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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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Hardware Notification:Depth stream start failure,1.60683e+12,Error,Hardware Error #1533

Closed Steven-ZY closed 3 years ago

Steven-ZY commented 3 years ago

roslaunch realsense2_camera rs_camera.launch There is an error: "Hardware Notification:Depth stream start failure,1.60683e+12,Error,Hardware Error"

How to solve it? Thanks in advance.

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: True
 * /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: -1.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /camera/realsense2_camera/filters: 
 * /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_rgb: False
 * /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: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.9

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

auto-starting new master
process[master]: started with pid [3166]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a9ae4a9c-33d7-11eb-a649-84fdd13cc035
process[rosout-1]: started with pid [3177]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [3180]
process[camera/realsense2_camera-3]: started with pid [3185]
process[camera/color_rectify_color-4]: started with pid [3186]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [3187]
[ INFO] [1606828693.337738239]: Initializing nodelet with 12 worker threads.
[ INFO] [1606828693.597312600]: RealSense ROS v2.2.20
[ INFO] [1606828693.597338271]: Built with LibRealSense v2.40.0
[ INFO] [1606828693.597348562]: Running with LibRealSense v2.40.0
[ INFO] [1606828693.607119400]:  
[ INFO] [1606828693.688543715]: Device with serial number 037522250290 was found.

[ INFO] [1606828693.688595610]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2 was found.
[ INFO] [1606828693.688615145]: Device with name Intel RealSense D455 was found.
[ INFO] [1606828693.689869293]: Device with port number 2-2 was found.
[ INFO] [1606828693.689914607]: Device USB type: 3.2
[ INFO] [1606828693.697569522]: getParameters...
[ INFO] [1606828693.734819223]: setupDevice...
[ INFO] [1606828693.734866337]: JSON file is not provided
[ INFO] [1606828693.734878271]: ROS Node Namespace: camera
[ INFO] [1606828693.734902273]: Device Name: Intel RealSense D455
[ INFO] [1606828693.734916545]: Device Serial No: 037522250290
[ INFO] [1606828693.734928484]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video2
[ INFO] [1606828693.734942738]: Device FW version: 05.12.09.00
[ INFO] [1606828693.734953344]: Device Product ID: 0x0B5C
[ INFO] [1606828693.734967417]: Enable PointCloud: Off
[ INFO] [1606828693.734977427]: Align Depth: On
[ INFO] [1606828693.734989211]: Sync Mode: On
[ INFO] [1606828693.735173992]: Device Sensors: 
[ INFO] [1606828693.773251042]: Stereo Module was found.
 01/12 21:18:13,773 WARNING [139768930502400] (backend-v4l2.cpp:1271) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
[ INFO] [1606828693.802052535]: RGB Camera was found.
[ INFO] [1606828693.803250476]: Motion Module was found.
[ INFO] [1606828693.803282864]: num_filters: 0
[ INFO] [1606828693.803292226]: Setting Dynamic reconfig parameters.
[ WARN] [1606828694.045279945]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1606828694.049568856]: Done Setting Dynamic reconfig parameters.
[ INFO] [1606828694.050965359]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1606828694.051375326]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1606828694.052232492]: setupPublishers...
[ INFO] [1606828694.053851696]: Expected frequency for depth = 30.00000
[ INFO] [1606828694.066756014]: Expected frequency for color = 30.00000
[ INFO] [1606828694.077421447]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1606828694.088940108]: setupStreams...
[ INFO] [1606828694.140490764]: insert Depth to Stereo Module
[ INFO] [1606828694.140539586]: insert Color to RGB Camera
[ INFO] [1606828694.407548074]: SELECTED BASE:Depth, 0
[ INFO] [1606828694.416194379]: RealSense Node Is Up!
[ WARN] [1606828695.050354760]: Hardware Notification:Motion Module force pause,1.60683e+12,Error,Hardware Error

 01/12 21:38:31,523 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid!
 01/12 21:38:32,523 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid!
 01/12 21:38:33,524 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid!
MartyG-RealSense commented 3 years ago

Hi @Steven-ZY As a starting point in this case, could you try adding a reset command to the end of your roslaunch instruction to reset the camera at launch, please?

initial_reset:=true

Steven-ZY commented 3 years ago

@MartyG-RealSense Thanks. But even I follow your instructions, the same problem wasn't solved. And I update the issue, which is more detailed.

Steven-ZY commented 3 years ago

@MartyG-RealSense 01/12 21:38:31,523 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid! 01/12 21:38:32,523 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid! 01/12 21:38:33,524 ERROR [140131956680448] (ds5-options.cpp:86) Asic Temperature value is not valid!

MartyG-RealSense commented 3 years ago

Is the camera able to stream depth correctly in the RealSense Viewer program?

Steven-ZY commented 3 years ago

@MartyG-RealSense Yes, it's OK in realsense viewer program.

MartyG-RealSense commented 3 years ago

That is a positive sign as it shows that there is not a hardware problem with the camera.

I'm not convinced that the Motion Module Force Pause warning would make a difference to the launch.

Asic temperature is not valid could suggest a lengthy timeout (lack of arriving data) from the camera if the Asic temperature is checked every 10 seconds and the warning has occurred three times in the log.

https://github.com/IntelRealSense/realsense-ros/issues/894

Can you check if the depth topic is publishing data despite the depth stream start error please:

rostopic echo /camera/depth/image_rect_raw

MartyG-RealSense commented 3 years ago

Hi @Steven-ZY Do you require further assistance with this case, please? Thanks!

Steven-ZY commented 3 years ago 
No, thanks. I figured it out.
MartyG-RealSense commented 3 years ago

Okay, great to hear - thanks very much for the update!

Tal-seven commented 3 years ago

@Steven-ZY would be helpful if you mention how you solved the above mentioned issue as we face a similar one from time to time on some of our robots

Steven-ZY commented 3 years ago

@Tal-seven Hey, bro. You may use the keyboard combination Super+O to toggle the rotation lock ON/OFF.

brentalanmiller commented 3 years ago

I'm running into the exact same problem and I'm not sure how work around it.

The issue seems to come up when I add enable the gyro and accel outputs.

If I run roslaunch realsense2_camera rs_camera.launch filters:=pointcloud initial_reset:=true it works fine.

But with roslaunch realsense2_camera rs_camera.launch filters:=pointcloud initial_reset:=true enable_gyro:=true enable_accel:=true I'll get the error every time.

I can kind of work around it if I remove the initial_reset:=true, launch it once without the gyro and accel, and then launch it again with those flags, but that seems to only work about 50% of the time.

My full output when I see the error:

$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud initial_reset:=true enable_gyro:=true enable_accel:=true
... logging to /home/bmiller/.ros/log/85ea8ec8-51f4-11eb-8b49-000c29657ffb/roslaunch-hawking-9024.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://hawking:43833/

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: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: 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_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: True
 * /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: 1.14.10

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

auto-starting new master
process[master]: started with pid [9034]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 85ea8ec8-51f4-11eb-8b49-000c29657ffb
process[rosout-1]: started with pid [9045]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9052]
process[camera/realsense2_camera-3]: started with pid [9053]
[ INFO] [1610139623.318340606]: Initializing nodelet with 8 worker threads.
[ INFO] [1610139623.415668434]: RealSense ROS v2.2.20
[ INFO] [1610139623.415739536]: Built with LibRealSense v2.40.0
[ INFO] [1610139623.415754894]: Running with LibRealSense v2.40.0
[ INFO] [1610139623.432404383]:  
[ INFO] [1610139623.626915765]: Device with serial number 043422251390 was found.

[ INFO] [1610139623.626988316]: Device with physical ID 4-1-7 was found.
[ INFO] [1610139623.627041844]: Device with name Intel RealSense D455 was found.
[ INFO] [1610139623.627672810]: Device with port number 4-1 was found.
[ INFO] [1610139623.627769869]: Device USB type: 3.2
[ INFO] [1610139623.627844770]: Resetting device...
[ INFO] [1610139629.656359318]:  
[ INFO] [1610139629.824430405]: Device with serial number 043422251390 was found.

[ INFO] [1610139629.824487980]: Device with physical ID 4-1-8 was found.
[ INFO] [1610139629.824498016]: Device with name Intel RealSense D455 was found.
[ INFO] [1610139629.824687694]: Device with port number 4-1 was found.
[ INFO] [1610139629.824725202]: Device USB type: 3.2
[ INFO] [1610139629.826207255]: getParameters...
[ INFO] [1610139629.862553300]: setupDevice...
[ INFO] [1610139629.862607386]: JSON file is not provided
[ INFO] [1610139629.862644948]: ROS Node Namespace: camera
[ INFO] [1610139629.862655330]: Device Name: Intel RealSense D455
[ INFO] [1610139629.862662395]: Device Serial No: 043422251390
[ INFO] [1610139629.862717152]: Device physical port: 4-1-8
[ INFO] [1610139629.862758119]: Device FW version: 05.12.10.00
[ INFO] [1610139629.862784336]: Device Product ID: 0x0B5C
[ INFO] [1610139629.862809384]: Enable PointCloud: On
[ INFO] [1610139629.862819711]: Align Depth: Off
[ INFO] [1610139629.862827351]: Sync Mode: On
[ INFO] [1610139629.862883425]: Device Sensors: 
[ INFO] [1610139629.885433729]: Stereo Module was found.
[ INFO] [1610139629.903139805]: RGB Camera was found.
[ INFO] [1610139629.903478943]: Motion Module was found.
[ INFO] [1610139629.903607606]: Add Filter: pointcloud
[ INFO] [1610139629.904236251]: num_filters: 1
[ INFO] [1610139629.904315467]: Setting Dynamic reconfig parameters.
[ INFO] [1610139630.448485807]: Done Setting Dynamic reconfig parameters.
[ INFO] [1610139630.449091595]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1610139630.449745683]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1610139630.449795844]: setupPublishers...
[ INFO] [1610139630.451994077]: Expected frequency for depth = 30.00000
[ INFO] [1610139630.477096905]: Expected frequency for color = 30.00000
[ INFO] [1610139630.493009044]: setupStreams...
[ INFO] [1610139630.518851555]: insert Depth to Stereo Module
[ INFO] [1610139630.519110778]: insert Color to RGB Camera
[ INFO] [1610139630.519221930]: insert Gyro to Motion Module
[ INFO] [1610139630.519279357]: insert Accel to Motion Module
 08/01 13:00:30,532 WARNING [140209083782912] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 08/01 13:00:30,598 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:30,650 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:30,702 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1610139630.754508817]: SELECTED BASE:Depth, 0
[ INFO] [1610139630.764464297]: RealSense Node Is Up!
 08/01 13:00:30,835 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:30,886 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:30,937 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:30,987 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,039 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,090 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,142 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,193 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,244 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,261 ERROR [140208354563840] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 08/01 13:00:31,295 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,347 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,399 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,450 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1610139631.450894670]: Hardware Notification:Motion Module failure,1.61014e+12,Error,Hardware Error
 08/01 13:00:31,502 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,552 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,604 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,656 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,707 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,757 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,809 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,861 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 13:00:31,890 ERROR [140208380978944] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 08/01 13:00:31,912 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ERROR] [1610139631.968144859]: hwmon command 0x75( 0 1df 0 27f ) failed (response -6= Invalid parameter)
 08/01 13:00:32,070 WARNING [140208966317824] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1610139632.454708054]: Hardware Notification:Depth stream start failure,1.61014e+12,Error,Hardware Error
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
MartyG-RealSense commented 3 years ago

Hi @brentalanmiller Do you see any improvement in reliability if you add the command below to the end of your roslaunch instruction when enabling gyro and accel?

unite_imu_method:=linear_interpolation

brentalanmiller commented 3 years ago

Hi @MartyG-RealSense No, same error:

$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud initial_reset:=true enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation
... logging to /home/bmiller/.ros/log/55688310-5201-11eb-8886-000c29657ffb/roslaunch-hawking-6134.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://hawking:44661/

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: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: 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_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: True
 * /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: linear_interpolation
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.10

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

auto-starting new master
process[master]: started with pid [6144]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 55688310-5201-11eb-8886-000c29657ffb
process[rosout-1]: started with pid [6155]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [6162]
process[camera/realsense2_camera-3]: started with pid [6163]
[ INFO] [1610145125.399571598]: Initializing nodelet with 8 worker threads.
[ INFO] [1610145125.499267575]: RealSense ROS v2.2.20
[ INFO] [1610145125.499320700]: Built with LibRealSense v2.40.0
[ INFO] [1610145125.499334511]: Running with LibRealSense v2.40.0
[ INFO] [1610145125.516032057]:  
[ INFO] [1610145125.717444648]: Device with serial number 043422251390 was found.

[ INFO] [1610145125.717575622]: Device with physical ID 4-1-6 was found.
[ INFO] [1610145125.717599891]: Device with name Intel RealSense D455 was found.
[ INFO] [1610145125.718158279]: Device with port number 4-1 was found.
[ INFO] [1610145125.718193181]: Device USB type: 3.2
[ INFO] [1610145125.718209272]: Resetting device...
[ INFO] [1610145131.743601514]:  
[ INFO] [1610145131.922446050]: Device with serial number 043422251390 was found.

[ INFO] [1610145131.922561093]: Device with physical ID 4-1-7 was found.
[ INFO] [1610145131.922587870]: Device with name Intel RealSense D455 was found.
[ INFO] [1610145131.922833494]: Device with port number 4-1 was found.
[ INFO] [1610145131.922909342]: Device USB type: 3.2
[ INFO] [1610145131.924669624]: getParameters...
[ INFO] [1610145131.990101239]: setupDevice...
[ INFO] [1610145131.990189864]: JSON file is not provided
[ INFO] [1610145131.990227633]: ROS Node Namespace: camera
[ INFO] [1610145131.990277693]: Device Name: Intel RealSense D455
[ INFO] [1610145131.990290892]: Device Serial No: 043422251390
[ INFO] [1610145131.990300257]: Device physical port: 4-1-7
[ INFO] [1610145131.990328603]: Device FW version: 05.12.10.00
[ INFO] [1610145131.990410395]: Device Product ID: 0x0B5C
[ INFO] [1610145131.990445639]: Enable PointCloud: On
[ INFO] [1610145131.990469176]: Align Depth: Off
[ INFO] [1610145131.990485970]: Sync Mode: On
[ INFO] [1610145131.990552590]: Device Sensors: 
[ INFO] [1610145132.015470117]: Stereo Module was found.
[ INFO] [1610145132.033559918]: RGB Camera was found.
[ INFO] [1610145132.033975863]: Motion Module was found.
[ INFO] [1610145132.034108652]: Add Filter: pointcloud
[ INFO] [1610145132.034881433]: num_filters: 1
[ INFO] [1610145132.034950884]: Setting Dynamic reconfig parameters.
[ INFO] [1610145132.601784151]: Done Setting Dynamic reconfig parameters.
[ INFO] [1610145132.602399639]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1610145132.603009954]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1610145132.603104901]: setupPublishers...
[ INFO] [1610145132.605463528]: Expected frequency for depth = 30.00000
[ INFO] [1610145132.637880181]: Expected frequency for color = 30.00000
[ INFO] [1610145132.659195518]: Start publisher IMU
[ INFO] [1610145132.660257233]: setupStreams...
[ INFO] [1610145132.685946350]: insert Depth to Stereo Module
[ INFO] [1610145132.686097146]: insert Color to RGB Camera
[ INFO] [1610145132.686129071]: insert Gyro to Motion Module
[ INFO] [1610145132.686147315]: insert Accel to Motion Module
 08/01 14:32:12,699 WARNING [139948410152704] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 08/01 14:32:12,757 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:12,808 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:12,860 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1610145132.912645281]: SELECTED BASE:Depth, 0
[ INFO] [1610145132.926760931]: RealSense Node Is Up!
 08/01 14:32:12,995 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,046 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,097 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,149 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,200 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,251 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,302 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,354 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,405 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,420 ERROR [139947340195584] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 08/01 14:32:13,457 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,508 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,559 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1610145133.603198618]: Hardware Notification:Motion Module failure,1.61015e+12,Error,Hardware Error
 08/01 14:32:13,609 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,661 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,713 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,765 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,815 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,867 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,919 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:13,970 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:14,021 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/01 14:32:14,056 ERROR [139947774904064] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 08/01 14:32:14,072 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ERROR] [1610145134.128442041]: hwmon command 0x75( 0 1df 0 27f ) failed (response -6= Invalid parameter)
 08/01 14:32:14,228 WARNING [139948153894656] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1610145134.604381613]: Hardware Notification:Depth stream start failure,1.61015e+12,Error,Hardware Error
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
MartyG-RealSense commented 3 years ago

Your librealsense and ROS wrapper versions are matched correctly (2.40.0 SDK and 2.2.20 ROS wrapper).

As you do not have problems when the IMU topics are not enabled, that would suggest that the librealsense and ROS wrapper installations are okay.

The warning control_transfer returned suggests a serious communication problem with the device if the warning is generating continuously instead of just several times during launch, or once or twice per minute after launch.

I note that your log is reporting that the IMU is not calibrated.

08/01 14:32:12,699 WARNING [139948410152704] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.

Have you performed a calibration of your D455's IMU yet please?

https://dev.intelrealsense.com/docs/imu-calibration-tool-for-intel-realsense-depth-camera

https://github.com/IntelRealSense/librealsense/tree/master/tools/rs-imu-calibration

And does the IMU perform okay when accessed through the Motion Module of the RealSense Viewer program?

Tal-seven commented 3 years ago

@brentalanmiller Please do try what @MartyG-RealSense has suggested. Also have you updated the firmware of your realsense recently. Try downgrading a version and see if the error goes away, it helped me.

brentalanmiller commented 3 years ago

Thanks for the help @Tal-seven!, I downgraded to 05.12.09.00 and that seems to have fixed the problem. I still get the warning Hardware Notification:Motion Module failure,1.61023e+12,Error,Hardware Error, but the IMU data seems to be coming in fine. Worth noting that I have also seen a similar warning in both the ROS driver and the RealSense Viewer on both 05.12.09.00 and 05.12.10.00.

But to @MartyG-RealSense's points, I also tried the following before downgrading:

Thanks to both of you for your help.

MartyG-RealSense commented 3 years ago

Thanks so much @Tal-seven for your help!

Hi @brentalanmiller Great news that you had successful results. Yes, the Motion Module Failure warning does not prevent the IMU from working normally in the Viewer after the message has occurred.

Leon-0919 commented 2 years ago

I had the same error with the depth module failure.

I believe it is because of the resolution with the depth sensor + its fps.

I have tried different resolution and fps combinations. no failure for depth sensor if: 640480 + 60 fps (30fps causes failure) 848480 + 30fps

Leon-0919 commented 2 years ago

note the previous trial is on D435.

rakshith95 commented 2 years ago

@MartyG-RealSense I get the same error: [ WARN] [1648125842.425313765]: Hardware Notification:Depth stream start failure,1.64813e+12,Error,Hardware Error when I start with the depth stream as 640x480, but not in, say, 848x480. The depth topics seem to publish fine.

What could be the reason for this warning?

EDIT: I just saw the other comment mentioning the fps. The warning doesn't appear on 60 fps

MartyG-RealSense commented 2 years ago

@rakshith95 Similarly, the RealSense ROS case https://github.com/IntelRealSense/realsense-ros/issues/2068#issuecomment-915207845 discusses how a Depth Stream Start Failure crash would occur at 90 FPS but there was not a problem at 60 FPS.

In that case, a RealSense team member provided advice at https://github.com/IntelRealSense/realsense-ros/issues/2068#issuecomment-918812871 that solved the problem. The discussion below the linked-to comment at that case is also worth reading.

ozilxu commented 2 years ago

Hi @brentalanmiller @Tal-seven @rakshith95 @MartyG-RealSense @wx1909 Can you help me check my problem?

I have similar issue. And I am using Ubuntu 18.04.6 in VMware.

The D415 camera works fine with real-sense viewer but it fails to open in terminal with ros and rviz: 

roslaunch realsense2_camera rs_camera.launch
... logging to /home/xxuaz/.ros/log/60930144-0cdf-11ed-9172-000c29e8b8cd/roslaunch-xxuaz-virtual-machine-14486.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://xxuaz-virtual-machine:43979/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /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: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /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: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /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_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /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/ordered_pc: False
 * /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/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /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: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

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

auto-starting new master
process[master]: started with pid [14496]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 60930144-0cdf-11ed-9172-000c29e8b8cd
process[rosout-1]: started with pid [14507]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [14514]
process[camera/realsense2_camera-3]: started with pid [14515]
[ INFO] [1658838906.230027958]: Initializing nodelet with 4 worker threads.
[ INFO] [1658838906.310775775]: RealSense ROS v2.3.2
[ INFO] [1658838906.310899379]: Built with LibRealSense v2.50.0
[ INFO] [1658838906.310917448]: Running with LibRealSense v2.50.0
[ INFO] [1658838906.337886154]:  
[ INFO] [1658838906.525345775]: Device with serial number 035622061440 was found.

[ INFO] [1658838906.525496171]: Device with physical ID 4-1-5 was found.
[ INFO] [1658838906.525513463]: Device with name Intel RealSense D415 was found.
[ INFO] [1658838906.525816558]: Device with port number 4-1 was found.
[ INFO] [1658838906.525903304]: Device USB type: 3.2
[ INFO] [1658838906.529192478]: getParameters...
[ INFO] [1658838906.609924898]: setupDevice...
[ INFO] [1658838906.609955664]: JSON file is not provided
[ INFO] [1658838906.609965141]: ROS Node Namespace: camera
[ INFO] [1658838906.609974325]: Device Name: Intel RealSense D415
[ INFO] [1658838906.609981317]: Device Serial No: 035622061440
[ INFO] [1658838906.609987939]: Device physical port: 4-1-5
[ INFO] [1658838906.609994200]: Device FW version: 05.13.00.50
[ INFO] [1658838906.610000558]: Device Product ID: 0x0AD3
[ INFO] [1658838906.610006522]: Enable PointCloud: Off
[ INFO] [1658838906.610012378]: Align Depth: Off
[ INFO] [1658838906.610018112]: Sync Mode: Off
[ INFO] [1658838906.610047896]: Device Sensors: 
[ INFO] [1658838906.677453115]: Stereo Module was found.
[ INFO] [1658838906.698452434]: RGB Camera was found.
[ INFO] [1658838906.698818826]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1658838906.698971978]: num_filters: 0
[ INFO] [1658838906.699742195]: Setting Dynamic reconfig parameters.
[ INFO] [1658838910.620334200]: Done Setting Dynamic reconfig parameters.
[ INFO] [1658838910.623010078]: depth stream is enabled - width: 1280, height: 720, fps: 30, Format: Z16
[ INFO] [1658838910.626128374]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1658838910.626497632]: setupPublishers...
[ INFO] [1658838910.631710018]: Expected frequency for depth = 30.00000
[ INFO] [1658838910.643027995]: Expected frequency for color = 30.00000
[ INFO] [1658838910.648394280]: setupStreams...
 26/07 20:35:10,975 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1658838911.028212462]: SELECTED BASE:Depth, 0
[ INFO] [1658838911.050161856]: RealSense Node Is Up!
[ WARN] [1658838911.098796119]: 
 26/07 20:35:11,101 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,153 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,206 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,259 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,311 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,363 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,415 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,467 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,519 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,572 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,624 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,629 ERROR [139859016537856] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 26/07 20:35:11,677 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,729 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:11,781 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: 
 26/07 20:35:12,250 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:12,305 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:12,358 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1658838912.629139610]: Hardware Notification:Depth stream start failure,1.65884e+12,Error,Hardware Error
 26/07 20:35:12,753 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 20:35:12,910 WARNING [139859553408768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1658838914.638409090]: Hardware Notification:Depth stream start failure,1.65884e+12,Error,Hardware Error
MartyG-RealSense commented 2 years ago

Hi @ozilxu The case at https://github.com/IntelRealSense/realsense-ros/issues/2423 is a useful reference to start with in investigating your problem. Based on the information in that case, may I ask:

  1. Whether you may have installed the librealsense SDK more than once - for example, installing it from packages with the distribution_linx.md instruction page and then installing it a second time by using the ROS wrapper's Method 1 package installation instructions.

  2. Whether the warnings disappear if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch. For example:

roslaunch realsense2_camera rs_camera.launch initial_reset:=true

tulingcheng86 commented 4 months ago

Hi @Steven-ZY As a starting point in this case, could you try adding a reset command to the end of your roslaunch instruction to reset the camera at launch, please?

initial_reset:=true

thanks!That's very good for me