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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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roslaunch realsense2_camera rs_camera.launch error #1191

Closed Eslamrady42 closed 4 years ago

Eslamrady42 commented 4 years ago

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud /////// I have error with this command: eslam@root:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ... logging to /home/eslam/.ros/log/41c06a78-910c-11ea-acda-64006afb8a06/roslaunch-root-3896.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://root:40451/

SUMMARY

PARAMETERS

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

auto-starting new master process[master]: started with pid [3906] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 41c06a78-910c-11ea-acda-64006afb8a06 process[rosout-1]: started with pid [3917] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [3924] process[camera/realsense2_camera-3]: started with pid [3925] [ INFO] [1588929252.264289140]: Initializing nodelet with 4 worker threads. [ INFO] [1588929272.557688200]: RealSense ROS v2.2.13 [ INFO] [1588929272.557787898]: Running with LibRealSense v2.34.0 [ INFO] [1588929272.583431094]:
[ INFO] [1588929272.597819765]: Device with serial number 944122071903 was found.

[ INFO] [1588929272.597875863]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 was found. [ INFO] [1588929272.597896405]: Device with name Intel RealSense D435 was found. [ INFO] [1588929272.598413755]: Device with port number 2-1 was found.

[ INFO] [1588929272.637419626]: JSON file is not provided [ INFO] [1588929272.637453452]: ROS Node Namespace: camera [ INFO] [1588929272.637472675]: Device Name: Intel RealSense D435 [ INFO] [1588929272.637489932]: Device Serial No: 944122071903 [ INFO] [1588929272.637508621]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 [ INFO] [1588929272.637525629]: Device FW version: 05.12.03.00 [ INFO] [1588929272.637541777]: Device Product ID: 0x0B07 [ INFO] [1588929272.637557813]: Enable PointCloud: On [ INFO] [1588929272.637575102]: Align Depth: Off [ INFO] [1588929272.637590461]: Sync Mode: On [ INFO] [1588929272.637639875]: Device Sensors: [ INFO] [1588929272.637681500]: Stereo Module was found. [ INFO] [1588929272.637706417]: RGB Camera was found. [ INFO] [1588929272.637773652]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637790204]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637808843]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637825506]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637842054]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637857771]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588929272.637882562]: Add Filter: pointcloud [ INFO] [1588929272.638352255]: num_filters: 1 [ INFO] [1588929272.638371332]: Setting Dynamic reconfig parameters. [ INFO] [1588929272.665594617]: Done Setting Dynamic reconfig parameters. [ INFO] [1588929272.667652466]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1588929272.667835338]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1588929272.667999758]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1588929272.671682819]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1588929272.673530542]: Expected frequency for depth = 30.00000 [ INFO] [1588929272.695807088]: Expected frequency for infra1 = 30.00000 [ INFO] [1588929272.707848730]: Expected frequency for infra2 = 30.00000 [ INFO] [1588929272.722153323]: Expected frequency for color = 30.00000

[ INFO] [1588929272.738547885]: insert Depth to Stereo Module [ INFO] [1588929272.738594438]: insert Color to RGB Camera [ INFO] [1588929272.738618780]: insert Infrared to Stereo Module [ INFO] [1588929272.738642169]: insert Infrared to Stereo Module [ INFO] [1588929272.744466230]: SELECTED BASE:Depth, 0 [ INFO] [1588929272.801163125]: RealSense Node Is Up! 08/05 11:14:32,968 ERROR [140683238541056] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 08/05 11:14:33,170 ERROR [140683238541056] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 08/05 11:14:33,439 ERROR [140683238541056] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 08/05 11:14:33,641 ERROR [140683238541056] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 08/05 11:14:39,102 ERROR [140683238541056] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) [camera/realsense2_camera_manager-2] process has died [pid 3924, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/eslam/.ros/log/41c06a78-910c-11ea-acda-64006afb8a06/camera-realsense2_camera_manager-2.log]. log file: /home/eslam/.ros/log/41c06a78-910c-11ea-acda-64006afb8a06/camera-realsense2_camera_manager-2*.log ^C[camera/realsense2_camera-3] killing on exit [rosout-1] killing on exit [rosout-1] escalating to SIGTERM [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

MartyG-RealSense commented 4 years ago

The error get_device_time_ms() took too long (more then 2 mSecs) has been a well documented error with SDK 2.34.0. I would recommend using the previous Librealsense version 2.33.1 if possible until the error is fixed. I do apologise for the inconvenience.

Eslamrady42 commented 4 years ago

The error get_device_time_ms() took too long (more then 2 mSecs) has been a well documented error with SDK 2.34.0. I would recommend using the previous Librealsense version 2.33.1 if possible until the error is fixed. I do apologise for the inconvenience

So how can I change it to Librealsense version 2.33.1 by a commend or link ??

Edit : I tried this link and also not working with me : https://github.com/IntelRealSense/librealsense/releases/tag/v2.33.1

MartyG-RealSense commented 4 years ago

I haven't done this process of installing a specific SDK on Linux myself, so I apologise in advance for any mistakes.

I would speculate that it could be done in the following way:

  1. Download the zip file of the source code for 2.33.1 from the link below.

https://github.com/IntelRealSense/librealsense/releases/tag/v2.33.1

If you scroll down to the page, you should come to a section titled Assets where the source code zip file for 2.33.1 can be downloaded from.

image

  1. Follow the instructions for compiling the Librealsense SDK from source in the link below from the 'Prepare Linux Backend and the Dev. Environment' section onwards.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

image

I note that you added an edit that you tried the 2.33.1 link. What happened when you did so, please?

Eslamrady42 commented 4 years ago

I haven't done this process of installing a specific SDK on Linux myself, so I apologise in advance for any mistakes.

I would speculate that it could be done in the following way:

  1. Download the zip file of the source code for 2.33.1 from the link below.

https://github.com/IntelRealSense/librealsense/releases/tag/v2.33.1

If you scroll down to the page, you should come to a section titled Assets where the source code zip file for 2.33.1 can be downloaded from.

image

  1. Follow the instructions for compiling the Librealsense SDK from source in the link below from the 'Prepare Linux Backend and the Dev. Environment' section onwards.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

image

I note that you added an edit that you tried the 2.33.1 link. What happened when you did so, please?

Thank you for your efforts in the project and the issues fixing but please write down in SDK 2.34 it’s have a bug until you solve it to avoid any loss in time and efforts .

MartyG-RealSense commented 4 years ago

There is a fix that has been created for the error but it has not passed review by the developers for implementation into the SDK yet, unfortunately.

https://github.com/IntelRealSense/librealsense/pull/6150

A new version of the Librealsense SDK should be released soon, so it may be worth @doronhi the RealSense ROS wrapper developer adding a note about the error to the wrapper release notes if the new SDK release does not correct the get_device_time_ms error.

Eslamrady42 commented 4 years ago

There is a fix that has been created for the error but it has not passed review by the developers for implementation into the SDK yet, unfortunately.

IntelRealSense/librealsense#6150

A new version of the Librealsense SDK should be released soon, so it may be worth @doronhi the RealSense ROS wrapper developer adding a note about the error to the wrapper release notes if the new SDK release does not correct the get_device_time_ms error.

I removed every thing from SDK 2.34 and reinstall SDK 2.33 by your links but I have the same problem and realsense-viwer is on SDK 2.34 after I install SDK 2.33 !!!!

eslam@root:~/catkin_ws$ roslaunch realsense2_camera rs_d435_camera_with_model.launch ... logging to /home/eslam/.ros/log/9bbfb072-9145-11ea-acda-64006afb8a06/roslaunch-root-24423.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option. Deprecated: xacro tag 'sensor_d435' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic) when processing file: /home/eslam/catkin_ws/src/realsense-ros/realsense2_description/urdf/test_d435_camera.urdf.xacro Use the following command to fix incorrect tag usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g'

started roslaunch server http://root:39707/

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / robot_state_publisher (robot_state_publisher/state_publisher) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [24436] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9bbfb072-9145-11ea-acda-64006afb8a06 process[rosout-1]: started with pid [24447] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [24454] process[camera/realsense2_camera-3]: started with pid [24455] process[robot_state_publisher-4]: started with pid [24456] process[rviz-5]: started with pid [24462] [ INFO] [1588953884.913852081]: Initializing nodelet with 4 worker threads. [ WARN] [1588953884.965767020]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead [ INFO] [1588953905.250290387]: RealSense ROS v2.2.13 [ INFO] [1588953905.250327820]: Running with LibRealSense v2.33.1 [ INFO] [1588953905.256759788]:
[ INFO] [1588953905.261223543]: Device with serial number 944122071903 was found.

[ INFO] [1588953905.261270121]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 was found. [ INFO] [1588953905.261289385]: Device with name Intel RealSense D435 was found. [ INFO] [1588953905.261717865]: Device with port number 2-1 was found.

[ INFO] [1588953905.304693001]: JSON file is not provided [ INFO] [1588953905.304711376]: ROS Node Namespace: camera [ INFO] [1588953905.304732003]: Device Name: Intel RealSense D435 [ INFO] [1588953905.304750955]: Device Serial No: 944122071903 [ INFO] [1588953905.304772273]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 [ INFO] [1588953905.304792094]: Device FW version: 05.12.03.00 [ INFO] [1588953905.304811268]: Device Product ID: 0x0B07 [ INFO] [1588953905.304831165]: Enable PointCloud: On [ INFO] [1588953905.304849323]: Align Depth: Off [ INFO] [1588953905.304869076]: Sync Mode: On [ INFO] [1588953905.304918019]: Device Sensors: [ INFO] [1588953905.304971837]: Stereo Module was found. [ INFO] [1588953905.305003576]: RGB Camera was found. [ INFO] [1588953905.305037134]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305048734]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305063890]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305080110]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305096480]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305111317]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1588953905.305136310]: Add Filter: pointcloud [ INFO] [1588953905.305601410]: num_filters: 1 [ INFO] [1588953905.305619408]: Setting Dynamic reconfig parameters. [ INFO] [1588953905.416916557]: Done Setting Dynamic reconfig parameters. [ INFO] [1588953905.419209684]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1588953905.419401894]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1588953905.419567146]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1588953905.423843387]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1588953905.426208713]: Expected frequency for depth = 30.00000 [ INFO] [1588953905.453464914]: Expected frequency for infra1 = 30.00000 [ INFO] [1588953905.469111392]: Expected frequency for infra2 = 30.00000 [ INFO] [1588953905.485166907]: Expected frequency for color = 30.00000

[ INFO] [1588953905.503353175]: insert Depth to Stereo Module [ INFO] [1588953905.503399124]: insert Color to RGB Camera [ INFO] [1588953905.503421920]: insert Infrared to Stereo Module [ INFO] [1588953905.503445857]: insert Infrared to Stereo Module [ INFO] [1588953905.528301383]: SELECTED BASE:Depth, 0 [ INFO] [1588953905.562549423]: RealSense Node Is Up! 08/05 18:05:05,777 ERROR [139971331041024] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 08/05 18:05:06,113 ERROR [139971331041024] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) [camera/realsense2_camera_manager-2] process has died [pid 24454, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/eslam/.ros/log/9bbfb072-9145-11ea-acda-64006afb8a06/camera-realsense2_camera_manager-2.log]. log file: /home/eslam/.ros/log/9bbfb072-9145-11ea-acda-64006afb8a06/camera-realsense2_camera_manager-2.log [camera/realsense2_camera-3] process has finished cleanly log file: /home/eslam/.ros/log/9bbfb072-9145-11ea-acda-64006afb8a06/camera-realsense2_camera-3.log ================================================================================REQUIRED process [rviz-5] has died! process has finished cleanly log file: /home/eslam/.ros/log/9bbfb072-9145-11ea-acda-64006afb8a06/rviz-5*.log Initiating shutdown!

[rviz-5] killing on exit [robot_state_publisher-4] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done eslam@root:~/catkin_ws$

MartyG-RealSense commented 4 years ago

I'm very sorry that using the previous Librealsense version did not solve your problem.

Are you able to view the output of camera topics in RViz, please? That would indicate that the topics are being published correctly despite the error messages.

Eslamrady42 commented 4 years ago

I'm very sorry that using the previous Librealsense version did not solve your problem.

Are you able to view the output of camera topics in RViz, please? That would indicate that the topics are being published correctly despite the error messages.

Unfortunately it can’t load the camera or run it including the topics ...

MartyG-RealSense commented 4 years ago

There was a case a month ago who had almost identical errors to yours when their process died. There was not a successful resolution in that case, unfortunately.

https://github.com/IntelRealSense/realsense-ros/issues/1159#issuecomment-611620704

The logs suggest that you are using the camera in a USB 2 port. If so, do you have an available USB 3 port that you can try the camera in please to see if it makes a difference?

Eslamrady42 commented 4 years ago

There was a case a month ago who had almost identical errors to yours when their process died. There was not a successful resolution in that case, unfortunately.

https://github.com/IntelRealSense/realsense-ros/issues/1159#issuecomment-611620704

The logs suggest that you are using the camera in a USB 2 port. If so, do you have an available USB 3 port that you can try the camera in please to see if it makes a difference?

Definitely it’s not the same error and already I connect it by USB 3 because I read the previous issues with the cameras

MartyG-RealSense commented 4 years ago

Please try a different launch instruction and see if it publishes a pointcloud:

roslaunch realsense2_camera demo_pointcloud.launch

Eslamrady42 commented 4 years ago

Please try a different launch instruction and see if it publishes a pointcloud:

roslaunch realsense2_camera demo_pointcloud.launch

I found the seme error !!

MartyG-RealSense commented 4 years ago

When you say that you "got the same error", do you mean that you got the same errors as before when using the different point cloud launch instruction that I suggested, please?

Eslamrady42 commented 4 years ago

When you say that you "got the same error", do you mean that you got the same errors as before when using the different point cloud launch instruction that I suggested, please?

Yes that’s what I mean ..

MartyG-RealSense commented 4 years ago

Same result if you drop 'filters' from the launch instruction and just do roslaunch realsense2_camera rs_camera.launch ?

If that does not work, try deleting your workspace build folder and building again.

Eslamrady42 commented 4 years ago

Same result if you drop 'filters' from the launch instruction and just do roslaunch realsense2_camera rs_camera.launch ?

If that does not work, try deleting your workspace build folder and building again.

I did all of this and what I revived :

eslam@root:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/eslam/.ros/log/6a288564-91fb-11ea-99da-64006afb8a06/roslaunch-root-5686.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://root:46575/

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / base_link_to_Camera (tf/static_transform_publisher) hector_geotiff_node (hector_geotiff/geotiff_node) hector_mapping (hector_mapping/hector_mapping) hector_trajectory_server (hector_trajectory_server/hector_trajectory_server) map_to_odom (tf/static_transform_publisher) odom_to_base_link (tf/static_transform_publisher) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [5699] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6a288564-91fb-11ea-99da-64006afb8a06 process[rosout-1]: started with pid [5710] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [5717] process[camera/realsense2_camera-3]: started with pid [5718] process[map_to_odom-4]: started with pid [5719] process[odom_to_base_link-5]: started with pid [5721] process[base_link_to_Camera-6]: started with pid [5736] [ INFO] [1589031969.816358512]: Initializing nodelet with 4 worker threads. process[hector_mapping-7]: started with pid [5747] process[rviz-8]: started with pid [5754] process[hector_trajectory_server-9]: started with pid [5760] process[hector_geotiff_node-10]: started with pid [5761] [ INFO] [1589031969.889054321]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter. [ INFO] [1589031969.889629857]: Geotiff node started [ INFO] [1589031993.153770742]: RealSense ROS v2.2.13 [ INFO] [1589031993.153889857]: Running with LibRealSense v2.34.0 09/05 15:46:34,189 WARNING [139722453133056] (messenger-libusb.cpp:66) bulk_transfer returned error, endpoint: 0x1, error: No data available, err. num: 61 09/05 15:46:34,189 ERROR [139722453133056] (tm-boot.h:39) Error booting T265 [ INFO] [1589031996.389410095]:
[ INFO] [1589031996.406824292]: Device with serial number 944122071903 was found.

[ INFO] [1589031996.406947149]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 was found. [ INFO] [1589031996.407007120]: Device with name Intel RealSense D435 was found. [ INFO] [1589031996.408324822]: Device with port number 2-2 was found.

[ INFO] [1589031996.474140771]: JSON file is not provided [ INFO] [1589031996.474157146]: ROS Node Namespace: camera [ INFO] [1589031996.474178416]: Device Name: Intel RealSense D435 [ INFO] [1589031996.474198734]: Device Serial No: 944122071903 [ INFO] [1589031996.474219591]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 [ INFO] [1589031996.474238187]: Device FW version: 05.12.03.00 [ INFO] [1589031996.474256813]: Device Product ID: 0x0B07 [ INFO] [1589031996.474273272]: Enable PointCloud: Off [ INFO] [1589031996.474291355]: Align Depth: Off [ INFO] [1589031996.474309463]: Sync Mode: Off [ INFO] [1589031996.474350684]: Device Sensors: [ INFO] [1589031996.474393035]: Stereo Module was found. [ INFO] [1589031996.474419574]: RGB Camera was found. [ INFO] [1589031996.474458546]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474475422]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474493111]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474511501]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474530058]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474548380]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589031996.474575657]: num_filters: 0 [ INFO] [1589031996.474591485]: Setting Dynamic reconfig parameters. [ INFO] [1589031996.562827816]: Done Setting Dynamic reconfig parameters. [ INFO] [1589031996.566590273]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1589031996.566896127]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589031996.567172651]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589031996.572697989]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1589031996.575167248]: Expected frequency for depth = 30.00000 [ INFO] [1589031996.596464159]: Expected frequency for infra1 = 30.00000 [ INFO] [1589031996.608925737]: Expected frequency for infra2 = 30.00000 [ INFO] [1589031996.622242164]: Expected frequency for color = 30.00000

[ INFO] [1589031996.637410669]: insert Depth to Stereo Module [ INFO] [1589031996.637445098]: insert Color to RGB Camera [ INFO] [1589031996.637467314]: insert Infrared to Stereo Module [ INFO] [1589031996.637495157]: insert Infrared to Stereo Module [ INFO] [1589031996.662188815]: SELECTED BASE:Depth, 0 09/05 15:46:36,744 ERROR [139722436347648] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) [ INFO] [1589031996.744997081]: RealSense Node Is Up! 09/05 15:46:37,014 ERROR [139722436347648] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 15:46:37,252 ERROR [139722436347648] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 15:46:37,404 ERROR [139722436347648] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 15:46:37,907 ERROR [139722436347648] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 15:46:42,430 WARNING [139722461525760] (messenger-libusb.cpp:66) bulk_transfer returned error, endpoint: 0x1, error: No data available, err. num: 61 09/05 15:46:42,430 ERROR [139722461525760] (tm-boot.h:39) Error booting T265 corrupted double-linked list [camera/realsense2_camera_manager-2] process has died [pid 5717, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/eslam/.ros/log/6a288564-91fb-11ea-99da-64006afb8a06/camera-realsense2_camera_manager-2.log]. log file: /home/eslam/.ros/log/6a288564-91fb-11ea-99da-64006afb8a06/camera-realsense2_camera_manager-2.log HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048 [ INFO] [1589032009.898091785]: Waiting for tf transform data between frames /map and /base_link to become available HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024 [ INFO] [1589032009.942668151]: HectorSM p_baseframe: base_footprint [ INFO] [1589032009.943343689]: HectorSM p_mapframe: map [ INFO] [1589032009.943362226]: HectorSM p_odomframe: nav [ INFO] [1589032009.943375508]: HectorSM p_scantopic: scan [ INFO] [1589032009.943388754]: HectorSM p_use_tf_scantransformation: true [ INFO] [1589032009.943406908]: HectorSM p_pub_map_odomtransform: true [ INFO] [1589032009.943419498]: HectorSM p_scan_subscriber_queuesize: 5 [ INFO] [1589032009.943436455]: HectorSM p_map_pubperiod: 2.000000 [ INFO] [1589032009.943452924]: HectorSM p_update_factorfree: 0.400000 [ INFO] [1589032009.943468277]: HectorSM p_update_factoroccupied: 0.900000 [ INFO] [1589032009.943480630]: HectorSM p_map_update_distancethreshold: 0.400000 [ INFO] [1589032009.943493122]: HectorSM p_map_update_anglethreshold: 0.060000 [ INFO] [1589032009.943504924]: HectorSM p_laser_z_minvalue: -1.000000 [ INFO] [1589032009.943519763]: HectorSM p_laser_z_maxvalue: 1.000000 [camera/realsense2_camera-3] process has finished cleanly log file: /home/eslam/.ros/log/6a288564-91fb-11ea-99da-64006afb8a06/camera-realsense2_camera-3.log [ WARN] [1589032029.901492120]: No transform between frames /map and /base_link available after 20.003345 seconds of waiting. This warning only prints once. ^C[hector_geotiff_node-10] killing on exit [hector_trajectory_server-9] killing on exit [rviz-8] killing on exit [hector_mapping-7] killing on exit [base_link_to_Camera-6] killing on exit [odom_to_base_link-5] killing on exit [map_to_odom-4] killing on exit Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. at line 122 in /tmp/binarydeb/ros-melodic-class-loader-0.4.1/src/class_loader.cpp [rosout-1] killing on exit [rosout-1] escalating to SIGTERM [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done eslam@root:~/catkin_ws$

MartyG-RealSense commented 4 years ago

I notice that the log referred to T265 this time, and your other new case on the main GitHub also mentioned T265. Do you have both a T265 and a D435 attached to the computer at the same time?

Eslamrady42 commented 4 years ago

I notice that the log referred to T265 this time, and your other new case on the main GitHub also mentioned T265. Do you have both a T265 and a D435 attached to the computer at the same time?

Firstly I tried without T265 then I found the old error with types.h after that I connected the both cameras and tried and the previous error what I got .

MartyG-RealSense commented 4 years ago

Using the T265 and D435 on the same computer together in ROS can cause problems, because if the D435 is recognised by the computer first then it can stop the T265 from working. A launch file for using the D435 and T265 together was created:

roslaunch realsense2_camera rs_d400_and_t265.launch

Eslamrady42 commented 4 years ago

Using the T265 and D435 on the same computer together in ROS can cause problems, because if the D435 is recognised by the computer first then it can stop the T265 from working. A launch file for using the D435 and T265 together was created:

roslaunch realsense2_camera rs_d400_and_t265.launch

when I tried : roslaunch realsense2_camera rs_d400_and_t265.launch :

eslam@root:~/catkin_ws$ roslaunch realsense2_camera rs_d400_and_t265.launch ... logging to /home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/roslaunch-root-6349.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://root:33519/

SUMMARY

PARAMETERS

NODES /d400/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / base_link_to_d400_and_t265 (tf/static_transform_publisher) hector_geotiff_node (hector_geotiff/geotiff_node) hector_mapping (hector_mapping/hector_mapping) hector_trajectory_server (hector_trajectory_server/hector_trajectory_server) map_to_odom (tf/static_transform_publisher) odom_to_base_link (tf/static_transform_publisher) rviz (rviz/rviz) t265_to_d400 (tf/static_transform_publisher) /t265/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [6359] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36cd1824-9200-11ea-99da-64006afb8a06 process[rosout-1]: started with pid [6370] started core service [/rosout] process[t265/realsense2_camera_manager-2]: started with pid [6377] process[t265/realsense2_camera-3]: started with pid [6378] process[d400/realsense2_camera_manager-4]: started with pid [6379] process[d400/realsense2_camera-5]: started with pid [6380] process[t265_to_d400-6]: started with pid [6386] process[map_to_odom-7]: started with pid [6387] process[odom_to_base_link-8]: started with pid [6401] process[base_link_to_d400_and_t265-9]: started with pid [6404] [ INFO] [1589034031.300705703]: Initializing nodelet with 4 worker threads. process[hector_mapping-10]: started with pid [6414] [ INFO] [1589034031.309090334]: Initializing nodelet with 4 worker threads. process[rviz-11]: started with pid [6436] process[hector_trajectory_server-12]: started with pid [6444] process[hector_geotiff_node-13]: started with pid [6449] [ INFO] [1589034031.394968998]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter. [ INFO] [1589034031.395483207]: Geotiff node started [ INFO] [1589034053.809786704]: RealSense ROS v2.2.13 [ INFO] [1589034053.809932274]: Running with LibRealSense v2.34.0 [ INFO] [1589034054.672281357]: RealSense ROS v2.2.13 [ INFO] [1589034054.672441241]: Running with LibRealSense v2.34.0 09/05 16:20:54,711 ERROR [140690809698048] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY 09/05 16:20:54,712 ERROR [140690809698048] (tm-boot.h:42) Failed to open T265 zero interface 09/05 16:20:54,847 WARNING [140031724373760] (messenger-libusb.cpp:66) bulk_transfer returned error, endpoint: 0x1, error: No data available, err. num: 61 09/05 16:20:54,847 ERROR [140031724373760] (tm-boot.h:39) Error booting T265 [ INFO] [1589034056.921409290]:
[ INFO] [1589034056.921656608]:
[ INFO] [1589034056.948096269]: Device with serial number 944122071903 was found.

[ INFO] [1589034056.948350646]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 was found. [ INFO] [1589034056.948543645]: Device with name Intel RealSense D435 was found. [ INFO] [1589034056.948857045]: Device with serial number 944122071903 was found.

[ INFO] [1589034056.948964318]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 was found. [ INFO] [1589034056.949032167]: Device with name Intel RealSense D435 was found. [ INFO] [1589034056.950135365]: Device with port number 2-2 was found. [ INFO] [1589034056.950444863]: Device with port number 2-2 was found.

[ERROR] [1589034056.970753983]: The requested device with device name containing t265 is NOT found. Will Try again.

[ INFO] [1589034056.996110224]: JSON file is not provided [ INFO] [1589034056.996127312]: ROS Node Namespace: d400 [ INFO] [1589034056.996144084]: Device Name: Intel RealSense D435 [ INFO] [1589034056.996161959]: Device Serial No: 944122071903 [ INFO] [1589034056.996266651]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 [ INFO] [1589034056.996286921]: Device FW version: 05.12.03.00 [ INFO] [1589034056.996302058]: Device Product ID: 0x0B07 [ INFO] [1589034056.996321419]: Enable PointCloud: On [ INFO] [1589034056.996339406]: Align Depth: On [ INFO] [1589034056.996355350]: Sync Mode: On [ INFO] [1589034056.996399941]: Device Sensors: [ INFO] [1589034056.996440469]: Stereo Module was found. [ INFO] [1589034056.996463463]: RGB Camera was found. [ INFO] [1589034056.996506423]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996524314]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996536809]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996547576]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996561400]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996575730]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1589034056.996602722]: Add Filter: pointcloud [ INFO] [1589034056.997060760]: num_filters: 1 [ INFO] [1589034056.997077966]: Setting Dynamic reconfig parameters. [ INFO] [1589034057.114126760]: Done Setting Dynamic reconfig parameters. [ INFO] [1589034057.116609911]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1589034057.116832756]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589034057.117027428]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1589034057.121559819]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1589034057.125387753]: Expected frequency for depth = 30.00000 [ INFO] [1589034057.149616270]: Expected frequency for infra1 = 30.00000 [ INFO] [1589034057.164164231]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1589034057.178338334]: Expected frequency for infra2 = 30.00000 [ INFO] [1589034057.193403208]: Expected frequency for color = 30.00000 [ INFO] [1589034057.207837628]: Expected frequency for aligned_depth_to_color = 30.00000

[ INFO] [1589034057.225373486]: insert Depth to Stereo Module [ INFO] [1589034057.225439508]: insert Color to RGB Camera [ INFO] [1589034057.225480083]: insert Infrared to Stereo Module [ INFO] [1589034057.225507224]: insert Infrared to Stereo Module [ INFO] [1589034057.250728460]: SELECTED BASE:Depth, 0 09/05 16:20:57,332 ERROR [140690792912640] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) [ INFO] [1589034057.334001134]: RealSense Node Is Up! 09/05 16:20:57,556 ERROR [140690792912640] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 16:20:57,708 ERROR [140690792912640] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 16:20:57,961 ERROR [140690792912640] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 16:20:58,363 ERROR [140690792912640] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 09/05 16:21:02,972 WARNING [140690818090752] (messenger-libusb.cpp:66) bulk_transfer returned error, endpoint: 0x1, error: No data available, err. num: 61 09/05 16:21:02,972 ERROR [140690818090752] (tm-boot.h:39) Error booting T265 09/05 16:21:03,992 WARNING [140031724373760] (messenger-libusb.cpp:66) bulk_transfer returned error, endpoint: 0x1, error: No data available, err. num: 61 09/05 16:21:03,992 ERROR [140031724373760] (tm-boot.h:39) Error booting T265 [d400/realsense2_camera_manager-4] process has died [pid 6379, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/d400-realsense2_camera_manager-4.log]. log file: /home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/d400-realsense2_camera_manager-4*.log [ INFO] [1589034065.997309136]:
[ INFO] [1589034066.002851817]: Device with serial number 944122071903 was found.

[ INFO] [1589034066.002891211]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 was found. [ INFO] [1589034066.002957402]: Device with name Intel RealSense D435 was found. [ INFO] [1589034066.003353646]: Device with port number 2-2 was found. [ERROR] [1589034066.003672156]: The requested device with device name containing t265 is NOT found. Will Try again. [t265/realsense2_camera-3] process has finished cleanly log file: /home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/t265-realsense2_camera-3.log [d400/realsense2_camera-5] process has finished cleanly log file: /home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/d400-realsense2_camera-5.log [ INFO] [1589034081.392082694]: Waiting for tf transform data between frames /map and /base_link to become available HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048 HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024 [ INFO] [1589034081.451784296]: HectorSM p_baseframe: base_footprint [ INFO] [1589034081.452841396]: HectorSM p_mapframe: map [ INFO] [1589034081.452869160]: HectorSM p_odomframe: nav [ INFO] [1589034081.452894193]: HectorSM p_scantopic: scan [ INFO] [1589034081.452907006]: HectorSM p_use_tf_scantransformation: true [ INFO] [1589034081.452920563]: HectorSM p_pub_map_odomtransform: true [ INFO] [1589034081.452938713]: HectorSM p_scan_subscriber_queuesize: 5 [ INFO] [1589034081.452954286]: HectorSM p_map_pubperiod: 2.000000 [ INFO] [1589034081.452971771]: HectorSM p_update_factorfree: 0.400000 [ INFO] [1589034081.452985402]: HectorSM p_update_factoroccupied: 0.900000 [ INFO] [1589034081.453001650]: HectorSM p_map_update_distancethreshold: 0.400000 [ INFO] [1589034081.453019072]: HectorSM p_map_update_anglethreshold: 0.060000 [ INFO] [1589034081.453032871]: HectorSM p_laser_z_minvalue: -1.000000 [ INFO] [1589034081.453047760]: HectorSM p_laser_z_maxvalue: 1.000000 [ WARN] [1589034101.397361197]: No transform between frames /map and /base_link available after 20.005289 seconds of waiting. This warning only prints once. [rviz-11] process has finished cleanly log file: /home/eslam/.ros/log/36cd1824-9200-11ea-99da-64006afb8a06/rviz-11*.log ^C[hector_geotiff_node-13] killing on exit [hector_trajectory_server-12] killing on exit [hector_mapping-10] killing on exit [base_link_to_d400_and_t265-9] killing on exit [odom_to_base_link-8] killing on exit [map_to_odom-7] killing on exit [t265_to_d400-6] killing on exit [t265/realsense2_camera_manager-2] killing on exit Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. at line 122 in /tmp/binarydeb/ros-melodic-class-loader-0.4.1/src/class_loader.cpp [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done eslam@root:~/catkin_ws$

MartyG-RealSense commented 4 years ago

I'm sorry that the roslaunch realsense2_camera rs_d400_and_t265.launch launch instruction did not solve your problem.

At this point, because the case now involves the T265 I will have to refer it to a support manager to see what they say, as I am not a T265 engineer. I apologise very much for the delay this will cause in the meantime.

Eslamrady42 commented 4 years ago

I'm sorry that the roslaunch realsense2_camera rs_d400_and_t265.launch launch instruction did not solve your problem.

At this point, because the case now involves the T265 I will have to refer it to a support manager to see what they say, as I am not a T265 engineer. I apologise very much for the delay this will cause in the meantime.

but my problem in the both cameras not only T265 !!!

MartyG-RealSense commented 4 years ago

I am sorry, if a case involves T265 at all then I cannot take it on and would not have been able to start this case if I had known that a T265 was being used. I understand how frustrating this is for you. I have referred the case to a support manager above me.

Eslamrady42 commented 4 years ago

I am sorry, if a case involves T265 at all then I cannot take it on and would not have been able to start this case if I had known that a T265 was being used. I understand how frustrating this is for you. I have referred the case to a support manager above me.

Thank you for your efforts and support and I hope he can replay on me as fast as he can because I’m working by this two cameras on my graduation project so I don’t have any time to wait.

MartyG-RealSense commented 4 years ago

I will emphasise to them that speed of answering is important due to your graduation project. I have an engineering degree, so I remember what graduation projects are like!

Eslamrady42 commented 4 years ago

I will emphasise to them that speed of answering is important due to your graduation project. I have an engineering degree, so I remember what graduation projects are like!

that's great , all we can found from this project only errors in the cameras also in objectdetection by the depth camera. Thank you again and I'm waiting for his response .

MartyG-RealSense commented 4 years ago

Please do not wait at the computer for a response as I do not know when they will reply. It might not even be today. You should receive an email when somebody replies in the same way that you do when I make a comment. I hope that you can find another aspect of your project to work on in the meantime.

Eslamrady42 commented 4 years ago

Please do not wait at the computer for a response as I do not know when they will reply. It might not even be today. You should receive an email when somebody replies in the same way that you do when I make a comment. I hope that you can find another aspect of your project to work on in the meantime.

yes, I know I'll leave it . I hope you have a nice day ^^.

MartyG-RealSense commented 4 years ago

Thanks very much for your understanding. I wish the very best for you too. Good luck! :)

doronhi commented 4 years ago

Hi @Eslamrady42 , Regarding the "get_device_time_ms() took too long" error, as @MartyG-RealSense already said it was introduced in v2.34.0 and already have a PR to fix it. The error message did not exist in v2.34.1 (I downloaded librealsense-2.33.1.zip file and double checked.) Therefor, although the log of realsense2_camera shows librealsense2 v2.33.1, the version you built was not it. I really don't know how that happened. Also, if realsense-viewer shows version 2.34.1 it means that the system is not clean of that version. When you manage to clean your machine and have librealsense2 v2.33.1 only you cannot see the "get_device_time_ms() took too long" error.

Assuming v.2.33.1, using D435 camera alone, running roslaunch realsense2_camera rs_camera.launch without any other nodes such - do you see any issues? are the topics published and can be subscribed with RViz?

Can you check T265 alone, without D435 or any other node (Using roslaunch realsense2_camera rs_t265.launch)?

Eslamrady42 commented 4 years ago

Hi @Eslamrady42 ,

Regarding the "get_device_time_ms() took too long" error, as @MartyG-RealSense already said it was introduced in v2.34.0 and already have a PR to fix it.

The error message did not exist in v2.34.1 (I downloaded librealsense-2.33.1.zip file and double checked.)

Therefor, although the log of realsense2_camera shows librealsense2 v2.33.1, the version you built was not it. I really don't know how that happened.

Also, if realsense-viewer shows version 2.34.1 it means that the system is not clean of that version.

When you manage to clean your machine and have librealsense2 v2.33.1 only you cannot see the "get_device_time_ms() took too long" error.

Assuming v.2.33.1, using D435 camera alone, running roslaunch realsense2_camera rs_camera.launch without any other nodes such - do you see any issues? are the topics published and can be subscribed with RViz?

Can you check T265 alone, without D435 or any other node (Using roslaunch realsense2_camera rs_t265.launch)?

First of all thank you for your fast response, secondly I don’t know how to clean up my machine from SDK 3.34 if you have a method or link to follow up I’ll do it now, this command what I used for clean up my machine (Remove all RealSense™ SDK-related packages with: dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge ), Also I tried what did you said then I found another error while I connect T265 only: ( https://github.com/IntelRealSense/librealsense/issues/6374 ). Then I tried to connect the both cameras and tried again this what I found ( https://github.com/IntelRealSense/realsense-ros/issues/1191#issuecomment-626184014 ).

@doronhi I’m waiting for your answer please..!

zustwangmingjun commented 4 years ago

When I tried a different launch instruction, this is OK. it publishes a pointcloud: roslaunch realsense2_camera demo_pointcloud.launch

But I tried roslaunch realsense2_camera rs_camera.launch, It has a problem. And I also tried the previous Librealsense version 2.33.1, but I still can not solve this bug. SUMMARY

PARAMETERS

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

auto-starting new master process[master]: started with pid [17800] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d5fe6fdc-9bf7-11ea-873c-80a58951a411 process[rosout-1]: started with pid [17813] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [17830] process[camera/realsense2_camera-3]: started with pid [17831] [ INFO] [1590129934.577309008]: Initializing nodelet with 4 worker threads. [ INFO] [1590129934.884110231]: RealSense ROS v2.2.13 [ INFO] [1590129934.884156609]: Running with LibRealSense v2.34.0 [ INFO] [1590129934.900450793]:
[ INFO] [1590129934.912457549]: Device with serial number 938422075544 was found.

[ INFO] [1590129934.912518905]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0 was found. [ INFO] [1590129934.912547720]: Device with name Intel RealSense D435 was found. [ INFO] [1590129934.913026774]: Device with port number 4-1 was found.

[ INFO] [1590129935.002901607]: JSON file is not provided [ INFO] [1590129935.002927915]: ROS Node Namespace: camera [ INFO] [1590129935.002950682]: Device Name: Intel RealSense D435 [ INFO] [1590129935.002967469]: Device Serial No: 938422075544 [ INFO] [1590129935.002993292]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0 [ INFO] [1590129935.003018357]: Device FW version: 05.12.03.00 [ INFO] [1590129935.003041946]: Device Product ID: 0x0B07 [ INFO] [1590129935.003063821]: Enable PointCloud: Off [ INFO] [1590129935.003086372]: Align Depth: Off [ INFO] [1590129935.003106284]: Sync Mode: Off [ INFO] [1590129935.003240601]: Device Sensors: [ INFO] [1590129935.003307186]: Stereo Module was found. [ INFO] [1590129935.003347076]: RGB Camera was found. [ INFO] [1590129935.003394438]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003417342]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003438506]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003461325]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003484533]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003502994]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1590129935.003531770]: num_filters: 0 [ INFO] [1590129935.003552664]: Setting Dynamic reconfig parameters. [ INFO] [1590129935.068597028]: Done Setting Dynamic reconfig parameters. [ INFO] [1590129935.082793683]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1590129935.083118051]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1590129935.083377088]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 22/05 14:45:35,084 WARNING [140263851534080] (backend-v4l2.cpp:1223) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! [ INFO] [1590129935.102782492]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1590129935.105807247]: Expected frequency for depth = 30.00000 [ INFO] [1590129935.151810458]: Expected frequency for infra1 = 30.00000 [ INFO] [1590129935.186884937]: Expected frequency for infra2 = 30.00000 [ INFO] [1590129935.220902832]: Expected frequency for color = 30.00000

[ INFO] [1590129935.266220585]: insert Depth to Stereo Module [ INFO] [1590129935.266305668]: insert Color to RGB Camera [ INFO] [1590129935.266348786]: insert Infrared to Stereo Module [ INFO] [1590129935.266378507]: insert Infrared to Stereo Module [ INFO] [1590129935.299557591]: SELECTED BASE:Depth, 0 [ INFO] [1590129935.367030602]: RealSense Node Is Up! 22/05 14:45:35,416 WARNING [140263607387904] (ds5-timestamp.cpp:73) UVC metadata payloads not available. Please refer to the installation chapter for details. [ WARN] [1590129935.418325086]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 22/05 14:45:35,619 ERROR [140263766882048] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 22/05 14:45:35,718 WARNING [140263620728576] (ds5-timestamp.cpp:73) UVC metadata payloads not available. Please refer to the installation chapter for details. 22/05 14:45:35,822 ERROR [140263766882048] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs) 22/05 14:45:36,074 ERROR [140263766882048] (types.h:307) get_device_time_ms() took too long (more then 2 mSecs)

doronhi commented 4 years ago

@Eslamrady42 , Sorry for the late response. Hopefully I'll be more available in the next couple of days. My previous message, I see now, was very confusing and I mixed up the versions. Let me clarify: We want to use librealsense2 version 2.33.1 as version v2.34.1 introduced a bug.

You referred to Librealsense issue 6374. In the log there I can see "Running with LibRealSense v2.33.1" . In the above comment I see "Running with LibRealSense v2.34.0" in the log. So, I am confused. What version of librealsense2 did you end up with?

The method you showed to remove librealsense2 seems good. If you built from source you also need to remove this version : make uninstall Make sure "realsense-viewer", "rs-enumerate-device" etc. aren't available before installing version 2.33.1. Again, once you manage that, let's check sanity with D435 alone. Is this working now? Can you see the relevant information using RViz?

You've create another issue for the T265 error ("SLAM_ERROR"). I don't know how to help with that one yet but it is a good thing to try and separate the issues. I'd like to treat T265 in another issue as this one is getting too long and confusing for me. Assuming you successfully downgraded to v2.33.1, are there still issues with D435?

doronhi commented 4 years ago

@zustwangmingjun For having point cloud using rs_camera.launch you have to specify the flag "filters:=pointcloud". I can see in the log you attached that no filter was enabled. Also, the warning "(backend-v4l2.cpp:1223) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!" suggest you did not apply kernel patches (install librealsense2-dkms). Also, if the message "get_device_time_ms() took too long" appears too often, it's possible that you will also need to downgrade to librealsense2 2.33.1 for the point cloud to be available.

Finally, I will appreciate it if you opened a new, specific issue, with details regarding your machine and OS, if needs further assistance. Thanks. Doron

ghost commented 4 years ago

I'm running into the launch issue with similar error message as OP. The launch file worked before but I recently updated to librealsense 2.35.0 and the launch file no longer works. I narrowed the error down to the nodelet.launch.xml specfically in the RealSenseNodeFactory class. The realsense2_camera_manager failed to launch due to segfault.

Thread 25 "nodelet" received signal SIGSEGV, Segmentation fault.

I enabled gdb and ran a backtrace: 

    this=<optimized out>) at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/types.h:415
#34 librealsense::sensor_base::get_stream_profiles (this=<optimized out>, tag=<optimized out>)
    at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/sensor.cpp:196
#35 0x00007fffda494e6c in rs2_get_stream_profiles (sensor=0x7fffa4091570, error=0x7fffa8b2c238)
    at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/rs.cpp:306
#36 0x00007fffdb4f1a4b in rs2::sensor::get_stream_profiles (this=0x7fffa4090f28)
    at /usr/include/librealsense2/hpp/rs_sensor.hpp:228
#37 0x00007fffdb4d6594 in realsense2_camera::BaseRealSenseNode::enable_devices (this=0x7fffa401e130)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:903
#38 0x00007fffdb4c9aa5 in realsense2_camera::BaseRealSenseNode::publishTopics (this=0x7fffa401e130)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:191
#39 0x00007fffdb490d1f in realsense2_camera::RealSenseNodeFactory::StartDevice (this=0x55555624c940)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:320

@doronhi @MartyG-RealSense Does this provide any clue to you?

ghost commented 4 years ago

Downgraded librealsense to v2.33.1 and relaunch shows no segfault error. But new firmware installed using realsense-viewer (05.12.05.00) shows the following error:

[ INFO] [1591148280.396089253]:  
 02/06 18:38:00,406 ERROR [140402921432832] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 02/06 18:38:00,427 WARNING [140403035809536] (rs.cpp:283) null pointer passed for argument "device"
[ WARN] [1591148280.427877974]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1591148280.427915510]: The requested device with device name containing d435 is NOT found. Will Try again.

On realsense-viewer the camera is shown connected to a USB 3.2 port

doronhi commented 4 years ago

@truhoang-ubtrobot , Thanks for the gdb input. I'll try to reproduce and check. Could you please open this as a new issue as this is a different issue plus this issue is already very long? Second, could you specify there your type of hardware and OS?

ghost commented 4 years ago

@doronhi please see #1228

RealSenseSupport commented 4 years ago

@Eslamrady42

Does this issue still occur with the latest SDK and ROS updates?

*If we don’t hear from you in 7 days, this issue will be closed.

Eslamrady42 commented 4 years ago

Thank you for your late reply but all of the problems solved by changing the Ubuntu 18 to Ubuntu 16 and ROS melodic to ROS Kinetic..

MartyG-RealSense commented 4 years ago

I offer sincere apologies for the delays that you experienced on this particular case @Eslamrady42 ... as you have found a solution yourself, I will close this case now. Thanks again!