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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
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Crash upon launch: ROS2 Foxy - T265 - Ubuntu 20.04.2 LTS #1725

Closed paucarre closed 3 years ago

paucarre commented 3 years ago

ros2 launch crashes

Details are the following:

Using:

Steps for replication:

### Where the parameters file contents are:

/camera/camera: ros__parameters: accel_fps: -1.0 align_depth: false allow_no_texture_points: false calib_odom_file: '' camera_name: camera clip_distance: -2.0 color_fps: -1.0 color_height: -1 color_qos: SENSOR_DATA color_width: -1 confidence_fps: -1.0 confidence_height: -1 confidence_qos: SENSOR_DATA confidence_width: -1 config_file: '' depth_fps: -1.0 depth_height: -1 depth_qos: SENSOR_DATA depth_width: -1 device_type: '' enable_accel: false enable_color: true enable_confidence: true enable_depth: true enable_fisheye1: true enable_fisheye2: true enable_gyro: false enable_infra1: true enable_infra2: true enable_pointcloud: false enable_sync: false filters: '' fisheye_fps: -1.0 fisheye_height: -1 fisheye_qos: SENSOR_DATA fisheye_width: -1 gyro_fps: -1.0 infra_fps: -1.0 infra_height: -1 infra_qos: SENSOR_DATA infra_rgb: false infra_width: -1 initial_reset: false json_file_path: '' linear_accel_cov: 0.01 ordered_pc: false output: screen pointcloud_texture_index: 0 pointcloud_texture_stream: RS2_STREAM_COLOR rosbag_filename: '' serial_no: '' tf_publish_rate: 0.0 topic_odom_in: '' unite_imu_method: '' usb_port_id: ''

### And the full output is:

[INFO] [launch]: All log files can be found below [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]: process started with pid [1232161] [realsense2_camera_node-1] [INFO] [1614394661.956534960] [RealSenseCameraNode]: RealSense ROS v3.1.4 [realsense2_camera_node-1] [INFO] [1614394661.956631061] [RealSenseCameraNode]: Built with LibRealSense v2.42.0 [realsense2_camera_node-1] [INFO] [1614394661.956654668] [RealSenseCameraNode]: Running with LibRealSense v2.42.0 [realsense2_camera_node-1] [INFO] [1614394661.972837241] [RealSenseCameraNode]: Device with serial number 943222110295 was found. [realsense2_camera_node-1] [realsense2_camera_node-1] [INFO] [1614394661.972882987] [RealSenseCameraNode]: Device with physical ID 4-2-11 was found. [realsense2_camera_node-1] [INFO] [1614394661.972898352] [RealSenseCameraNode]: Device with name Intel RealSense T265 was found. [realsense2_camera_node-1] [INFO] [1614394661.973175203] [RealSenseCameraNode]: Device with port number 4-2 was found. [realsense2_camera_node-1] [INFO] [1614394661.973209146] [RealSenseCameraNode]: Device USB type: 3.1

[realsense2_camera_node-1] [INFO] [1614394661.976970169] [RealSenseCameraNode]: JSON file is not provided [realsense2_camera_node-1] [INFO] [1614394661.976981064] [RealSenseCameraNode]: Device Name: Intel RealSense T265 [realsense2_camera_node-1] [INFO] [1614394661.976987350] [RealSenseCameraNode]: Device Serial No: 943222110295 [realsense2_camera_node-1] [INFO] [1614394661.976993566] [RealSenseCameraNode]: Device physical port: 4-2-11 [realsense2_camera_node-1] [INFO] [1614394661.976998385] [RealSenseCameraNode]: Device FW version: 0.2.0.951 [realsense2_camera_node-1] [INFO] [1614394661.977006835] [RealSenseCameraNode]: Device Product ID: 0x0B37 [realsense2_camera_node-1] [INFO] [1614394661.977012981] [RealSenseCameraNode]: Enable PointCloud: Off [realsense2_camera_node-1] [INFO] [1614394661.977018848] [RealSenseCameraNode]: Align Depth: Off [realsense2_camera_node-1] [INFO] [1614394661.977023597] [RealSenseCameraNode]: Sync Mode: Off [realsense2_camera_node-1] [INFO] [1614394661.977037775] [RealSenseCameraNode]: Device Sensors: [realsense2_camera_node-1] [INFO] [1614394661.977065572] [RealSenseCameraNode]: Tracking Module was found. [realsense2_camera_node-1] [INFO] [1614394661.977081286] [RealSenseCameraNode]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977089877] [RealSenseCameraNode]: (Color, 0) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977096442] [RealSenseCameraNode]: (Infrared, 0) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977103147] [RealSenseCameraNode]: (Infrared, 1) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977110340] [RealSenseCameraNode]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977116626] [RealSenseCameraNode]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977125566] [RealSenseCameraNode]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [realsense2_camera_node-1] [INFO] [1614394661.977133248] [RealSenseCameraNode]: num_filters: 0 [realsense2_camera_node-1] [INFO] [1614394661.977138905] [RealSenseCameraNode]: Setting Dynamic reconfig parameters. [realsense2_camera_node-1] [WARN] [1614394661.977309108] [RealSenseCameraNode]: Failed to set parameter:tracking_module.frames_queue_size = 256[0, 32] [realsense2_camera_node-1] parameter 'tracking_module.frames_queue_size' could not be set: Parameter {} doesn't comply with integer range. [realsense2_camera_node-1] [INFO] [1614394661.977513813] [RealSenseCameraNode]: Done Setting Dynamic reconfig parameters. [realsense2_camera_node-1] [INFO] [1614394661.977718867] [RealSenseCameraNode]: fisheye1 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [realsense2_camera_node-1] [INFO] [1614394661.977897731] [RealSenseCameraNode]: fisheye2 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [realsense2_camera_node-1] [INFO] [1614394661.977914074] [RealSenseCameraNode]: pose stream is enabled - fps: 200

[realsense2_camera_node-1] [ERROR] [1614394661.981356271] [RealSenseCameraNode]: An exception has been thrown: CONFIDENTIAL_FOLDER/src/hw_interface/sensors/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1901:Invalid profile configuration - setting a single FE stream is not supported [realsense2_camera_node-1] Invalid profile configuration - setting a single FE stream is not supported [realsense2_camera_node-1] stop_streaming() failed. T265 device is not streaming! [realsense2_camera_node-1] terminate called after throwing an instance of 'rs2::wrong_api_call_sequence_error' [realsense2_camera_node-1] what(): close() failed. T265 device was not opened! [ERROR] [realsense2_camera_node-1]: process has died [pid 1232161, exit code -6, cmd 'CONFIDENTIAL_FOLDER/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node --ros-args -r node:=camera -r ns:=/camera --params-file /tmp/launch_params_u0t796wv'].



Could anybody please help me or guide me to fix this error?
doronhi commented 3 years ago

Thanks for reporting. Please check out the fix in #1728

paucarre commented 3 years ago

Thanks for reporting. Please check out the fix in #1728

Thanks, tested and working!

doronhi commented 3 years ago

Great. Thanks for testing and sorry for the trouble. Closing the issue then.