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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
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Not able to run D435i and T265 at the same time on RPI4 #1149

Closed espentrydal closed 3 years ago

espentrydal commented 4 years ago

Hi, I am trying to run the D435i and T265 at the same time on the Raspberry Pi 4 (plan to use the T265 to provide visual odometry for Ardupilot). I can start one node, but the second one will fail. Both if I start them separately in different terminals and if I start them together.

Thinking the difficulty could be linked to #1051 I've upgraded to the latest development version of both librealsense2 and realsense-ros to get the fix in #1088

Both cameras works with realsense-viewer, with a bit of lag. But realsense-viewer itself takes quite a lot of CPU resources, so I was hoping it would go smoother with just ROS.

Info  
Camera Models D435i and T265
Firmware Versions 05.12.03.00 and 0.2.0.926
Operating System & Version Rasbian Buster
Kernel Version (Linux Only) 4.19.83-emlid-v7l
Platform Raspberry Pi 4 (Memory 4G)
SDK Version 2.34.0
ROS verision Melodic

`Device info: Name : Intel RealSense D435I Serial Number : 841512070397 Firmware Version : 05.12.03.00 Recommended Firmware Version : 05.12.03.00 Physical Port : 2-1-7 Debug Op Code : 15 Advanced Mode : YES Product Id : 0B3A Camera Locked : YES Usb Type Descriptor : 3.2 Product Line : D400 Asic Serial Number : 903223053974 Firmware Update Id : 903223053974

Device info: Name : Intel RealSense T265 Serial Number : 845412111494 Firmware Version : 0.2.0.926 Physical Port : 2-2-8 Product Id : 0B37 Usb Type Descriptor : 3.1 Product Line : T200`

First I start the D435i with these parameters to try to limit the bandwidth: roslaunch realsense2_camera rs_camera.launch camera:=d435 serial_no:=... filters:=pointcloud enable_infra 1:=false enable_infra2:=false depth_width:=480 depth_height:=270 color_width:=424 color_height:=240 depth_fps:=15 color_fps:=15 unite_imu_method:=false enable_color:=true enable_gyro:=true enable_accel:=true gyro_fps:=200 accel_fps:=63 initial_reset:=tru e align_depth:=true

I get a couple of warnings linked to lack of calibration and then at the end: 01/04 10:07:39,633 WARNING [2701108240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 It streams images ok.

In another terminal I then run roslaunch realsense2_camera rs_t265.launch camera:=camera serial_no:=...

I get:

[ INFO] [1585732188.531716746]: RealSense ROS v2.2.12 [ INFO] [1585732188.531849298]: Running with LibRealSense v2.34.0 [ INFO] [1585732188.588640383]: 01/04 10:09:48,617 ERROR [2769273872] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY terminate called after throwing an instance of 'rs2::error' what(): failed to set power state [camera/realsense2_camera_manager-1] process has died [pid 2170, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/pi/.ros/log/322e9afc-73f8-11ea-ac23-dca63243a60b/camera-realsense2_camera_manager-1.log]. log file: /home/pi/.ros/log/322e9afc-73f8-11ea-ac23-dca63243a60b/camera-realsense2_camera_manager-1*.log

In the other terminal I get

ERROR [2646598672] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 01/04 10:19:39,932 ERROR [2646598672] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) [ERROR] [1585732167.649643240]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info

camera-realsense2_camera-2-stdout.log: ESC[0m[ INFO] [1585732187.674162165]: Loading nodelet /camera/realsense2_camera of type realsense2_camera/RealSenseNodeFactory to manager realsense2_camera_manager with the following remappings:ESC[0m ESC[0m[ INFO] [1585732187.703471306]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] could not connect to host [navio.lan:58877], waiting...ESC[0m ESC[0m[ INFO] [1585732187.772366334]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] is now available.ESC[0m ESC[0m[ INFO] [1585732198.607606035]: Bond broken, exitingESC[0m

camera-realsense2_camera_manager-1*.log does not exist. Let me know if you want me to publish any other logs.

Any way to fix this or is this just too much for the RPi4?

Jenny0420 commented 4 years ago

i have some error on ubuntu16.04 + realsense D435 jonas@jonas-lenovo-ideapad-s410:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/jonas/.ros/log/36075f3a-9395-11ea-8675-28e34769b836/roslaunch-jonas-lenovo-ideapad-s410-16836.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://jonas-lenovo-ideapad-s410:34735/

SUMMARY

PARAMETERS

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

auto-starting new master process[master]: started with pid [16846] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36075f3a-9395-11ea-8675-28e34769b836 process[rosout-1]: started with pid [16859] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [16876] process[camera/realsense2_camera-3]: started with pid [16877] [ INFO] [1589207966.225313650]: Initializing nodelet with 4 worker threads. [ INFO] [1589207966.529435847]: RealSense ROS v2.2.13 [ INFO] [1589207966.529489486]: Running with LibRealSense v2.34.0 [ INFO] [1589207966.545220654]:
[ INFO] [1589207966.558436358]: Device with serial number 944622074350 was found.

[ INFO] [1589207966.558499894]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/video4linux/video1 was found. [ INFO] [1589207966.558520155]: Device with name Intel RealSense D435 was found. [ INFO] [1589207966.559147101]: Device with port number 3-2 was found.

[ INFO] [1589207966.651912396]: JSON file is not provided [ INFO] [1589207966.651943875]: ROS Node Namespace: camera [ INFO] [1589207966.651986319]: Device Name: Intel RealSense D435 [ INFO] [1589207966.652015447]: Device Serial No: 944622074350 [ INFO] [1589207966.652040918]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/video4linux/video1 [ INFO] [1589207966.652068573]: Device FW version: 05.12.03.00 [ INFO] [1589207966.652092333]: Device Product ID: 0x0B07 [ INFO] [1589207966.652113016]: Enable PointCloud: Off [ INFO] [1589207966.652137043]: Align Depth: Off [ INFO] [1589207966.652157703]: Sync Mode: Off [ INFO] [1589207966.652275413]: Device Sensors: [ INFO] [1589207966.652351278]: Stereo Module was found. [ INFO] [1589207966.652394229]: RGB Camera was found. [ INFO] [1589207966.652446225]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652470680]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652497041]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652522477]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652537850]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652551852]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589207966.652578848]: num_filters: 0 [ INFO] [1589207966.652601112]: Setting Dynamic reconfig parameters. [ INFO] [1589207966.714569169]: Done Setting Dynamic reconfig parameters. [ INFO] [1589207966.725735090]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1589207966.726133188]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589207966.726432596]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589207966.746956159]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1589207966.750498060]: Expected frequency for depth = 30.00000 [ INFO] [1589207966.789951170]: Expected frequency for infra1 = 30.00000 [ INFO] [1589207966.825508060]: Expected frequency for infra2 = 30.00000 [ INFO] [1589207966.862004847]: Expected frequency for color = 30.00000

[ INFO] [1589207966.905450339]: insert Depth to Stereo Module [ INFO] [1589207966.905531736]: insert Color to RGB Camera [ INFO] [1589207966.905595440]: insert Infrared to Stereo Module [ INFO] [1589207966.905683457]: insert Infrared to Stereo Module [ INFO] [1589207966.936453883]: SELECTED BASE:Depth, 0 [ INFO] [1589207966.954534546]: RealSense Node Is Up! 11/05 22:39:27,158 ERROR [140028416096000] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 11/05 22:39:27,359 ERROR [140028416096000] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs)

RealSenseSupport commented 3 years ago

Hi,

Will you be needing further help with this? If we don’t hear from you in 7 days, this issue will be closed.

Thanks