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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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[Eloquent] t265 node segfaults when tf_publish_rate != 0.0 #1542

Closed Michael-Equi closed 3 years ago

Michael-Equi commented 3 years ago

When I run the t265 node with the following configuration I get the output below. I am also having trouble with setting publish_odom_tf to something other than false which I believe might be related to this issue. Note that I am running Foxy on Ubuntu 20.04 so I am not sure if it is a distro specific issue or not since foxy is not officially supported yet. 

Configuration 
t265:
  camera:
    ros__parameters:
      device_type: 't265'
      serial_no: ''
      usb_port_id: ''

      odom_frame_id: 'odom'
      pose_frame_id: 't260_link'
      tf_publish_rate: 1.0
      publish_tf: true
      # publish_odom_tf: true

      enable_fisheye: true
      fisheye_height: 800
      fisheye_width: 848
      fisheye_fps: 30.0

      enable_accel: true
      enable_gyro: true

      publish_odom_tf: false

      unite_imu_method: 'linear_interpolation'

      tracking_module:
        enable_auto_exposure: true
        enable_dynamic_calibration: true
        enable_map_preservation: true
        enable_mapping: true
        enable_pose_jumping: false
        enable_relocalization: false
        frames_queue_size: 1

Node Output 

[INFO] [1606979273.967928471] [RealSenseCameraNode]: RealSense ROS v3.1.1
[INFO] [1606979273.967963647] [RealSenseCameraNode]: Built with LibRealSense v2.34.0
[INFO] [1606979273.967971112] [RealSenseCameraNode]: Running with LibRealSense v2.40.0
[WARN] [1606979273.967978062] [RealSenseCameraNode]: ***************************************************
[WARN] [1606979273.967985140] [RealSenseCameraNode]: ** running with a different librealsense version **
[WARN] [1606979273.967988860] [RealSenseCameraNode]: ** than the one the wrapper was compiled with!   **
[WARN] [1606979273.967992944] [RealSenseCameraNode]: ***************************************************
[INFO] [1606979273.976724443] [RealSenseCameraNode]: Device with serial number 11622110225 was found.

[INFO] [1606979273.976744517] [RealSenseCameraNode]: Device with physical ID 2-2-2 was found.
[INFO] [1606979273.976750178] [RealSenseCameraNode]: Device with name Intel RealSense T265 was found.
[INFO] [1606979273.976953356] [RealSenseCameraNode]: Device with port number 2-2 was found.
[INFO] [1606979273.978014862] [RealSenseCameraNode]: getParameters...
[INFO] [1606979273.978110110] [RealSenseCameraNode]: 662
[WARN] [1606979273.979330737] [RealSenseCameraNode]: 188has_parameter(infra_width)
[WARN] [1606979273.979432563] [RealSenseCameraNode]: 188has_parameter(infra_height)
[WARN] [1606979273.979528109] [RealSenseCameraNode]: 188has_parameter(infra_fps)
[WARN] [1606979273.979711430] [RealSenseCameraNode]: 188has_parameter(infra_width)
[WARN] [1606979273.979806757] [RealSenseCameraNode]: 188has_parameter(infra_height)
[WARN] [1606979273.979905241] [RealSenseCameraNode]: 188has_parameter(infra_fps)
[WARN] [1606979273.980772717] [RealSenseCameraNode]: 188has_parameter(fisheye_width)
[WARN] [1606979273.980873792] [RealSenseCameraNode]: 188has_parameter(fisheye_height)
[WARN] [1606979273.980975947] [RealSenseCameraNode]: 188has_parameter(fisheye_fps)
[WARN] [1606979273.981157321] [RealSenseCameraNode]: 188has_parameter(fisheye_width)
[WARN] [1606979273.981247752] [RealSenseCameraNode]: 188has_parameter(fisheye_height)
[WARN] [1606979273.981352007] [RealSenseCameraNode]: 188has_parameter(fisheye_fps)
[INFO] [1606979273.985025580] [RealSenseCameraNode]: setupDevice...
[INFO] [1606979273.985041587] [RealSenseCameraNode]: JSON file is not provided
[INFO] [1606979273.985052936] [RealSenseCameraNode]: Device Name: Intel RealSense T265
[INFO] [1606979273.985061833] [RealSenseCameraNode]: Device Serial No: 11622110225
[INFO] [1606979273.985067978] [RealSenseCameraNode]: Device physical port: 2-2-2
[INFO] [1606979273.985072693] [RealSenseCameraNode]: Device FW version: 0.2.0.951
[INFO] [1606979273.985077175] [RealSenseCameraNode]: Device Product ID: 0x0B37
[INFO] [1606979273.985081637] [RealSenseCameraNode]: Enable PointCloud: Off
[INFO] [1606979273.985086275] [RealSenseCameraNode]: Align Depth: Off
[INFO] [1606979273.985093455] [RealSenseCameraNode]: Sync Mode: Off
[INFO] [1606979273.985101942] [RealSenseCameraNode]: Device Sensors: 
[INFO] [1606979273.985122148] [RealSenseCameraNode]: Tracking Module was found.
[INFO] [1606979273.985131638] [RealSenseCameraNode]: (Depth, 0) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985137533] [RealSenseCameraNode]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985143966] [RealSenseCameraNode]: (Infrared, 0) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985150833] [RealSenseCameraNode]: (Infrared, 1) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985155679] [RealSenseCameraNode]: (Infrared, 2) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985160724] [RealSenseCameraNode]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[INFO] [1606979273.985167107] [RealSenseCameraNode]: num_filters: 0
[INFO] [1606979273.985172165] [RealSenseCameraNode]: Setting Dynamic reconfig parameters.
[INFO] [1606979273.986043807] [RealSenseCameraNode]: Done Setting Dynamic reconfig parameters.
[WARN] [1606979273.986104419] [RealSenseCameraNode]: Given stream configuration is not supported by the device!  Stream: Fisheye, Stream Index: 1, Width: 640, Height: 480, FPS: 30
[WARN] [1606979273.986121009] [RealSenseCameraNode]: Given stream configuration is not supported by the device!  Stream: Fisheye, Stream Index: 2, Width: 640, Height: 480, FPS: 30
[INFO] [1606979273.986140500] [RealSenseCameraNode]: setupPublishers...
[INFO] [1606979273.986146973] [RealSenseCameraNode]: Start publisher IMU
[INFO] [1606979273.987159349] [RealSenseCameraNode]: setupStreams...
[INFO] [1606979274.010121916] [RealSenseCameraNode]: SELECTED BASE:Pose, 0
[WARN] [1606979274.010240714] [RealSenseCameraNode]: Publishing dynamic camera transforms (/tf) at 1 Hz
[1]    60817 segmentation fault (core dumped)   --ros-args -r __ns:=/t265 --params-file
doronhi commented 3 years ago

Thanks for your report. This bug is common to eloquent as well as foxy and is not limited to T265. You can now checkout the foxy branch Fixed in #1586.

RealSenseSupport commented 3 years ago

Hi,

Will you be needing further help with this?

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

Thanks