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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Subscribe PointCloud2 topic gives error #1181

Closed brsbilgin closed 4 years ago

brsbilgin commented 4 years ago

When I start to subscribe /camera/depth/color/points topic it starts give error on bellow. When I stopped read topic it stops to give error.

25/04 22:18:16,033 ERROR [546022039936] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 25/04 22:18:16,100 WARNING [546022039936] (types.cpp:49) Out of frame resources! 25/04 22:18:16,100 ERROR [546022039936] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 25/04 22:18:16,133 WARNING [546022039936] (types.cpp:49) Out of frame resources! 25/04 22:18:16,133 ERROR [546022039936] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 25/04 22:18:16,399 WARNING [546022039936] (types.cpp:49) Out of frame resources! 25/04 22:18:16,400 ERROR [546022039936] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 25/04 22:18:16,433 WARNING [546022039936] (types.cpp:49) Out of frame resources! 25/04 22:18:16,433 ERROR [546022039936] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 25/04 22:18:16,500 WARNING [546022039936] (types.cpp:49) Out of frame resources

MartyG-RealSense commented 4 years ago

Hi @brsbilgin It looks like this case may be related to an issue with synthetic stream errors that does not have a clear solution at the time of writing this.

https://github.com/IntelRealSense/realsense-ros/issues/1161

I will quote some advice from that discussion that was provided by @doronhi the RealSense ROS wrapper developer:

"The "Out of frame resources!" message and the "Exception...processing callback!" could be related to ... lack of system resources - the app can't keep up with the incoming flow of images. For that you can reduce frame rate and resolution. Building with CUDA support should really help in that case on NVidia machines".

A RealSense user gave advice on testing whether reducing frame rate would help by adjusting the FPS in the launch file:

https://github.com/IntelRealSense/realsense-ros/issues/1037#issuecomment-573976862

brsbilgin commented 4 years ago

Hi @MartyG-RealSense . I will check the #1161 . The realsense is already build with CUDA support. The fps is already decreased to 15.

MartyG-RealSense commented 4 years ago

@brsbilgin Okay, thank you very much for the update. I look forward to hearing from you again after you have read https://github.com/IntelRealSense/realsense-ros/issues/1161

jorgemiar commented 4 years ago

I also get the following when launching with pointcloud on, on a Jetson Nano. I first get the control transfer error when launching the node (I know the devs are aware of this) and then when I visualize the pointcloud in rviz I start getting the callback error (which I imagine has to do with the framerate/resolution). This callback error, however, doesn't happen all the time, could it be affected by whatever there is in the scene?

Also, if I kill the node using ctrl+c and then try and launch it again, I start getting uvc device warnings and Hardware Errors. (See second code snippet)

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /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: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: True
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/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: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /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_width: 640
 * /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/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/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: melodic
 * /rosversion: 1.14.5

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

auto-starting new master
process[master]: started with pid [9694]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 07dfc50c-8eae-11ea-bbe2-a4c3f0efbe1a
process[rosout-1]: started with pid [9764]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9776]
process[camera/realsense2_camera-3]: started with pid [9779]
[ INFO] [1588668873.824269159]: Initializing nodelet with 4 worker threads.
[ INFO] [1588668874.267734211]: RealSense ROS v2.2.13
[ INFO] [1588668874.267830929]: Running with LibRealSense v2.33.1
[ INFO] [1588668874.326608325]:  
[ INFO] [1588668874.961100200]: Device with serial number 943222071439 was found.

[ INFO] [1588668874.961261867]: Device with physical ID 2-1.3-4 was found.
[ INFO] [1588668874.961319731]: Device with name Intel RealSense D435I was found.
[ INFO] [1588668874.962666294]: Device with port number 2-1.3 was found.
[ INFO] [1588668874.980974158]: getParameters...
[ INFO] [1588668875.088687440]: setupDevice...
[ INFO] [1588668875.089070200]: JSON file is not provided
[ INFO] [1588668875.089329783]: ROS Node Namespace: camera
[ INFO] [1588668875.089414575]: Device Name: Intel RealSense D435I
[ INFO] [1588668875.089483377]: Device Serial No: 943222071439
[ INFO] [1588668875.089543742]: Device physical port: 2-1.3-4
[ INFO] [1588668875.089607127]: Device FW version: 05.12.03.00
[ INFO] [1588668875.089664210]: Device Product ID: 0x0B3A
[ INFO] [1588668875.089725981]: Enable PointCloud: On
[ INFO] [1588668875.089794106]: Align Depth: Off
[ INFO] [1588668875.089852856]: Sync Mode: On
[ INFO] [1588668875.090004835]: Device Sensors: 
[ INFO] [1588668875.090246242]: Stereo Module was found.
[ INFO] [1588668875.090536762]: RGB Camera was found.
[ INFO] [1588668875.090877492]: Motion Module was found.
[ INFO] [1588668875.091196919]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588668875.091453794]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588668875.091700148]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588668875.091942752]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588668875.092215148]: Add Filter: pointcloud
[ INFO] [1588668875.094289367]: num_filters: 1
[ INFO] [1588668875.094442440]: Setting Dynamic reconfig parameters.
[ INFO] [1588668880.454961708]: Done Setting Dynamic reconfig parameters.
[ INFO] [1588668880.536503948]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1588668880.537549573]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1588668880.538409938]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1588668880.580492125]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1588668880.581938531]: setupPublishers...
[ INFO] [1588668880.590954677]: Expected frequency for depth = 30.00000
[ INFO] [1588668880.611646500]: Expected frequency for infra1 = 30.00000
[ INFO] [1588668880.618934000]: Expected frequency for infra2 = 30.00000
[ INFO] [1588668880.624520406]: Expected frequency for color = 30.00000
[ INFO] [1588668880.643872021]: setupStreams...
[ INFO] [1588668880.697555198]: insert Depth to Stereo Module
[ INFO] [1588668880.698579937]: insert Color to RGB Camera
[ INFO] [1588668880.699322281]: insert Infrared to Stereo Module
[ INFO] [1588668880.699890198]: insert Infrared to Stereo Module
[ INFO] [1588668880.968208167]: SELECTED BASE:Depth, 0
[ INFO] [1588668881.020960875]: RealSense Node Is Up!
 05/05 10:54:41,080 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,140 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,267 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,327 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,414 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,605 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 10:54:41,791 WARNING [547717366144] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ERROR] [1588668885.817056029]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668885.912733373]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668886.767952852]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668906.831459482]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668907.058850750]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668907.236169823]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668907.476341635]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668907.833710561]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668908.271518750]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668908.734068817]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668909.042562583]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668909.139650646]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668909.338792603]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668910.132610603]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668910.567999897]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668910.591703802]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668911.207258630]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668911.625273445]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668913.575379697]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668913.755960324]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668913.852746059]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668913.998471195]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668914.154372476]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668914.380306290]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
 05/05 10:55:14,559 ERROR [547297927552] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
[ERROR] [1588668914.568947153]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668914.646829500]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ WARN] [1588668914.732912364]: No stream match for pointcloud chosen texture Process - Color
[ERROR] [1588668915.238877252]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668915.366335921]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668915.475236280]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668915.538891670]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1588668915.716698068]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info

Second time running the node:

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /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: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: True
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/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: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /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_width: 640
 * /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/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/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: melodic
 * /rosversion: 1.14.5

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

auto-starting new master
process[master]: started with pid [11652]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a54d4ec6-8eaf-11ea-84f2-a4c3f0efbe1a
process[rosout-1]: started with pid [11663]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [11670]
process[camera/realsense2_camera-3]: started with pid [11671]
[ INFO] [1588669566.515893586]: Initializing nodelet with 4 worker threads.
[ INFO] [1588669566.644224148]: RealSense ROS v2.2.13
[ INFO] [1588669566.644321545]: Running with LibRealSense v2.33.1
[ INFO] [1588669566.698950753]:  
 05/05 11:06:06,893 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 13, 
 05/05 11:06:06,897 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 12, 
 05/05 11:06:06,901 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 11, 
 05/05 11:06:06,905 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 20, 
[ INFO] [1588669567.262557335]: Device with serial number 943222071439 was found.

[ INFO] [1588669567.262723067]: Device with physical ID 2-1.3-6 was found.
[ INFO] [1588669567.262784735]: Device with name Intel RealSense D435I was found.
[ INFO] [1588669567.264155800]: Device with port number 2-1.3 was found.
[ INFO] [1588669567.281726358]: getParameters...
[ INFO] [1588669567.397858169]: setupDevice...
[ INFO] [1588669567.397957077]: JSON file is not provided
[ INFO] [1588669567.398014161]: ROS Node Namespace: camera
[ INFO] [1588669567.398071714]: Device Name: Intel RealSense D435I
[ INFO] [1588669567.398119579]: Device Serial No: 943222071439
[ INFO] [1588669567.398175622]: Device physical port: 2-1.3-6
[ INFO] [1588669567.398221248]: Device FW version: 05.12.03.00
[ INFO] [1588669567.398274582]: Device Product ID: 0x0B3A
[ INFO] [1588669567.398320364]: Enable PointCloud: On
[ INFO] [1588669567.398364792]: Align Depth: Off
[ INFO] [1588669567.398430262]: Sync Mode: On
[ INFO] [1588669567.398565420]: Device Sensors: 
[ INFO] [1588669567.398730944]: Stereo Module was found.
[ INFO] [1588669567.398822560]: RGB Camera was found.
[ INFO] [1588669567.398895061]: Motion Module was found.
[ INFO] [1588669567.398991469]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588669567.399045064]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588669567.399089856]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588669567.399134649]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1588669567.399211994]: Add Filter: pointcloud
[ INFO] [1588669567.400735926]: num_filters: 1
[ INFO] [1588669567.400832750]: Setting Dynamic reconfig parameters.
 05/05 11:06:07,785 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 23, 
 05/05 11:06:07,817 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 3, 
 05/05 11:06:08,869 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 23, 
[ INFO] [1588669572.791108401]: Done Setting Dynamic reconfig parameters.
[ INFO] [1588669572.850929617]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1588669572.851864529]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1588669572.852608187]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1588669572.895019162]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1588669572.895860947]: setupPublishers...
[ INFO] [1588669572.901992249]: Expected frequency for depth = 30.00000
[ INFO] [1588669572.915471330]: Expected frequency for infra1 = 30.00000
[ INFO] [1588669572.920532822]: Expected frequency for infra2 = 30.00000
[ INFO] [1588669572.925003574]: Expected frequency for color = 30.00000
[ INFO] [1588669572.932464637]: setupStreams...
[ INFO] [1588669572.985419436]: insert Depth to Stereo Module
[ INFO] [1588669572.985590064]: insert Color to RGB Camera
[ INFO] [1588669572.985668815]: insert Infrared to Stereo Module
[ INFO] [1588669572.985731264]: insert Infrared to Stereo Module
[ INFO] [1588669573.261214757]: SELECTED BASE:Depth, 0
[ INFO] [1588669573.311295080]: RealSense Node Is Up!
 05/05 11:06:13,612 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 05/05 11:06:13,672 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1588669573.802277878]: Hardware Notification:IR stream start failure,1.58867e+12,Error,Hardware Error
 05/05 11:06:14,341 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 22, 
 05/05 11:06:14,361 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/05 11:06:14,495 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
 05/05 11:06:14,556 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/05 11:06:14,780 WARNING [547465716096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1588669574.823336777]: Hardware Notification:Depth stream start failure,1.58867e+12,Error,Hardware Error
 05/05 11:06:15,301 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 12, 
 05/05 11:06:15,570 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 23, 
[ WARN] [1588669575.850858111]: Hardware Notification:IR stream start failure,1.58867e+12,Error,Hardware Error
 05/05 11:06:16,184 ERROR [546912059776] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 05/05 11:06:17,314 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 12, 
 05/05 11:06:17,638 WARNING [547631329664] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 23, 
[ WARN] [1588669577.888453042]: Hardware Notification:IR stream start failure,1.58867e+12,Error,Hardware Error
 05/05 11:06:18,534 WARNING [546534584704] (types.cpp:49) Out of frame resources!
 05/05 11:06:18,534 ERROR [546534584704] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
 05/05 11:06:18,603 WARNING [546534584704] (types.cpp:49) Out of frame resources!
 05/05 11:06:18,603 ERROR [546534584704] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
 05/05 11:06:18,670 WARNING [546534584704] (types.cpp:49) Out of frame resources!
 05/05 11:06:18,670 ERROR [546534584704] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
 05/05 11:06:18,900 WARNING [546534584704] (types.cpp:49) Out of frame resources!
 05/05 11:06:18,901 ERROR [546534584704] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
 05/05 11:06:18,968 WARNING [546534584704] (types.cpp:49) Out of frame resources!
MartyG-RealSense commented 4 years ago

@jorgemia The link below has advice from @doronhi the RealSense ROs wrapper developer about the set of errors that you are receiving. Like you and the Nano, the user in that case similarly had a low-power single board computer (the Up Board - the original humble-spec model and not the later and more powerful Up Squared).

https://github.com/IntelRealSense/realsense-ros/issues/715#issuecomment-479855525

MartyG-RealSense commented 4 years ago

@jorgemia Do you still require further assistance with the errors that you were experiencing, please?

jorgemiar commented 4 years ago

@MartyG-RealSense just waiting for the errors to be fixed.

MartyG-RealSense commented 4 years ago

You could try disabling the infra2 channel to save some processing, by using enable_infra2:=false

It saves on USB transportation and kernel work, according to Doronhi the RealSense ROS wrapper developer. Doronhi adds "It will have no effect on the depth quality. It only disables the infra2 images' transmission via the USB port. They are still taken and the depth is calculated using them inside the device".

If you are able to successfully generate a point cloud but are continuously generating errors, a "dirty" workaround may be to disable on-screen error logging in ROS.

https://github.com/IntelRealSense/librealsense/issues/6347#issuecomment-625149967

Other advice I could give has already been posted earlier in this discussion, unfortunately.

doronhi commented 4 years ago

Regarding the stream start failure on the second run, I encountered something similar and fixed it in #1202 . I didn't manage to check it on Jetson Nano yet. Will be happy to know if it fixed it for you.

jorgemiar commented 4 years ago

@doronhi yes that PR fixed the issue I used to encounter on a second run! Thanks! FYI though, I get the follow libusb warning when shutting down the node now:

^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
 18/05 10:27:38,984 WARNING [546919031168] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 130 error: Success, number: 0
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
MartyG-RealSense commented 4 years ago

Case closed due to no further comments received. @jorgemia please create a new issue if you are still receiving a libusb warning and require support for that issue.