. 27/04 14:10:50,525 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,576 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,627 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,678 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,730 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,781 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,831 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,882 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:50,933 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:51,520 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 27/04 14:10:51,525 WARNING [1645212704] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19 27/04 14:10:51,525 ERROR [1645212704] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 27/04 14:10:51,525 WARNING [1645212704] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19 27/04 14:10:51,525 ERROR [1645212704] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 27/04 14:10:51,526 WARNING [1764750368] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19 27/04 14:10:51,528 WARNING [1679815712] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 27/04 14:10:51,528 ERROR [1679815712] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 27/04 14:10:51,528 WARNING [1679815712] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 27/04 14:10:51,528 ERROR [1679815712] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 27/04 14:10:51,571 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 27/04 14:10:51,572 ERROR [1731195936] (error-handling.cpp:78) Error during polling error handler: usb device disconnected 27/04 14:10:51,973 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 27/04 14:10:51,974 WARNING [1764750368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 27/04 14:10:52,352 ERROR [1679815712] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 27/04 14:10:52,352 WARNING [1679815712] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 [ERROR] [1619529052.415420617]: The device has been disconnected! 27/04 14:10:52,443 WARNING [1645212704] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19 27/04 14:10:52,472 WARNING [1679815712] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 27/04 14:10:52,575 ERROR [1764750368] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE 27/04 14:10:52,576 ERROR [1731195936] (sensor.cpp:526) acquire_power failed: failed to set power state 27/04 14:10:52,577 ERROR [1731195936] (error-handling.cpp:78) Error during polling error handler: failed to set power state [ERROR] [1619529052.718933835]: Exception: failed to set power state 27/04 14:10:52,717 ERROR [1764750368] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE 27/04 14:10:52,717 ERROR [1818850336] (sensor.cpp:526) acquire_power failed: failed to set power state 27/04 14:10:53,577 ERROR [1764750368] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE 27/04 14:10:53,578 ERROR [1731195936] (sensor.cpp:526) acquire_power failed: failed to set power state 27/04 14:10:53,578 ERROR [1731195936] (error-handling.cpp:78) Error during polling error handler: failed to set power state [ INFO] [1619529053.851583953]: 27/04 14:10:53,901 ERROR [1697641504] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY [ WARN] [1619529053.906770334]: Device 1/2 failed with exception: failed to set power state 27/04 14:10:53,902 ERROR [1706030112] (sensor.cpp:526) acquire_power failed: failed to set power state 27/04 14:10:53,906 WARNING [1706030112] (rs.cpp:306) null pointer passed for argument "device" [ INFO] [1619529053.941341001]: Device with serial number 948422110797 was found. [ INFO] [1619529053.941589281]: Device with physical ID 1-1.1.2-7 was found. [ INFO] [1619529053.941735166]: Device with name Intel RealSense T265 was found. [ INFO] [1619529053.947565199]: Device with port number 1-1.1.2 was found. [ INFO] [1619529053.947767073]: Device USB type: 2.1 [ WARN] [1619529053.947913948]: Device 948422110797 is connected using a 2.1 port. Reduced performance is expected. [ INFO] [1619529053.984451588]: No calib_odom_file. No input odometry accepted. [ INFO] [1619529053.988188242]: getParameters... [ INFO] [1619529054.897441437]: setupDevice... [ INFO] [1619529054.898474403]: JSON file is not provided [ INFO] [1619529054.899233984]: ROS Node Namespace: camera [ INFO] [1619529054.899982419]: Device Name: Intel RealSense T265 [ INFO] [1619529054.900667312]: Device Serial No: 948422110797 [ INFO] [1619529054.901370226]: Device physical port: 1-1.1.2-7 [ INFO] [1619529054.901962256]: Device FW version: 0.2.0.951 [ INFO] [1619529054.902663399]: Device Product ID: 0x0B37 [ INFO] [1619529054.903597563]: Enable PointCloud: On [ INFO] [1619529054.904534122]: Align Depth: Off [ INFO] [1619529054.905270891]: Sync Mode: On [ INFO] [1619529054.906020315]: Device Sensors: [ INFO] [1619529054.906924791]: Tracking Module was found. [ INFO] [1619529054.907700935]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1619529054.908427495]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1619529054.909137388]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1619529054.909860875]: Add Filter: pointcloud [ INFO] [1619529054.914766380]: num_filters: 1 [ INFO] [1619529054.915761689]: Setting Dynamic reconfig parameters. [ WARN] [1619529054.955340517]: Param '/camera/tracking_module/frames_queue_size' has value 256 that is not in range [0, 32]. Removing this parameter from dynamic reconfigure options. [ INFO] [1619529055.144527288]: Done Setting Dynamic reconfig parameters. [ INFO] [1619529055.145657805]: setupPublishers... [ INFO] [1619529055.150579403]: setupStreams... [ INFO] [1619529055.151706847]: SELECTED BASE:Pose, 0 [ INFO] [1619529055.153654185]: RealSense Node Is Up! Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] ^C[camera/realsense2_camera-3] killing on exit [camera/realsense2_camera_manager-2] killing on exit Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] Couldn't find an AF_INET address for [william-HP-Spectre-x360-Convertible-13-aw0xxx] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done pi@raspberrypi:~/turtle_ws $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ... logging to /home/pi/.ros/log/4f8ad624-a75a-11eb-bc05-b827eb203c41/roslaunch-raspberrypi-27978.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://raspberrypi:45931/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: -1 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: False * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -2.0 * /camera/realsense2_camera/color_fps: -1 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: -1 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: -1 * /camera/realsense2_camera/confidence_fps: -1 * /camera/realsense2_camera/confidence_height: -1 * /camera/realsense2_camera/confidence_width: -1 * /camera/realsense2_camera/depth_fps: -1 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: -1 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: -1 * /camera/realsense2_camera/device_type: * /camera/realsense2_camera/enable_accel: False * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_confidence: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: False * /camera/realsense2_camera/enable_fisheye2: False * /camera/realsense2_camera/enable_fisheye: False * /camera/realsense2_camera/enable_gyro: False * /camera/realsense2_camera/enable_infra1: False * /camera/realsense2_camera/enable_infra2: False * /camera/realsense2_camera/enable_infra: False * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_pose: False * /camera/realsense2_camera/enable_sync: False * /camera/realsense2_camera/filters: pointcloud * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: -1 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: -1 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: -1 * /camera/realsense2_camera/gyro_fps: -1 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 480 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: 848 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/ordered_pc: False * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/stereo_module/exposure/1: 7500 * /camera/realsense2_camera/stereo_module/exposure/2: 1 * /camera/realsense2_camera/stereo_module/gain/1: 16 * /camera/realsense2_camera/stereo_module/gain/2: 16 * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: odom_in * /camera/realsense2_camera/unite_imu_method: * /camera/realsense2_camera/usb_port_id: * /rosdistro: kinetic * /rosversion: 1.12.14 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [27988] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 4f8ad624-a75a-11eb-bc05-b827eb203c41 process[rosout-1]: started with pid [28001] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [28018] process[camera/realsense2_camera-3]: started with pid [28019] [ INFO] [1619529202.909940366]: Initializing nodelet with 4 worker threads. [ INFO] [1619529203.289425338]: RealSense ROS v2.2.24 [ INFO] [1619529203.289801534]: Built with LibRealSense v2.44.0 [ INFO] [1619529203.290116794]: Running with LibRealSense v2.44.0 [ INFO] [1619529203.445774134]: 27/04 14:13:23,492 ERROR [1765798944] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY [ WARN] [1619529203.503196492]: Device 1/1 failed with exception: failed to set power state [ERROR] [1619529203.504015344]: The requested device with is NOT found. Will Try again. ```

rs-enumerate-devices now shows the RS2_USB_STATUS_BUSY for both sides of the USBC connection.

RealSenseSupport commented 3 years ago

@williamx97 Did you use the original USB cable when get the issue?

williamx97 commented 3 years ago

@RealSenseSupport Yes I am using the original USB cable that came with D435. There are occasional moments where reversing the USB C side seems to work, however most times the RS2_USB_STATUS error message appears on both sides.

RealSenseSupport commented 3 years ago

@williamx97 Did you get such issue if you connect this D435 to other PC like x86 PC with the original cable? Thanks!

williamx97 commented 3 years ago

@RealSenseCustomerSupport I'm not getting the RS2_USB_STATUS error when connected to my x64 laptop. I dont have an x84 laptop handy at the moment. My x64 laptop is running Ubuntu 20.04 and librealsense was not built from source but simply installed using the default sudo apt-get method. It is still using the original cable

RealSenseSupport commented 3 years ago

@williamx97 Did you install ROS wrapper by _sudo apt-get install ros-$ROSDISTRO-realsense2-camera ? According to https://github.com/IntelRealSense/realsense-ros/issues/1187#issuecomment-759367599 , please try the following:

  1. Remove the ros-librealsense2 and realsense2_camera installation: _sudo apt purge ros-melodic-realsense2camera
  2. Rebuild realsense2_camera from code according to https://github.com/IntelRealSense/realsense-ros#step-2-install-intel-realsense-ros-from-sources
RealSenseSupport commented 3 years ago

@williamx97 Any update from your side? Looking forward to your reply. Please note that the ticket will be closed if we don't hear from your for another 7 days. Thanks!

RealSenseSupport commented 3 years ago

@williamx97 Any update from your side? Thanks!

RealSenseSupport commented 3 years ago

@williamx97 Sorry that we don't hear from you for weeks. This issue will be closed. Please create new issue if you still have other questions or issues. Thanks!