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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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Raspberry Pi Buster + D435i results in multiple error on USB bus and restarts the camera atleasts once #1182

Closed echoGee closed 4 years ago

echoGee commented 4 years ago

I have run the realsense-viewer which runs fine.

Running

roslaunch realsense2_camera demo_pointcloud.launch

results in rviz crashing.

Console log: demo_launch_25Apr2020.txt

So removed rviz from the launch file and ran

roslaunch realsense2_camera demo_withoutRVIZ_pointcloud.launch pointcloud_texture_stream:=RS2_STREAM_COLOR

Console log: demo_launch_withoutRviz_25Apr2020.txt

This also results in multiple bus errors. The images and depth map(Non-colored) topic is published.

Output of command rs-color Output of command rs-enumerate-devices.txt

MartyG-RealSense commented 4 years ago

I have researched your case very carefully. I found a case with a similar setup to yours (Rpi4, Buster, ROS Melodic, SDK 2.34.0) in which the user in that cases was experiencing similar errors to the ones that you did when using RViz.

https://github.com/IntelRealSense/realsense-ros/issues/1149

There is currently no solution available on that linked-to case though.

Could you please try the point cloud demo in the ROS wrapper instructions that uses this launch instruction:

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

https://github.com/IntelRealSense/realsense-ros#rgbd-point-cloud

Does this launch setting enable you to see a point cloud once you open RViz please?

echoGee commented 4 years ago

Tried roslaunch realsense2_camera rs_camera.launch filters:=pointcloud . But does not output color pixels.

MartyG-RealSense commented 4 years ago

I found a discussion that sounds like what you are trying to achieve

Please read downward through the comments from the point in the discussion that I have linked to.

https://github.com/IntelRealSense/realsense-ros/issues/277#issuecomment-363117777

If this link is not what you are referring to when you say that it "does not output color pixels", please provide more information about what you are trying to achieve. Thanks!

echoGee commented 4 years ago

The particular issue discusses about running roslaunch realsense2_camera rs_rgbd.launch, I run into this error

Resource not found: rgbd_launch ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/pi/catkin_ws/src ROS path [2]=/opt/ros/melodic/share The traceback for the exception was written to the log file

Is there a documentation on each of the launch files in this package or which ones to run. https://github.com/IntelRealSense/realsense-ros#rgbd-point-cloud shows rs_camera.launch while https://github.com/IntelRealSense/realsense-ros/tree/2.0.2#rgbd-point-cloud shows rs_rgbd.launch

MartyG-RealSense commented 4 years ago

I researched your question but could not find a reference about each of the launch files in regard to the reasons to use one or the other.

I did find a case though where someone else had the 'Resource not found: rgbd_launch' error when using roslaunch realsense2_camera rs_rgbd.launch and fixed it by setting RViz “Fixed Frame” to camera_color_optical_frame or to camera link.

https://github.com/IntelRealSense/realsense-ros/issues/308#issuecomment-365173490

echoGee commented 4 years ago

Not sure if the previous issue is related. The roslaunch crashes even before the rviz opens up. The log is included for the launch below:

[roslaunch][INFO] 2020-04-30 08:23:57,090: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt [roslaunch][INFO] 2020-04-30 08:23:57,106: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2020-04-30 08:23:57,107: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'realsense2_camera', 'rs_rgbd.launch'] [roslaunch][INFO] 2020-04-30 08:23:57,107: roslaunch env is {'SSH_CLIENT': '192.168.6.4 54858 22', 'ROS_DISTRO': 'melodic', 'XDG_SESSION_TYPE': 'tty', 'ROS_IP': '192.168.6.8', 'LOGNAME': 'pi', 'USER': 'pi', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games', 'HOME': '/home/pi', 'CMAKE_PREFIX_PATH': '/home/pi/catkin_ws/devel:/opt/ros/melodic', 'LD_LIBRARY_PATH': '/home/pi/catkin_ws/devel/lib:/opt/ros/melodic/lib:/usr/local/lib:', 'LANG': 'en_GB.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'SHLVL': '1', 'ROS_LOG_FILENAME': '/home/pi/.ros/log/76931ae6-8add-11ea-bc27-dca63263de10/roslaunch-raspberrypi4-20305.log', 'TEXTDOMAIN': 'Linux-PAM', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'XDG_SESSION_CLASS': 'user', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages::/usr/local/lib', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PKG_CONFIG_PATH': '/home/pi/catkin_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/pi/catkin_ws/src:/opt/ros/melodic/share', 'XDG_SESSION_ID': 'c4', 'DBUS_SESSION_BUSADDRESS': 'unix:path=/run/user/1000/bus', '': '/opt/ros/melodic/bin/roslaunch', 'SSH_CONNECTION': '192.168.6.4 54858 192.168.6.8 22', 'SSH_TTY': '/dev/pts/1', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/pi/catkin_ws/devel/share/common-lisp', 'PWD': '/home/pi', 'ROS_MASTER_URI': 'http://192.168.6.8:11311', 'ROS_PYTHON_VERSION': '2', 'ROS_VERSION': '1', 'MAIL': '/var/mail/pi', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:'} [roslaunch][INFO] 2020-04-30 08:23:57,107: starting in server mode [roslaunch.parent][INFO] 2020-04-30 08:23:57,108: starting roslaunch parent run [roslaunch][INFO] 2020-04-30 08:23:57,108: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml [roslaunch][INFO] 2020-04-30 08:23:58,414: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2020-04-30 08:23:58,415: loading config file /home/pi/catkin_ws/src/realsense-ros/realsense2_camera/launch/rs_rgbd.launch [roslaunch][INFO] 2020-04-30 08:23:58,543: Added node of type [nodelet/nodelet] in namespace [/camera/] [roslaunch][INFO] 2020-04-30 08:23:58,563: Added node of type [nodelet/nodelet] in namespace [/camera/] [roslaunch][ERROR] 2020-04-30 08:23:58,564: Resource not found: rgbd_launch ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/pi/catkin_ws/src ROS path [2]=/opt/ros/melodic/share [roslaunch][ERROR] 2020-04-30 08:23:58,565: The traceback for the exception was written to the log file [roslaunch][ERROR] 2020-04-30 08:23:58,567: Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/init.py", line 330, in main p.start() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 289, in start self._start_infrastructure() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 238, in _start_infrastructure self._load_config() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 144, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/config.py", line 460, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 761, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 669, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 596, in _include_tag inc_filename = self.resolve_args(tag.attributes['file'].value, context) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 189, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 392, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 405, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 166, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 212, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 207, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: rgbd_launch ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/pi/catkin_ws/src ROS path [2]=/opt/ros/melodic/share

[rospy.core][INFO] 2020-04-30 08:23:58,568: signal_shutdown [atexit]

MartyG-RealSense commented 4 years ago

Try running this line to make sure the 'rgbd-launch' dependency is installed:

sudo apt install ros-melodic-rgbd-launch

nbelanger99 commented 4 years ago

Here's the log form running roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

... logging to /home/pi/.ros/log/eae6ad8a-96c8-11ea-b683-dca63263de10/roslaunch-raspberrypi4-1756.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://raspberrypi4:43505/

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: True
 * /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: True
 * /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 [1766]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to eae6ad8a-96c8-11ea-b683-dca63263de10
process[rosout-1]: started with pid [1777]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [1784]
process[camera/realsense2_camera-3]: started with pid [1785]
[ INFO] [1589560029.260851662]: Initializing nodelet with 4 worker threads.
[ INFO] [1589560029.395654964]: RealSense ROS v2.2.13
[ INFO] [1589560029.395735963]: Running with LibRealSense v2.34.0
[ INFO] [1589560029.433863776]:  
 15/05 12:27:09,964 WARNING [2868110352] (types.cpp:49) Accel Sensitivity:hwmon command 0x4f failed.
Error type: No data to return (-21).
 15/05 12:27:09,964 WARNING [2868110352] (ds5-motion.cpp:464) IMU Calibration is not available, see the previous message
[ INFO] [1589560030.016550231]: Device with serial number 850312071767 was found.

[ INFO] [1589560030.016719617]: Device with physical ID 2-2-4 was found.
[ INFO] [1589560030.016936742]: Device with name Intel RealSense D435I was found.
[ INFO] [1589560030.018574229]: Device with port number 2-2 was found.
[ INFO] [1589560030.024224286]: getParameters...
[ INFO] [1589560030.122318580]: setupDevice...
[ INFO] [1589560030.122410967]: JSON file is not provided
[ INFO] [1589560030.122531057]: ROS Node Namespace: camera
[ INFO] [1589560030.122589093]: Device Name: Intel RealSense D435I
[ INFO] [1589560030.122703406]: Device Serial No: 850312071767
[ INFO] [1589560030.122765793]: Device physical port: 2-2-4
[ INFO] [1589560030.122817941]: Device FW version: 05.12.03.00
[ INFO] [1589560030.122869884]: Device Product ID: 0x0B3A
[ INFO] [1589560030.122921494]: Enable PointCloud: On
[ INFO] [1589560030.122975938]: Align Depth: Off
[ INFO] [1589560030.123026918]: Sync Mode: On
[ INFO] [1589560030.123177637]: Device Sensors: 
[ INFO] [1589560030.123317486]: Stereo Module was found.
[ INFO] [1589560030.123407022]: RGB Camera was found.
[ INFO] [1589560030.123481039]: Motion Module was found.
[ INFO] [1589560030.123571315]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1589560030.123630073]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1589560030.123676331]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1589560030.123724034]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1589560030.123816329]: Add Filter: pointcloud
[ INFO] [1589560030.126218189]: num_filters: 1
[ INFO] [1589560030.126327243]: Setting Dynamic reconfig parameters.
[ INFO] [1589560035.368581210]: Done Setting Dynamic reconfig parameters.
[ INFO] [1589560035.458339685]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1589560035.459558884]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1589560035.460749731]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1589560035.507519691]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1589560035.508463728]: setupPublishers...
[ INFO] [1589560035.513526426]: Expected frequency for depth = 30.00000
[ INFO] [1589560035.521954114]: Expected frequency for infra1 = 30.00000
[ INFO] [1589560035.526847852]: Expected frequency for infra2 = 30.00000
[ INFO] [1589560035.531039029]: Expected frequency for color = 30.00000
[ INFO] [1589560035.541288348]: setupStreams...
[ INFO] [1589560035.592976416]: insert Depth to Stereo Module
[ INFO] [1589560035.593100618]: insert Color to RGB Camera
[ INFO] [1589560035.593172783]: insert Infrared to Stereo Module
[ INFO] [1589560035.593233430]: insert Infrared to Stereo Module
[ INFO] [1589560035.593331261]: insert Gyro to Motion Module
[ INFO] [1589560035.593402741]: insert Accel to Motion Module
[ INFO] [1589560035.973154109]: SELECTED BASE:Depth, 0
 15/05 12:27:16,008 WARNING [2833237008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1589560036.089030373]: RealSense Node Is Up!
 15/05 12:27:16,177 WARNING [2833237008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 15/05 12:27:16,238 WARNING [2833237008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1589560036.379283871]: Hardware Notification:IR stream start failure,1.58956e+12,Error,Hardware Error
 15/05 12:27:17,262 WARNING [2833237008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 15/05 12:27:17,323 WARNING [2833237008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1589560037.399775250]: Hardware Notification:Depth stream start failure,1.58956e+12,Error,Hardware Error
[ WARN] [1589560038.420435884]: Hardware Notification:IR stream start failure,1.58956e+12,Error,Hardware Error
 15/05 12:27:18,867 ERROR [2665477136] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
[ WARN] [1589560040.451402095]: Hardware Notification:IR stream start failure,1.58956e+12,Error,Hardware Error
 15/05 12:27:23,248 ERROR [2709513232] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs)
[ERROR] [1589560071.244140907]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560106.097945239]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
 15/05 12:28:46,997 ERROR [2709513232] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs)
[ERROR] [1589560128.046586151]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560163.266702345]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560163.300808381]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560168.235294425]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560171.640666377]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560172.403098486]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560178.807432496]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560180.813328184]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560182.007334075]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560183.575261626]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1589560185.176289536]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info

And those errors will keep repeating. Here are the topics that are trying to publish: 

/camera/accel/imu_info
/camera/accel/sample
/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/gyro/imu_info
/camera/gyro/sample
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates

And we can see explicitely that there exists a publisher for the topic: rostopic info /camera/depth/color/points

Type: sensor_msgs/PointCloud2

Publishers: 
 * /camera/realsense2_camera_manager (http://raspberrypi4:43665/)

Subscribers: None

Bug again, no luck with color point cloud: rostopic hz /camera/depth/color/points

subscribed to [/camera/depth/color/points]
no new messages
no new messages
no new messages
no new messages
no new messages

*I'm working with @echoGee by the way.

MartyG-RealSense commented 4 years ago

@nbelanger99 Regarding the error 'An error has occurred during frame callback: Error occured during execution of the processing block!, @doronhi the RealSense ROS wrapper developer has previously said about it:

"From what I understand, the problem is that the filters don't keep up with the frames, due to computer load. A new image cannot be pushed to the still full queue and therefore it is missing when the filter is called to process it. Then the exception is issued".

do you get any kind of output published in RViz when the errors are being generated (even if it is not a colored point cloud)?

echoGee commented 4 years ago

We get one image topic, one depth cloud without color. However, we require all the data(second image etc) for our task.

There is another reference on someone having to fix drivers: https://eleccelerator.com/wiki/index.php?title=Raspbian_Buster_ROS_RealSense Do you the fixes mentioned in this link is relevant or upto date ?

MartyG-RealSense commented 4 years ago

@echoGee The installation script for the Pi 4 Raspbian Buster was most recently updated in SDK version 2.34.0

https://github.com/IntelRealSense/librealsense/pull/6040

echoGee commented 4 years ago

The v2.34.0 is still giving a uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a on the dmesg command. Is this expected ? This page(https://eleccelerator.com/wiki/index.php?title=Raspbian_Buster_ROS_RealSense#Installing_librealsense) mentions changing few kernel level things to solve this issue.

MartyG-RealSense commented 4 years ago

@echoGee I am not familiar with the workings of the Raspbian Buster installation script, so I will have to enquire to another RealSense team member.

@dorodnic Can you advise about the question above about uvcvideo please?

echoGee commented 4 years ago

It would also be helpful if there is an image for RPi4 with ROS and realsense drivers that we can just use.

MartyG-RealSense commented 4 years ago

@echoGee The RealSense developers have done some work recently in SDK version 2.34.0 to ease installation on Pi 4 and Raspbian Buster by updating the installation script for Pi 4 and Raspbian Buster to run cleanly.

https://github.com/IntelRealSense/librealsense/pull/6040

Increased support for Pi 4 / Buster would probably depend on Pi 4 users being vocal with requests so that the developers can gauge the demand for such a feature.

doronhi commented 4 years ago

The issue with the pointcloud could be related to this error as appears on the log file you published: " get_device_time_ms() took too long (more then 2 mSecs)". This was fixed in librealsense2 v2.34.1. Could you upgrade and give it a try? Please disconnect and reconnect the camera before start running to avoid issues related to stopping the device at the end of a run. I expect lots of warning are sill there but is the pointcloud now published and visible?

echoGee commented 4 years ago

We tried installing the v2.34.1 on Pi 4 and it doesn't run the demo point cloud anymore.

This is the dmesg output:

[18567.485187] usb 2-2: new SuperSpeed Gen 1 USB device number 35 using xhci_hcd [18567.516224] usb 2-2: New USB device found, idVendor=8086, idProduct=0b3a, bcdDevice=50.c3 [18567.516240] usb 2-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [18567.516254] usb 2-2: Product: Intel(R) RealSense(TM) Depth Camera 435i [18567.516267] usb 2-2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i [18567.516279] usb 2-2: SerialNumber: 903223051356 [18567.520994] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a) [18567.526634] uvcvideo: Unable to create debugfs 2-35 directory. [18567.527002] uvcvideo 2-2:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized! [18567.527018] uvcvideo 2-2:1.0: Entity type for entity Processing 2 was not initialized! [18567.527033] uvcvideo 2-2:1.0: Entity type for entity Camera 1 was not initialized! [18567.527371] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-2/2-2:1.0/input/input23 [18567.528827] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a [18567.528853] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a) [18567.532875] uvcvideo: Unable to create debugfs 2-35 directory. [18567.533259] uvcvideo 2-2:1.3: Entity type for entity Processing 7 was not initialized! [18567.533274] uvcvideo 2-2:1.3: Entity type for entity Extension 8 was not initialized! [18567.533289] uvcvideo 2-2:1.3: Entity type for entity Camera 6 was not initialized! [18567.542709] hid-generic 0003:8086:0B3A.0018: hiddev96,hidraw0: USB HID v1.10 Device [Intel(R) RealSense(TM) Depth Camera 435i Intel(R) RealSense(TM) Depth Camera 435i] on usb-0000:01:00.0-2/input5

We build the librealsense from source by checking out 2.34.1 and cmake . sudo make uninstall && make clean && make && sudo make install sudo ./scripts/setup_udev_rules.sh

doronhi commented 4 years ago

Why is it not running the demo point cloud anymore? Can you post the log? Did you rebuild realsense2_camera to link with the librealsense2 v2.34.1?

MartyG-RealSense commented 4 years ago

@echoGee Do you still require assistance with this case please, or can it be closed? Thanks!

MartyG-RealSense commented 4 years ago

Case closed due to no further comments received.