search

IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
2.51k stars 1.74k forks source link

Jetson nano with D435i using ros melodic (resource temporarily unavailable) #1164

Closed Ahmedkaramakka closed 4 years ago

Ahmedkaramakka commented 4 years ago

I have been facing a problem with D435i working on jetson nano using the latest image provided by NVIDIA, I will try to give a detailed recap about what I had done so far. I installed ROS melodic following steps provided by ( https://www.jetsonhacks.com/2019/10/23/install-ros-on-jetson-nano/ ) , also I had done the same installing ( Librealsense) following this link ( https://www.jetsonhacks.com/2019/05/16/jetson-nano-realsense-depth-camera/ ) then I suffered a lot with the realsense ros wrapper with error considering the USB and by searching i found issue #1088 discussing the USB parsing so i updated my files and wrote the following instructions ( from installing realsense ros wrapper guide on github)

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc

the problem of USB part appeared to be solved but another problem appears, many time i got the same error exactly as #1161 ( Synthetic Stream Error ) sometimes i got an error saying i am an outframe , that appears when trying to launch rs_camera launch file ( although i made another trial modifying the frame rate to be 15 instead of 30 )

my end goal if camera worked probably is drawing a map using depth to image laser scan package, gmapping, rtabmap , tf ) seeing all of these on rviz while drawing the map

this is a copy of my terminal considering the error when launching the rs_camera launch file

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud unite_imu_method:=linear_interpolation align_depth:=true ... logging to /home/swarm/.ros/log/8ec3d74e-7cba-11ea-a4d6-00044be6a537/roslaunch-swarm-desktop-18985.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.2:44127/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [19000] process[camera/realsense2_camera-2]: started with pid [19001] [ INFO] [1586695544.234080820]: Initializing nodelet with 4 worker threads. [ INFO] [1586695544.668173810]: RealSense ROS v2.2.13 [ INFO] [1586695544.668282353]: Running with LibRealSense v2.32.1 [ INFO] [1586695544.761769709]:
12/04 14:45:45,310 WARNING [546961944960] (types.cpp:49) Accel Sensitivity:hwmon command 0x4f failed. Error type: No data to return (-21). [ INFO] [1586695545.363053047]: Device with serial number 943222073026 was found.

[ INFO] [1586695545.364129209]: Device with physical ID 2-1.3-3 was found. [ INFO] [1586695545.364744114]: Device with name Intel RealSense D435I was found. [ INFO] [1586695545.366602840]: Device with port number 2-1.3 was found.

[ INFO] [1586695545.526058071]: JSON file is not provided [ INFO] [1586695545.526114374]: ROS Node Namespace: camera [ INFO] [1586695545.526168489]: Device Name: Intel RealSense D435I [ INFO] [1586695545.526220834]: Device Serial No: 943222073026 [ INFO] [1586695545.526270835]: Device physical port: 2-1.3-3 [ INFO] [1586695545.526324169]: Device FW version: 05.12.02.100 [ INFO] [1586695545.526395680]: Device Product ID: 0x0B3A [ INFO] [1586695545.526449952]: Enable PointCloud: On [ INFO] [1586695545.526497505]: Align Depth: On [ INFO] [1586695545.526545787]: Sync Mode: On [ INFO] [1586695545.526785165]: Device Sensors: [ INFO] [1586695545.526920480]: Stereo Module was found. [ INFO] [1586695545.526990846]: RGB Camera was found. [ INFO] [1586695545.527052201]: Motion Module was found. [ INFO] [1586695545.527133817]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1586695545.527185432]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1586695545.527236474]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1586695545.527283298]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1586695545.527363924]: Add Filter: pointcloud [ INFO] [1586695545.529134420]: num_filters: 1 [ INFO] [1586695545.529276870]: Setting Dynamic reconfig parameters. [ INFO] [1586695551.163644583]: Done Setting Dynamic reconfig parameters. [ INFO] [1586695551.205119795]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16 [ INFO] [1586695551.205650740]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8 [ INFO] [1586695551.206105747]: infra2 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8 [ INFO] [1586695551.252659786]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8

[ INFO] [1586695551.276790777]: Expected frequency for depth = 15.00000 [ INFO] [1586695551.368180703]: Expected frequency for infra1 = 15.00000 [ INFO] [1586695551.428496513]: Expected frequency for aligned_depth_to_infra1 = 15.00000 [ INFO] [1586695551.486623696]: Expected frequency for infra2 = 15.00000 [ INFO] [1586695551.534821823]: Expected frequency for color = 15.00000 [ INFO] [1586695551.584175331]: Expected frequency for aligned_depth_to_color = 15.00000 [ INFO] [1586695551.631019478]: Start publisher IMU

[ INFO] [1586695551.691953527]: insert Depth to Stereo Module [ INFO] [1586695551.692140301]: insert Color to RGB Camera [ INFO] [1586695551.692236031]: insert Infrared to Stereo Module [ INFO] [1586695551.692331033]: insert Infrared to Stereo Module [ INFO] [1586695551.692415096]: insert Gyro to Motion Module [ INFO] [1586695551.692489473]: insert Accel to Motion Module [ INFO] [1586695551.981750575]: SELECTED BASE:Depth, 0 12/04 14:45:51,994 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1586695552.091294371]: RealSense Node Is Up! 12/04 14:45:52,197 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,258 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,319 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,412 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,473 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,560 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,621 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ERROR] [1586695552.704371890]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info 12/04 14:45:52,706 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,767 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:52,955 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:53,138 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:53,327 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:53,520 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/04 14:45:55,713 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:45:55,714 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:45:56,314 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:45:56,315 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:45:59,583 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:45:59,583 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:45:59,918 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:45:59,918 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:00,114 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:00,115 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:00,314 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:00,314 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:00,782 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:00,782 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:00,982 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:00,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:01,448 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:01,449 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:01,649 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:01,650 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:01,780 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:01,780 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:02,182 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:02,183 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:02,382 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:02,383 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:02,514 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:02,514 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:03,048 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:03,048 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:03,184 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:03,185 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:03,715 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:03,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:03,849 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:03,849 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:04,383 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:04,383 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:04,516 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:04,516 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:04,981 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:04,982 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:05,116 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:05,117 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:05,250 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:05,250 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:05,714 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:05,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:05,848 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:05,848 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:05,983 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:05,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:06,450 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:06,450 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:06,584 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:06,585 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:06,715 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:06,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:07,183 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:07,184 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:07,315 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:07,322 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:07,449 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:07,450 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:07,983 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:07,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 12/04 14:46:08,115 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:08,121 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! ^C 12/04 14:46:08,648 WARNING [545720885632] (types.cpp:49) Out of frame resources! 12/04 14:46:08,649 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!

MartyG-RealSense commented 4 years ago

Hi @Ahmedkaramakka I just wanted to acknowledge that your case has been seen. As you mention, your case is similar to the 'Synthetic Stream Error' case and also resembles other cases involving these errors. I would recommend adding a comment to the Synthetic Stream Error case to make sure that your problem is also highlighted to the RealSense ROS wrapper developer @doronhi there as well.

Other than that, all the advice that I have on this subject is covered in the 'Synthetic Streams' case. Thanks so much for your patience!

Ahmedkaramakka commented 4 years ago

Thanks, @MartyG-RealSense for your comment and time , so do you advise me to put my whole problem as comment in the issue I tagged ? , especially I had mentioned some details that make the case differs from the previous cases like changing the frame rate in the launch file and still got the errors shown

MartyG-RealSense commented 4 years ago

@Ahmedkaramakka It is always very helpful if additional details can be provided that will help the diagnostic process. Thank you very much!

Ahmedkaramakka commented 4 years ago

@MartyG-RealSense sorry for asking too many questions, but do you suggest a certain solution for my problem ?

MartyG-RealSense commented 4 years ago

There is no limit on the number of questions that you can ask, so do not worry. :)

Do you know whether your project can operate correctly on more powerful hardware than the Jetson Nano, please?

Ahmedkaramakka commented 4 years ago

yes, it worked on my laptop but I was using ROS kinetic not melodic

MartyG-RealSense commented 4 years ago

Installing Librealsense on Nano is a trickier process than on a standard PC such as a laptop, as I'm sure you have found!

I re-read this case from the start. It looks as though you installed ROS on the Nano with one guide and Librealsense on the Nano with a different guide. you may have a smoother process if you clean the Nano out and start from the beginning with a single guide for installing both Librealsense and ROS on Nano:

https://github.com/JetsonHacksNano/installRealSenseROS

zrjnz commented 4 years ago

I have the same issue, and the same setup as OP.

I do not want to clean the Nano out for many reasons.

I do not think this is a compatibility issue, it seems like nvidia does not care to provide a solution to this problem.

Do not advertise yourself as multi-platform if I cannot make a simple robotic application with your new/expensive products

MartyG-RealSense commented 4 years ago

@jose-fernando-UB Intel tries very hard to make RealSense work on as many software and hardware platforms as possible. The camera hardware is extremely flexible in terms of the computing devices it will work with, and the SDK software does not include a lot of dependencies that would negatively influence its compatibility with other software.

However, there are a small number of computing device platforms that have more compatibility challenges than others, and this is outside of the RealSense developers' control. Intel tests a lot and encourages developers to publish and contribute their own solutions. In the case of the Nvidia Jetson range, the website 'JetsonHacks' are an especially valuable source for installation guides for the Jetson range (Nano, TX, Xavier).

Problems tend to get ironed out over time as users contribute knowledge, features are added to the RealSense SDK and reference guides emerge. I can appreciate that this may not be of comfort to users who are having problems before such assistance is available. I promise that we always try our best to help community members find solutions though.

Ahmedkaramakka commented 4 years ago

@MartyG-RealSense I tried to install realsense ros from same source as you said ( jetson hacks) but the problem still there this is the copy of the log

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud unite_imu_method:=linear_interpolation align_depth:=true ... logging to /home/swarm/.ros/log/aa64f88e-81ba-11ea-8dbe-00044be6a537/roslaunch-swarm-desktop-11737.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://swarm-desktop:36009/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://swarm-desktop:11311

process[camera/realsense2_camera_manager-1]: started with pid [11752] process[camera/realsense2_camera-2]: started with pid [11753] [ INFO] [1587245140.661627349]: Initializing nodelet with 4 worker threads. [ INFO] [1587245140.982374586]: RealSense ROS v2.2.11 [ INFO] [1587245140.982471726]: Running with LibRealSense v2.32.1 [ INFO] [1587245141.049339852]:
18/04 23:25:41,631 WARNING [547708645760] (types.cpp:49) Accel Sensitivity:hwmon command 0x4f failed. Error type: No data to return (-21). [ INFO] [1587245141.686415431]: Device with serial number 943222073026 was found.

[ INFO] [1587245141.686539343]: Device with physical ID 2-1.3-3 was found. [ INFO] [1587245141.686631431]: Device with name Intel RealSense D435I was found. [ WARN] [1587245141.695701133]: Error extracting usb port from device with physical ID: 2-1.3-3 Please report on github issue at https://github.com/IntelRealSense/realsense-ros

[ INFO] [1587245141.813957116]: JSON file is not provided [ INFO] [1587245141.814201711]: ROS Node Namespace: camera [ INFO] [1587245141.814450681]: Device Name: Intel RealSense D435I [ INFO] [1587245141.814716110]: Device Serial No: 943222073026 [ INFO] [1587245141.814839241]: Device physical port: 2-1.3-3 [ INFO] [1587245141.815087326]: Device FW version: 05.12.02.100 [ INFO] [1587245141.815197331]: Device Product ID: 0x0B3A [ INFO] [1587245141.815313274]: Enable PointCloud: On [ INFO] [1587245141.815431977]: Align Depth: On [ INFO] [1587245141.815534118]: Sync Mode: On [ INFO] [1587245141.816354469]: Device Sensors: [ INFO] [1587245141.816932934]: Stereo Module was found. [ INFO] [1587245141.817151278]: RGB Camera was found. [ INFO] [1587245141.817291701]: Motion Module was found. [ INFO] [1587245141.817459365]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1587245141.817648333]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1587245141.817765526]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1587245141.817876364]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1587245141.818396493]: Add Filter: pointcloud [ INFO] [1587245141.820462633]: num_filters: 1 [ INFO] [1587245141.820635402]: Setting Dynamic reconfig parameters. [ INFO] [1587245147.182577495]: Done Setting Dynamic reconfig parameters. [ INFO] [1587245147.225809377]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1587245147.226562173]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1587245147.227169545]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1587245147.266510202]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1587245147.277681927]: Expected frequency for depth = 30.00000 [ INFO] [1587245147.347425736]: Expected frequency for infra1 = 30.00000 [ INFO] [1587245147.395787287]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1587245147.431720231]: Expected frequency for infra2 = 30.00000 [ INFO] [1587245147.466467077]: Expected frequency for color = 30.00000 [ INFO] [1587245147.502758580]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1587245147.539379630]: Start publisher IMU

[ INFO] [1587245147.607834576]: insert Depth to Stereo Module [ INFO] [1587245147.608426322]: insert Color to RGB Camera [ INFO] [1587245147.608606331]: insert Infrared to Stereo Module [ INFO] [1587245147.608719930]: insert Infrared to Stereo Module [ INFO] [1587245147.608820351]: insert Gyro to Motion Module [ INFO] [1587245147.608922908]: insert Accel to Motion Module [ INFO] [1587245147.922424668]: SELECTED BASE:Depth, 0 18/04 23:25:47,977 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 18/04 23:25:48,037 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1587245148.138380259]: RealSense Node Is Up! 18/04 23:25:48,175 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 18/04 23:25:48,236 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 18/04 23:25:48,352 ERROR [547063062912] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 18/04 23:25:48,461 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 18/04 23:25:48,646 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 18/04 23:25:48,832 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 18/04 23:25:49,196 WARNING [547390214528] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 23, [ WARN] [1587245149.206872695]: Hardware Notification:IR stream start failure,1.58725e+12,Error,Hardware Error [ERROR] [1587245149.207303496]: Hardware Reset is needed. use option: initial_reset:=true 18/04 23:25:49,209 WARNING [547390214528] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 9, 18/04 23:25:50,176 ERROR [547037884800] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130 18/04 23:25:50,351 ERROR [547063062912] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 18/04 23:25:50,362 WARNING [546376094080] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 131 error: Device or resource busy, number: 16 18/04 23:25:50,362 ERROR [546376094080] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,372 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,383 WARNING [547037884800] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: Device or resource busy, number: 16 18/04 23:25:50,392 WARNING [547037884800] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 130 error: Device or resource busy, number: 16 18/04 23:25:50,392 ERROR [547037884800] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,400 WARNING [547037884800] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 130 error: Device or resource busy, number: 16 18/04 23:25:50,401 ERROR [547037884800] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,411 WARNING [547063062912] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: Device or resource busy, number: 16 18/04 23:25:50,419 WARNING [546376094080] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 131 error: Device or resource busy, number: 16 18/04 23:25:50,419 ERROR [546376094080] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,430 WARNING [547063062912] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: Device or resource busy, number: 16 18/04 23:25:50,430 ERROR [547063062912] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,437 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,446 WARNING [547381821824] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 134 error: Device or resource busy, number: 16 18/04 23:25:50,446 ERROR [547381821824] (hid-device.cpp:153) failed to submit UVC request 18/04 23:25:50,454 WARNING [547063062912] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: Device or resource busy, number: 16 18/04 23:25:50,454 ERROR [547063062912] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 18/04 23:25:50,463 WARNING [547599933824] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 135 error: Device or resource busy, number: 16 18/04 23:25:50,496 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,506 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,573 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,582 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,645 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,653 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,714 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,722 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,782 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,791 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,851 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,859 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,920 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,928 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,988 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:50,997 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,057 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,066 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,126 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,135 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,195 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,203 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,263 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,273 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,332 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,342 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,401 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,410 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,470 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,479 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,538 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,548 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,607 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,617 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,676 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,686 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,745 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,755 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,814 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,823 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,883 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,893 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,952 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:51,962 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,021 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,031 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,090 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,100 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,159 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,168 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,227 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,237 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,297 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,306 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,366 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,375 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:52,435 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,444 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 [camera/realsense2_camera-2] killing on exit [camera/realsense2_camera_manager-1] killing on exit 18/04 23:25:52,504 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,516 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,575 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,584 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:52,653 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,663 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,722 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,734 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,737 WARNING [547037884800] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 130 error: Device or resource busy, number: 16 18/04 23:25:52,738 WARNING [547037884800] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 130 error: Device or resource busy, number: 16 18/04 23:25:52,757 WARNING [547037884800] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: Device or resource busy, number: 16 ^C 18/04 23:25:52,773 WARNING [546376094080] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 131 error: Device or resource busy, number: 16 18/04 23:25:52,773 WARNING [546376094080] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 131 error: Device or resource busy, number: 16 18/04 23:25:52,782 WARNING [546376094080] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 131, error: Device or resource busy, number: 16 18/04 23:25:52,799 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,810 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,858 WARNING [547063062912] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 132 error: Device or resource busy, number: 16 18/04 23:25:52,858 WARNING [547063062912] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 132 error: Device or resource busy, number: 16 18/04 23:25:52,895 WARNING [547063062912] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: Device or resource busy, number: 16 18/04 23:25:52,895 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,906 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:52,946 WARNING [547381821824] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 134 error: Device or resource busy, number: 16 18/04 23:25:52,965 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:52,980 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,039 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,049 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,109 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,119 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:53,179 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,189 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,261 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,270 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:53,342 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,358 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,420 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,436 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:53,497 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,523 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,589 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,598 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,666 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,675 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,735 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,744 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,804 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,817 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,879 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,906 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:53,965 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:53,975 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:54,034 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,058 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:54,119 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,128 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,187 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,203 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:54,274 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,284 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,344 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,358 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,426 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:54,455 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,515 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,527 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,621 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,630 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,690 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:54,736 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,795 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,805 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,877 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,886 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,954 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:54,965 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,027 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,053 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:55,112 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,138 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,198 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,214 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,273 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,283 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,341 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:55,356 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,416 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,425 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,485 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,494 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,565 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,574 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,643 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,670 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,729 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,738 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,799 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,809 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:55,871 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:55,879 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:55,939 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:55,963 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:56,022 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,034 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C^C 18/04 23:25:56,119 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,127 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:56,188 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,199 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,258 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,271 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:56,333 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,362 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,420 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,434 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,501 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:56,525 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,597 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,606 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,675 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,685 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:56,751 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,760 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,819 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,831 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,891 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,907 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:56,966 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:56,976 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,035 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,050 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,111 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,126 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:57,188 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,197 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,257 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,266 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,325 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,335 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,394 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,404 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,463 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,494 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,553 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,563 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,633 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,642 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:57,711 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,722 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:57,781 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C 18/04 23:25:57,793 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:57,853 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 18/04 23:25:57,862 WARNING [547599933824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16 ^C^C 18/04 23:25:57,914 WARNING [547574755712] (types.cpp:49) get_xu(id=7) failed! Last Error: Success 18/04 23:25:57,914 ERROR [547574755712] (error-handling.cpp:68) Error during polling error handler: get_xu(id=7) failed! Last Error: Success 18/04 23:25:57,924 WARNING [547691860352] (types.cpp:49) set_xu(ctrl=1) failed! Last Error: Success 18/04 23:25:57,925 WARNING [547599933824] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 135 error: Device or resource busy, number: 16 18/04 23:25:57,943 ERROR [547691860352] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Success terminate called without an active exception

MartyG-RealSense commented 4 years ago

@Ahmedkaramakka At the moment, the standard advice that I am giving for the various cases involving control_transfer returned errors is to try using the camera with a mains electricity powered USB 3 hub if you have one or can obtain one.

Otherwise, the only other course of action is to await a response from the RealSense ROS wrapper developer, as I am on the RealSense GitHub support team and not the developer team, and so regrettably have no means to provide a solution through programming. I truly understand the frustration that you must be experiencing and appreciate your patience.

Ahmedkaramakka commented 4 years ago

@MartyG-RealSense it is really frustrating, as I changed the files and tried many suggestions provided in many issues comments, I really hope to get a reply from the developer team as soon as possible but I want to assure that I do appreciate your help and your time

Ahmedkaramakka commented 4 years ago

@jose-fernando-UB did you try to contact NVIDIA for that issue ?

zrjnz commented 4 years ago

@Ahmedkaramakka No I haven't, but maybe someone should given how common this problem is..

zrjnz commented 4 years ago

@doronhi

Caveats commented 4 years ago

Hey - so i've hit this issue too (and thanks @jose-fernando-UB all for your sleuthing and @MartyG-RealSense for the updates). I guess all we can ask is for this to be expedited.

I've seen elsewhere some points along the same lines: e.g. https://github.com/IntelRealSense/realsense-ros/issues/1161 and #1110 and #2045

Hardware consideration

If you are still experiencing these errors, I would recommend investigating the possibility of using a mains electricity powered USB 3 hub to increase USB port stability if your project allows it (for example, it is not a mobile robot that would be unsuited to being tethered to a wall power socket).

Otherwise, the situation may require programming additions from the RealSense developers to reduce the likelihood of errors such as control_transfer returned occurring. So I will close the case, as the developers are aware of the problem and are likely investigating it.

On the hardware front just a word of caution -

is to try using the camera with a mains electricity powered USB 3 hub if you have one or can obtain one.

I'm using a realsense 435i and have had similar issues with "Exception...processing callback! Whilst i'm planning on flashing and trying a fresh CUDA install and Kernel update - as well as getting some of the refresh issues running on a Jetson Nano B01

But it looks like the USB may be a factor:

1) Its basically using the entire bandwidth / data capacity of the USB C -

https://github.com/IntelRealSense/librealsense/issues/2045

2) USB C powered may well help - but this ties into a lot of experience from other Devs. https://software.intel.com/en-us/forums/realsense/topic/557823

I'd been hoping to be able to run a cable to my window from the Jetson Nano to use the outdoor space to map against a static view. However it looks like a longer cable - in part due to quality and that the USB-C is running at both power and data capacity - that this is advised against.

So I suspect for £15-30 GBP this will solve some of the issues (will report back). I already bridged the Nano power supply for this - but its a known issue for the Realsesne and the power limitations of the Nano (basically the Nano can happily use all it's PSU input -

(Couldn't find source - but is in my developer / install notes) - "I am currently using the Micro USB connection powered with a 5v 2.1 amp plug, which I believe is adequate for running the system. I find the nano slows to a crawl when running “roslaunch realsense2_camera rs_camera.launch” and when trying to run realsense-viewer it crashes entirely after about 20 seconds. The camera (D415) is being powered exclusively from the usb 3.0 cable connecting it to the Nano."

"The Jetson alone can easily use 2A @ 5V if you are in 10W mode. There isn’t enough power to run both the Jetson and the RealSense simultaneously from the power supply that you are using."

3) Don't use a long cable ! Instead bridge the node (sensor) to the processor....

4) Install CUDA and make processing load / lightweight.

5) Hope for a Realsense fix.

6) Sacrifice a first born for a simple fix script via JetsonHacks.

I'm going to order some USB - C powered mains - and can advise on this - but this seems to be a mix of Hardware / Software issues but given this impacts the raw input (into USB-C > Device - there's not too much we can do but test and wait).

For reference this also helps to explain USB-C in more detail. computerworld.com/article/2488194/usb-c-explained-how-to-get-the-most-from-it-and-why-its-great.html

I've previously had issues with USB-C hardware not being up to scratch (Custom built PC) due to power and the USB interface (computer side). I've also seen some other threads based on the interface on the computer side not being able to support the data rate on other Realsense Cam + Single board comp. setups.

TLDR - the pipe is full and the device may not have enough power. Add power - Wait for fix (its a well known issue with the Jetson use case (but seriously fix this ASAP please!) or if you can't there seem to be some workarounds that reduce the overhead on the data - but at the expense of data - e.g. fewer frames - etc.

Finally there are some posts about reducing the frame rate of the Realsense Cam itself - but this is beyond me. (for now and also RealSense have fairly stated that due to the need to test all of these settings if it's a default config - e.g. 24fps) it creates a really big UAT bottleneck and testing overhead.

It might be the way they go - but engineers are going to engineer.

Hope that helps - happy for this post to be sanitised where relevant.

Caveats commented 4 years ago

Potentially off-topic - but I was able to get ROS Melodic and RVIZ running RTAB map on a B01 instance.

What's really odd is that on one run - it chewed up all the resources - and reduced to 7FPS. On the second run - it worked for a time then crashed.

I've run the same SDK via Win10 on a surface pro3 as well as via a Core i7 with a boat load of resources. On the Win10 sp3 - low power mode / or any other apps - had a tendency to crash the SDK. On the main machine - with a secondary power source to the USB 3 ports - no issues.

So my best guess is try the power - avoid the cable - and look at a custom / install from binary melodic install as per Jetson hacks (fewest problems before I managed to break the kernel).

Also I'm on my third Flashing of the Jetson - the issue seems to lie somewhat with ROS implementation of RealSense - in particular the ROS2 release. Whereas the viewer happily streams data. It may be possible to use the Realsense Viewer / SDK2.0 to generate a BAG file and run that way (not ideal - but gives you a raw input file to playback and tinker with).

This is the direction I'm considering taking as a stopgap - use a 10GB ROS Bag file and push it into ROS for playback - as if it was the sensor input. Not ideal but removes the blocker.

Hope this is all helpful.

Caveats commented 4 years ago

Finally I also get what appears to be a memory leak - where the ROS node for Realsense gradually consumes all RAM on the Jetson Nano.

source /opt/ros/dashing/setup.bash source ~/ros2_ws/install/local_setup.bash

console #1 launch rviz2

ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz

console #2 launch realsense_ros2_camera

ros2 run realsense_ros2_camera realsense_ros2_camera aku@aku-desktop:~$ ros2 run realsense_ros2_camera realsense_ros2_camera

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

Approx ten mins running (despite no data being published into nodes due to crash / above issue - or sporadic via ROS1 Melodic instance)

So it could be as _"simple"_as the ROS Wrapper misbehaving. Happy to issue some reproducible steps or assist with validation if helpful.

MartyG-RealSense commented 4 years ago

@Caveats Thanks so much for your extensive and detailed feedback and suggestions!

Cabling distances of 100 meters can be achieved with the right equipment. For example, a USB cable with 'repeater' technology built into it can go up to a recommended maximum length of 20 m. 100 m can be achieved with fiber optic cabling. The video below by the RealSense supporting industrial-grade USB equipment supplier Newnex illustrates this.

https://youtube.com/watch?v=GLQgR1jT04M

Alternatively, distance can be extended beyond 30 m with ethernet cabling. An example is the 'EtherSense' project:

https://github.com/krejov100/EtherSense

Caveats commented 4 years ago

@MartyG-RealSense - This looks incredible! Thank you so much.

MartyG-RealSense commented 4 years ago

Hi @Caveats Is it okay to close this case now if you have no further problems? Thanks!

MartyG-RealSense commented 4 years ago

Case closed due to no further comments received.