Closed mjsobrep closed 4 years ago
MartyG-RealSense
commented
3 years ago If the cameras work correctly after a stop and restart, I wonder if you could incorporate a start-stop-start into your sh script.
Start
roslaunch realsense2_camera rs_rgbd.launch camera:=cam_X serial_no:=
jcgarciaca
commented
3 years ago Well, with the roslaunch API I can start and stop the cameras when errors are detected. Such that it is a way to solve this situation.
MartyG-RealSense
commented
3 years ago Thanks very much @jcgarciaca
doronhi
commented
3 years ago Right now I don't have a better solution for the occasional RS2_USB_STATUS_BUSY error.
doronhi
commented
3 years ago RS2_USB_STATUS_BUSY is a message of the RSUSB backend which is built into the ros-librealsense2 package.
For most platforms, especially when using multiple cameras, it's best to use the build that uses the v4l backend.
That build exist in the normal installation of librealsense2 as described in librealsense2 installation guide.
In order to use it you'll have to remove the ros-librealsense2 and realsense2_camera installation:
That is:
sudo apt purge ros-melodic-realsense2_camera
And rebuild realsense2_camera from code
Does the reliability seems better with that librealsense2 build?
I just made the mistake of updating software (dumb) and am now having trouble with a setup running two D415 cameras. My launch file had been working well for sometime. Rather than just downgrading, I would like to understand the source of the problem and fix it.
The system seems to think that the cameras are busy on startup, I do not know why. If I am running in rosmon, I kill the nodes, and then restart them, then it seems to work, although CPU usage goes crazy. Simple relaunching does not solve the problem.
Weirdly, when I turn on the computer, if I launch realsense viewer, there are no problems. If I run the ros launch file above and then open realsense viewer, the cameras do not show up.
If downgrading software is the way to go. How do I downgrade librealsense, the ros stack, and the firmware all at once? Or do I only need to downgrade one? Where should I be downgrading to?
console output:
nuc-admin@flo-nuc:~$ roslaunch flo_telepresence realsense.launch ... logging to /home/nuc-admin/.ros/log/a622f598-8fb9-11ea-98e5-e470b83e61ec/roslaunch-flo-nuc-15444.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt WARNING: disk usage in log directory [/home/nuc-admin/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command. started roslaunch server http://10.153.99.5:39277/ SUMMARY ======== PARAMETERS * /lower_realsense/realsense2_camera/accel_fps: 250 * /lower_realsense/realsense2_camera/accel_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/accel_optical_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/align_depth: False * /lower_realsense/realsense2_camera/aligned_depth_to_color_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/aligned_depth_to_fisheye1_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/aligned_depth_to_fisheye2_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/aligned_depth_to_fisheye_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/aligned_depth_to_infra1_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/aligned_depth_to_infra2_frame_id: lower_realsense_a... * /lower_realsense/realsense2_camera/allow_no_texture_points: False * /lower_realsense/realsense2_camera/base_frame_id: lower_realsense_link * /lower_realsense/realsense2_camera/calib_odom_file: * /lower_realsense/realsense2_camera/clip_distance: -2.0 * /lower_realsense/realsense2_camera/color_fps: 30 * /lower_realsense/realsense2_camera/color_frame_id: lower_realsense_c... * /lower_realsense/realsense2_camera/color_height: 480 * /lower_realsense/realsense2_camera/color_optical_frame_id: lower_realsense_c... * /lower_realsense/realsense2_camera/color_width: 848 * /lower_realsense/realsense2_camera/depth_fps: 30 * /lower_realsense/realsense2_camera/depth_frame_id: lower_realsense_d... * /lower_realsense/realsense2_camera/depth_height: 720 * /lower_realsense/realsense2_camera/depth_optical_frame_id: lower_realsense_d... * /lower_realsense/realsense2_camera/depth_width: 1280 * /lower_realsense/realsense2_camera/enable_accel: False * /lower_realsense/realsense2_camera/enable_color: True * /lower_realsense/realsense2_camera/enable_depth: False * /lower_realsense/realsense2_camera/enable_fisheye1: True * /lower_realsense/realsense2_camera/enable_fisheye2: True * /lower_realsense/realsense2_camera/enable_fisheye: True * /lower_realsense/realsense2_camera/enable_gyro: False * /lower_realsense/realsense2_camera/enable_infra1: False * /lower_realsense/realsense2_camera/enable_infra2: False * /lower_realsense/realsense2_camera/enable_pointcloud: False * /lower_realsense/realsense2_camera/enable_sync: False * /lower_realsense/realsense2_camera/filters: * /lower_realsense/realsense2_camera/fisheye1_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye1_optical_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye2_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye2_optical_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye_fps: 30 * /lower_realsense/realsense2_camera/fisheye_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye_height: 480 * /lower_realsense/realsense2_camera/fisheye_optical_frame_id: lower_realsense_f... * /lower_realsense/realsense2_camera/fisheye_width: 640 * /lower_realsense/realsense2_camera/gyro_fps: 400 * /lower_realsense/realsense2_camera/gyro_frame_id: lower_realsense_g... * /lower_realsense/realsense2_camera/gyro_optical_frame_id: lower_realsense_g... * /lower_realsense/realsense2_camera/imu_optical_frame_id: lower_realsense_i... * /lower_realsense/realsense2_camera/infra1_frame_id: lower_realsense_i... * /lower_realsense/realsense2_camera/infra1_optical_frame_id: lower_realsense_i... * /lower_realsense/realsense2_camera/infra2_frame_id: lower_realsense_i... * /lower_realsense/realsense2_camera/infra2_optical_frame_id: lower_realsense_i... * /lower_realsense/realsense2_camera/infra_fps: 30 * /lower_realsense/realsense2_camera/infra_height: 720 * /lower_realsense/realsense2_camera/infra_width: 1280 * /lower_realsense/realsense2_camera/initial_reset: False * /lower_realsense/realsense2_camera/json_file_path: * /lower_realsense/realsense2_camera/linear_accel_cov: 0.01 * /lower_realsense/realsense2_camera/odom_frame_id: lower_realsense_o... * /lower_realsense/realsense2_camera/pointcloud_texture_index: 0 * /lower_realsense/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /lower_realsense/realsense2_camera/pose_frame_id: lower_realsense_p... * /lower_realsense/realsense2_camera/pose_optical_frame_id: lower_realsense_p... * /lower_realsense/realsense2_camera/publish_odom_tf: True * /lower_realsense/realsense2_camera/rosbag_filename: * /lower_realsense/realsense2_camera/serial_no: 904412060717 * /lower_realsense/realsense2_camera/topic_odom_in: odom_in * /lower_realsense/realsense2_camera/unite_imu_method: * /rosdistro: kinetic * /rosversion: 1.12.14 * /upper_realsense/realsense2_camera/accel_fps: 250 * /upper_realsense/realsense2_camera/accel_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/accel_optical_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/align_depth: False * /upper_realsense/realsense2_camera/aligned_depth_to_color_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/aligned_depth_to_fisheye1_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/aligned_depth_to_fisheye2_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/aligned_depth_to_fisheye_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/aligned_depth_to_infra1_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/aligned_depth_to_infra2_frame_id: upper_realsense_a... * /upper_realsense/realsense2_camera/allow_no_texture_points: False * /upper_realsense/realsense2_camera/base_frame_id: upper_realsense_link * /upper_realsense/realsense2_camera/calib_odom_file: * /upper_realsense/realsense2_camera/clip_distance: -2.0 * /upper_realsense/realsense2_camera/color_fps: 30 * /upper_realsense/realsense2_camera/color_frame_id: upper_realsense_c... * /upper_realsense/realsense2_camera/color_height: 480 * /upper_realsense/realsense2_camera/color_optical_frame_id: upper_realsense_c... * /upper_realsense/realsense2_camera/color_width: 848 * /upper_realsense/realsense2_camera/depth_fps: 30 * /upper_realsense/realsense2_camera/depth_frame_id: upper_realsense_d... * /upper_realsense/realsense2_camera/depth_height: 720 * /upper_realsense/realsense2_camera/depth_optical_frame_id: upper_realsense_d... * /upper_realsense/realsense2_camera/depth_width: 1280 * /upper_realsense/realsense2_camera/enable_accel: False * /upper_realsense/realsense2_camera/enable_color: True * /upper_realsense/realsense2_camera/enable_depth: False * /upper_realsense/realsense2_camera/enable_fisheye1: True * /upper_realsense/realsense2_camera/enable_fisheye2: True * /upper_realsense/realsense2_camera/enable_fisheye: True * /upper_realsense/realsense2_camera/enable_gyro: False * /upper_realsense/realsense2_camera/enable_infra1: False * /upper_realsense/realsense2_camera/enable_infra2: False * /upper_realsense/realsense2_camera/enable_pointcloud: False * /upper_realsense/realsense2_camera/enable_sync: False * /upper_realsense/realsense2_camera/filters: * /upper_realsense/realsense2_camera/fisheye1_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye1_optical_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye2_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye2_optical_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye_fps: 30 * /upper_realsense/realsense2_camera/fisheye_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye_height: 480 * /upper_realsense/realsense2_camera/fisheye_optical_frame_id: upper_realsense_f... * /upper_realsense/realsense2_camera/fisheye_width: 640 * /upper_realsense/realsense2_camera/gyro_fps: 400 * /upper_realsense/realsense2_camera/gyro_frame_id: upper_realsense_g... * /upper_realsense/realsense2_camera/gyro_optical_frame_id: upper_realsense_g... * /upper_realsense/realsense2_camera/imu_optical_frame_id: upper_realsense_i... * /upper_realsense/realsense2_camera/infra1_frame_id: upper_realsense_i... * /upper_realsense/realsense2_camera/infra1_optical_frame_id: upper_realsense_i... * /upper_realsense/realsense2_camera/infra2_frame_id: upper_realsense_i... * /upper_realsense/realsense2_camera/infra2_optical_frame_id: upper_realsense_i... * /upper_realsense/realsense2_camera/infra_fps: 30 * /upper_realsense/realsense2_camera/infra_height: 480 * /upper_realsense/realsense2_camera/infra_width: 640 * /upper_realsense/realsense2_camera/initial_reset: False * /upper_realsense/realsense2_camera/json_file_path: * /upper_realsense/realsense2_camera/linear_accel_cov: 0.01 * /upper_realsense/realsense2_camera/odom_frame_id: upper_realsense_o... * /upper_realsense/realsense2_camera/pointcloud_texture_index: 0 * /upper_realsense/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /upper_realsense/realsense2_camera/pose_frame_id: upper_realsense_p... * /upper_realsense/realsense2_camera/pose_optical_frame_id: upper_realsense_p... * /upper_realsense/realsense2_camera/publish_odom_tf: True * /upper_realsense/realsense2_camera/rosbag_filename: * /upper_realsense/realsense2_camera/serial_no: 912322061173 * /upper_realsense/realsense2_camera/topic_odom_in: odom_in * /upper_realsense/realsense2_camera/unite_imu_method: NODES /lower_realsense/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) /upper_realsense/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 process[lower_realsense/realsense2_camera_manager-1]: started with pid [15466] process[lower_realsense/realsense2_camera-2]: started with pid [15467] process[upper_realsense/realsense2_camera_manager-3]: started with pid [15468] process[upper_realsense/realsense2_camera-4]: started with pid [15469] [ INFO] [1588788685.468106682]: Initializing nodelet with 4 worker threads. [ INFO] [1588788685.482146770]: Initializing nodelet with 4 worker threads. [ INFO] [1588788685.520152048]: RealSense ROS v2.2.8 [ INFO] [1588788685.520177598]: Running with LibRealSense v2.33.1 [ INFO] [1588788685.533659376]: RealSense ROS v2.2.8 [ INFO] [1588788685.533695519]: Running with LibRealSense v2.33.1 06/05 14:11:25,661 ERROR [139714514368256] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY 06/05 14:11:25,662 WARNING [139756541302528] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 13, 06/05 14:11:25,666 WARNING [139756541302528] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 20, 06/05 14:11:25,682 WARNING [139714547939072] (rs.cpp:283) null pointer passed for argument "device" terminate called after throwing an instance of 'rs2::error' what(): failed to set power state [lower_realsense/realsense2_camera_manager-1] process has died [pid 15466, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/nuc-admin/.ros/log/a622f598-8fb9-11ea-98e5-e470b83e61ec/lower_realsense-realsense2_camera_manager-1.log]. log file: /home/nuc-admin/.ros/log/a622f598-8fb9-11ea-98e5-e470b83e61ec/lower_realsense-realsense2_camera_manager-1*.log [ INFO] [1588788685.919835448]: getParameters... [ INFO] [1588788685.986562489]: setupDevice... [ INFO] [1588788685.986592806]: JSON file is not provided [ INFO] [1588788685.986611824]: ROS Node Namespace: upper_realsense [ INFO] [1588788685.986633518]: Device Name: Intel RealSense D415 [ INFO] [1588788685.986645240]: Device Serial No: 912322061173 [ INFO] [1588788685.986656444]: Device FW version: 05.12.03.00 [ INFO] [1588788685.986667604]: Device Product ID: 0x0AD3 [ INFO] [1588788685.986680093]: Enable PointCloud: Off [ INFO] [1588788685.986692181]: Align Depth: Off [ INFO] [1588788685.986705761]: Sync Mode: Off [ INFO] [1588788685.986744254]: Device Sensors: [ INFO] [1588788685.986779882]: Stereo Module was found. [ INFO] [1588788685.986798221]: RGB Camera was found. [ INFO] [1588788685.986825867]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788685.986837817]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788685.986851616]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788685.986863020]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788685.986885567]: num_filters: 0 [ INFO] [1588788685.986897894]: Setting Dynamic reconfig parameters. [ INFO] [1588788691.143280503]: Done Setting Dynamic reconfig parameters. [ INFO] [1588788691.171650707]: color stream is enabled - width: 848, height: 480, fps: 30 [ INFO] [1588788691.171804990]: setupPublishers... [ INFO] [1588788691.175239860]: Expected frequency for color = 30.00000 [ INFO] [1588788691.209106475]: setupStreams... [ INFO] [1588788691.260165542]: insert Color to RGB Camera [ INFO] [1588788691.326572559]: SELECTED BASE:Depth, 0 [ INFO] [1588788691.368299520]: RealSense Node Is Up! 06/05 14:11:31,800 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:31,861 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ WARN] [1588788692.198603124]: Hardware Notification:RT IC2 Config error,1.58879e+12,Error,Hardware Error [ERROR] [1588788692.198635568]: Hardware Reset is needed. use option: initial_reset:=true 06/05 14:11:32,725 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:32,789 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,154 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,221 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,224 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,285 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,289 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:33,313 ERROR [139756021217024] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 06/05 14:11:33,314 WARNING [139756516124416] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19 06/05 14:11:33,318 WARNING [139756021217024] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 06/05 14:11:33,318 WARNING [139756021217024] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 06/05 14:11:33,318 ERROR [139756021217024] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 06/05 14:11:33,318 WARNING [139756021217024] (messenger-libusb.cpp:92) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 06/05 14:11:33,318 ERROR [139756021217024] (uvc-streamer.cpp:138) failed to submit UVC request, error: -13 06/05 14:11:33,345 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 06/05 14:11:33,349 WARNING [139756516124416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 06/05 14:11:33,356 ERROR [139756532909824] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: usb device disconnected 06/05 14:11:33,359 WARNING [139756516124416] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 135 error: No such device, number: 19 06/05 14:11:33,369 ERROR [139756415477504] (error-handling.cpp:68) Error during polling error handler: usb device disconnected 06/05 14:11:33,456 ERROR [139756516124416] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE 06/05 14:11:33,466 ERROR [139756532909824] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: failed to set power state [lower_realsense/realsense2_camera-2] process has finished cleanly log file: /home/nuc-admin/.ros/log/a622f598-8fb9-11ea-98e5-e470b83e61ec/lower_realsense-realsense2_camera-2*.log [ERROR] [1588788695.919472157]: The device has been disconnected! 06/05 14:11:39,582 WARNING [139756532909824] (types.cpp:49) set_xu(ctrl=1) failed! Last Error: Success 06/05 14:11:39,582 ERROR [139756532909824] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Success 06/05 14:11:39,702 WARNING [139756532909824] (types.cpp:49) hwmon command 0x1 failed. Error type: Success (0). 06/05 14:11:39,702 ERROR [139756532909824] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: hwmon command 0x1 failed. Error type: Success (0). 06/05 14:11:40,385 WARNING [139756415477504] (types.cpp:49) get_xu(id=7) failed! Last Error: Success 06/05 14:11:40,385 ERROR [139756415477504] (error-handling.cpp:68) Error during polling error handler: get_xu(id=7) failed! Last Error: Success 06/05 14:11:45,817 WARNING [139756532909824] (types.cpp:49) set_xu(ctrl=1) failed! Last Error: Success 06/05 14:11:45,817 ERROR [139756532909824] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Success 06/05 14:11:45,831 WARNING [139756021217024] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19 06/05 14:11:45,831 WARNING [139756021217024] (messenger-libusb.cpp:105) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19 06/05 14:11:45,831 WARNING [139756021217024] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 [ INFO] [1588788705.864227772]: Checking new devices... 06/05 14:11:46,014 WARNING [139756390299392] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 0, 06/05 14:11:46,018 WARNING [139756390299392] (uvc-device.cpp:664) interrupt event received: 1, 3, 0, 7, 0, 0, [ INFO] [1588788706.273219629]: getParameters... [ INFO] [1588788706.342231199]: setupDevice... [ INFO] [1588788706.342261910]: JSON file is not provided [ INFO] [1588788706.342277250]: ROS Node Namespace: upper_realsense [ INFO] [1588788706.342293755]: Device Name: Intel RealSense D415 [ INFO] [1588788706.342307046]: Device Serial No: 912322061173 [ INFO] [1588788706.342320897]: Device FW version: 05.12.03.00 [ INFO] [1588788706.342333690]: Device Product ID: 0x0AD3 [ INFO] [1588788706.342346160]: Enable PointCloud: Off [ INFO] [1588788706.342358541]: Align Depth: Off [ INFO] [1588788706.342370751]: Sync Mode: Off [ INFO] [1588788706.342388953]: Device Sensors: [ INFO] [1588788706.342405723]: Stereo Module was found. [ INFO] [1588788706.342444569]: RGB Camera was found. [ INFO] [1588788706.342463582]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788706.342477531]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788706.342490622]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788706.342503650]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588788706.342519065]: num_filters: 0 [ INFO] [1588788706.342531574]: Setting Dynamic reconfig parameters. [ INFO] [1588788711.496683351]: Done Setting Dynamic reconfig parameters. [ INFO] [1588788711.539592516]: color stream is enabled - width: 848, height: 480, fps: 30 [ INFO] [1588788711.540301334]: setupPublishers... [ INFO] [1588788711.543133283]: Expected frequency for color = 30.00000 [ INFO] [1588788711.574979698]: setupStreams... [ INFO] [1588788711.625969888]: insert Color to RGB Camera [ INFO] [1588788711.692674013]: SELECTED BASE:Depth, 0 [ INFO] [1588788711.738266856]: RealSense Node Is Up! 06/05 14:11:52,166 WARNING [139756524517120] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 06/05 14:11:52,227 WARNING [139756524517120] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 ^C[upper_realsense/realsense2_camera-4] killing on exit [upper_realsense/realsense2_camera_manager-3] killing on exit 06/05 14:33:16,176 WARNING [139757266376576] (types.cpp:49) stop_streaming() failed. UVC device is not streaming! terminate called after throwing an instance of 'rs2::wrong_api_call_sequence_error' what(): stop_streaming() failed. UVC device is not streaming! shutting down processing monitor... ... shutting down processing monitor complete done nuc-admin@flo-nuc:~$ alsamixer^C