L515 stops after few seconds

mirkocomparetti-synesis commented 3 years ago

Hello, We have a raspberrypi 4 4GB connected to the camera with ubuntu and the libraries have been manually compiled. We installed ros noetic and we are trying the camera connection and this happens

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true color_width:=1920 color_height:=1080 color_fps:=15
... logging to /home/user/.ros/log/d96ac9dc-992f-11eb-9dd8-df83f75e12bb/roslaunch-ubuntu-6694.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://raspberry:43837/

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: 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: -2.0
 * /camera/realsense2_camera/color_fps: 15
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 1080
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 1920
 * /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: -1
 * /camera/realsense2_camera/infra_height: -1
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: -1
 * /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/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: noetic
 * /rosversion: 1.15.9

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

ROS_MASTER_URI=http://1.2.3.4:11311

process[camera/realsense2_camera_manager-1]: started with pid [6703]
process[camera/realsense2_camera-2]: started with pid [6704]
[ INFO] [1617974741.814008934]: Initializing nodelet with 4 worker threads.
[ INFO] [1617974742.133668314]: RealSense ROS v2.2.22
[ INFO] [1617974742.133777295]: Built with LibRealSense v2.42.0
[ INFO] [1617974742.133846332]: Running with LibRealSense v2.42.0
[ INFO] [1617974742.215081680]:  
 09/04 13:25:42,343 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1617974742.994879593]: Device with serial number somesn was found.
[ INFO] [1617974742.995016222]: Device with physical ID A-B-C was found.
[ INFO] [1617974742.995077741]: Device with name Intel RealSense L515 was found.
[ INFO] [1617974742.996371716]: Device with port number A-B was found.
[ INFO] [1617974742.996466512]: Device USB type: 3.2
[ INFO] [1617974743.003060054]: getParameters...
[ INFO] [1617974743.415558577]: setupDevice...
[ INFO] [1617974743.415720095]: JSON file is not provided
[ INFO] [1617974743.415849854]: ROS Node Namespace: camera
[ INFO] [1617974743.415971797]: Device Name: Intel RealSense L515
[ INFO] [1617974743.416136630]: Device Serial No: somesn
[ INFO] [1617974743.416257500]: Device physical port: A-B-C
[ INFO] [1617974743.416371721]: Device FW version: 01.05.05.00
[ INFO] [1617974743.416555517]: Device Product ID: 0x0B64
[ INFO] [1617974743.416673146]: Enable PointCloud: Off
[ INFO] [1617974743.416785701]: Align Depth: On
[ INFO] [1617974743.416897311]: Sync Mode: On
[ INFO] [1617974743.417146069]: Device Sensors: 
[ INFO] [1617974743.446876278]: L500 Depth Sensor was found.
[ INFO] [1617974743.466139018]: RGB Camera was found.
[ INFO] [1617974743.466687774]: Motion Module was found.
[ INFO] [1617974743.466797718]: num_filters: 0
[ INFO] [1617974743.466857699]: Setting Dynamic reconfig parameters.
[ INFO] [1617974743.910709330]: Done Setting Dynamic reconfig parameters.
[ INFO] [1617974743.912445637]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1617974743.924181950]: color stream is enabled - width: 1920, height: 1080, fps: 15, Format: RGB8
[ INFO] [1617974743.928664077]: setupPublishers...
[ INFO] [1617974743.937978050]: Expected frequency for depth = 30.00000
[ INFO] [1617974743.951979723]: Expected frequency for color = 15.00000
[ INFO] [1617974743.960068184]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1617974743.971211871]: setupStreams...
[ INFO] [1617974743.995693345]: insert Depth to L500 Depth Sensor
[ INFO] [1617974743.995945177]: insert Color to RGB Camera
 09/04 13:25:44,372 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:44,423 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1617974744.473465386]: SELECTED BASE:Depth, 0
 09/04 13:25:44,474 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1617974744.527762734]: RealSense Node Is Up!
[ WARN] [1617974744.624024509]: 
[ WARN] [1617974744.624165601]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
 09/04 13:25:45,087 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:45,340 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:45,426 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:46,678 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:46,996 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:47,930 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:49,184 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:50,438 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 09/04 13:25:51,689 WARNING [281472007131504] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[camera/realsense2_camera-2] process has finished cleanly
log file: /home/user/.ros/log/d96ac9dc-992f-11eb-9dd8-df83f75e12bb/camera-realsense2_camera-2*.log
^C[camera/realsense2_camera_manager-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

As you can see, after reporting the control_transfer error few times, the process is terminated automatically. When the process is running we can see some topics published

/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/extrinsics/depth_to_color
/camera/l500_depth_sensor/parameter_descriptions
/camera/l500_depth_sensor/parameter_updates
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

and they disappear when [camera/realsense2_camera-2] process has finished cleanly happens.

From the log file reported, we have

$ cat /home/user/.ros/log/d96ac9dc-992f-11eb-9dd8-df83f75e12bb/camera-realsense2_camera-2*.log
[ INFO] [1617974741.789083722]: Loading nodelet /camera/realsense2_camera of type realsense2_camera/RealSenseNodeFactory to manager realsense2_camera_manager with the following remappings:
[ INFO] [1617974741.809774677]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1617974741.838669482]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] is now available.
[ INFO] [1617974755.214000829]: Bond broken, exiting

Do you have a clue why the process is terminated after few seconds (<15s)?

Is there anything we are missing?

Thank you!

mirkocomparetti-synesis commented 3 years ago

Just to add something: using ubuntu on a standard desktop machine works like a charm. Is there something we are missing while building the libraries for arm? We are using the ubuntu server version as we will use the camera data "remotely" for the raspberrypi; can this be the culprit?

mirkocomparetti-synesis commented 3 years ago

Hello, @MartyG-RealSense any idea on why this happens on the raspberry pi? I did follow the instructions from here for the LTS distrubution of ubuntu (20.04) and compiled with cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_BINDINGS:BOOL=ON -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false -DCHECK_FOR_UPDATES:BOOL=ON -DBUILD_SHARED_LIBS:BOOL=ON -DBUILD_NODEJS_BINDINGS:BOOL=OFF -DBUILD_NETWORK_DEVICE:BOOL=ON -DENFORCE_METADATA:BOOL=ON -DFORCE_LIBUVC:BOOL=ON.

I do can't understand why the proces stops cleanly after few seconds.

Or maybe you can point me to some directions to understand.

Thank you, Best

mirkocomparetti-synesis commented 3 years ago

Sorry to tag you all @MartyG-RealSense @RealSenseCustomerSupport @RealSenseSupport Do you have any idea about this situation? We are stuck and cannot proceed with the development with the raspberry pi as it does not stay up for more than 10s. If I run the rs-server on the same pi, it works fine and I can connect remotely with the viewer.

RealSenseSupport commented 3 years ago

Hi @mirkocomparetti-synesis

We need to look at this further. You say that you're able to run the L515 rs-server and connect to the viewer it works fine. On the surface nothing looks out of the ordinary. It seems to be issue with building.

mirkocomparetti-synesis commented 3 years ago

Hi @RealSenseSupport @MartyG-RealSense @RealSenseCustomerSupport Yes, it might be a compilation error. Even if we build with those options cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_BINDINGS:BOOL=ON -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false -DCHECK_FOR_UPDATES:BOOL=ON -DBUILD_SHARED_LIBS:BOOL=ON -DBUILD_NODEJS_BINDINGS:BOOL=OFF -DBUILD_NETWORK_DEVICE:BOOL=ON -DENFORCE_METADATA:BOOL=ON -DFORCE_LIBUVC:BOOL=ON this is what we get at the end image (1) and we cannot use python. This is similar to issue https://github.com/IntelRealSense/librealsense/issues/6820 but that is so old and most importantly it has been closed so we assume this should not be an issue anymore. Your support is crucial for this. Best

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis Did you get the streaming stop issue if you run with rs-depth or rs-color ?
And also you can have a try with "align_depth:=false" and lower the resolution to see if the issue still existing.

mirkocomparetti-synesis commented 3 years ago

@RealSenseSupport I didn't try rs-depth or rs-color, but rs-server works fine without stop. The problem lies in the python library that is not compiled and it is missing a loto of methods (like the pipeline method, see https://github.com/IntelRealSense/realsense-ros/issues/1804#issuecomment-828210420) Also this option set does not work fine

cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_BINDINGS:BOOL=ON -DBUILD_EXAMPLES:BOOL=ON -DBUILD_GRAPHICAL_EXAMPLES:BOOL=OFF -DCHECK_FOR_UPDATES:BOOL=ON -DBUILD_SHARED_LIBS:BOOL=ON -DBUILD_NODEJS_BINDINGS:BOOL=OFF -DBUILD_NETWORK_DEVICE:BOOL=ON -DENFORCE_METADATA:BOOL=ON -DFORCE_LIBUVC:BOOL=OFF -DFORCE_RSUSB_BACKEND:BOOL=ON

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis If you only use ROS instead of python, could you please try below build option to see if the issue still existing? Also please try with "align_depth:=false" and lower the resolution to see if any difference.

cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES:BOOL=ON -DBUILD_GRAPHICAL_EXAMPLES:BOOL=OFF -DFORCE_RSUSB_BACKEND:BOOL=ON

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis Did you get chance to try? Looking forward to your update. Thanks!

mirkocomparetti-synesis commented 3 years ago

I didn't have the chance to try in the last week. Anyway, the cmake flags you suggested are already active in my build set here https://github.com/IntelRealSense/realsense-ros/issues/1804#issuecomment-837954731, so those will not make a difference. Please, suggest possible resolution values even if we need the maximum resolution and reducing it is not realy an option for us.

Our use case is the following RaspberryPi running a "server" application to stream the data over the network and a different computer running a python client application that will read those data and process them. What is your suggestion to achieve that? ROS is an option for that (if it would have worked in the first place) but any other working and tested option will be fine for us (considering the client must run python code on camera data).

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis You issue seems similar to https://github.com/IntelRealSense/realsense-ros/issues/1758#issuecomment-840285347 Could you please try to configure _pointcloud_texturestream from RS_STREAM_COLOR (default) to RS_STREAM_ANY in the launch file?

For your use case, not sure if you have checked our white paper in https://dev.intelrealsense.com/docs/open-source-ethernet-networking-for-intel-realsense-depth-cameras ? Please check if this helps.

mirkocomparetti-synesis commented 3 years ago

Sure, we read that white paper and this is what we found out

The rpi image does not work properly
python does not support network camera
c++ examples didn't really compile in our tests
we didn't change the launch file, but the same ros node works in a ubuntu desktop machine, so I do not think is a launch file problem but it is mostly related to the build process on arm; we will try by changing that parameter anyway and see

mirkocomparetti-synesis commented 3 years ago

@RealSenseSupport as suggested we did test with the RS_STREAM_ANY and align_depth:=false, with no luck

$ roslaunch realsense2_camera rs_camera.launch align_depth:=false color_width:=1280 color_height:=720 color_fps:=15
... logging to /home/ubuntu/.ros/log/762488a8-b974-11eb-bbe2-ffafe61ceab8/roslaunch-synesiscmr01-54716.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://test:43295/

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: 15
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 720
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 1280
 * /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_ANY
 * /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/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: 
 * /rosdistro: noetic
 * /rosversion: 1.15.11

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

ROS_MASTER_URI=http://192.168.2.177:11311/

process[camera/realsense2_camera_manager-1]: started with pid [54726]
process[camera/realsense2_camera-2]: started with pid [54727]
[ INFO] [1621520287.330369004]: Initializing nodelet with 4 worker threads.
[ INFO] [1621520287.653369167]: RealSense ROS v2.2.24
[ INFO] [1621520287.653536444]: Built with LibRealSense v2.44.0
[ INFO] [1621520287.653637554]: Running with LibRealSense v2.44.0
[ INFO] [1621520287.741597815]:  
 20/05 14:18:07,869 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ INFO] [1621520288.027957950]: Device with serial number f0350654 was found.

[ INFO] [1621520288.028095875]: Device with physical ID 2-1-2 was found.
[ INFO] [1621520288.028158320]: Device with name Intel RealSense L515 was found.
[ INFO] [1621520288.029480239]: Device with port number 2-1 was found.
[ INFO] [1621520288.029573591]: Device USB type: 3.2
[ INFO] [1621520288.037316201]: getParameters...
[ INFO] [1621520288.500510854]: setupDevice...
[ INFO] [1621520288.500676538]: JSON file is not provided
[ INFO] [1621520288.500814038]: ROS Node Namespace: camera
[ INFO] [1621520288.500942111]: Device Name: Intel RealSense L515
[ INFO] [1621520288.501073814]: Device Serial No: f0350654
[ INFO] [1621520288.501202517]: Device physical port: 2-1-2
[ INFO] [1621520288.501324942]: Device FW version: 01.05.04.01
[ INFO] [1621520288.501444146]: Device Product ID: 0x0B64
[ INFO] [1621520288.501560275]: Enable PointCloud: Off
[ INFO] [1621520288.501676144]: Align Depth: Off
[ INFO] [1621520288.501789274]: Sync Mode: Off
[ INFO] [1621520288.501994421]: Device Sensors: 
[ INFO] [1621520288.530164748]: L500 Depth Sensor was found.
[ INFO] [1621520288.549990004]: RGB Camera was found.
[ INFO] [1621520288.550527594]: Motion Module was found.
[ INFO] [1621520288.550634445]: num_filters: 0
[ INFO] [1621520288.550700519]: Setting Dynamic reconfig parameters.
[ INFO] [1621520289.033462373]: Done Setting Dynamic reconfig parameters.
[ INFO] [1621520289.035394493]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1621520289.040774893]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8
[ INFO] [1621520289.041066725]: setupPublishers...
[ INFO] [1621520289.052115505]: Expected frequency for depth = 30.00000
[ INFO] [1621520289.065257349]: Expected frequency for color = 15.00000
[ INFO] [1621520289.077324513]: setupStreams...
[ INFO] [1621520289.101742303]: insert Depth to L500 Depth Sensor
[ INFO] [1621520289.102001616]: insert Color to RGB Camera
 20/05 14:18:09,172 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:09,223 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1621520289.226432812]: SELECTED BASE:Depth, 0
 20/05 14:18:09,275 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:09,326 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1621520289.379828312]: RealSense Node Is Up!
[ WARN] [1621520289.400927044]: 
[ WARN] [1621520289.401115302]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
 20/05 14:18:09,883 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:10,227 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:10,783 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:11,479 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:12,731 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:13,982 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:15,234 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 20/05 14:18:16,486 WARNING [281472239501680] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[camera/realsense2_camera-2] process has finished cleanly
log file: /home/ubuntu/.ros/log/762488a8-b974-11eb-bbe2-ffafe61ceab8/camera-realsense2_camera-2*.log

mirkocomparetti-synesis commented 3 years ago

@RealSenseSupport is this https://github.com/IntelRealSense/librealsense/issues/9014#issuecomment-841533559 the case? Are you sure about that as rs-server works for me? Is the L515 supported somehow?

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis I didn't get L515 stop streaming issue with RealSenseViewer on Raspberry based on SDK v2.45. Could you please also check if you get issue when use RealSenseViewer?

Next I'll try to setup ROS environment and test if the issue can be reproduced.

mirkocomparetti-synesis commented 3 years ago

Hello @RealSenseSupport, Realsense viewer seems to work. Though we do not need it but we need to stram data from the raspberry pi over a network to a client that will need to read those data in python. Any suggestion is appreciated. Thanks!

mirkocomparetti-synesis commented 3 years ago

Hello @RealSenseSupport Do you have any news on this?

Thanks!

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis These days I checked some related github tickets and found that some users can run rs-server with L515. And did you check https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python/examples/ethernet_client_server to see if this is what you're looking for? Thanks!

mirkocomparetti-synesis commented 3 years ago

Thank you @RealSenseSupport Is rs-server with the L515 officially supported? I appreciate someone that managed to use it but I'd like to have an official statement. I'll look at the link but reading the first part it states

Ubuntu 18.04 on an UpBoard but has also been tested on an Intel NUC

which is far from our hardware and software (Ubuntu 20.04 on raspberry pi 4)

mirkocomparetti-synesis commented 3 years ago

So the example has some weird things

WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.
Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.
To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.
ERROR: Could not find a version that satisfies the requirement pyrealsense2 (from versions: none)
ERROR: No matching distribution found for pyrealsense2
WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.
Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.
To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.
Collecting cron_descriptor
  Downloading cron_descriptor-1.2.24.tar.gz (22 kB)
Building wheels for collected packages: cron-descriptor
  Building wheel for cron-descriptor (setup.py) ... done
  Created wheel for cron-descriptor: filename=cron_descriptor-1.2.24-py3-none-any.whl size=37775 sha256=24abbd113e9a0eb50035b8a7355b9130ed686b449c8aa1e00f2634793541f379
  Stored in directory: /root/.cache/pip/wheels/7b/06/5f/2164c55afa10479505033599409f980cdca4daf096f41c40a1
Successfully built cron-descriptor
Installing collected packages: cron-descriptor
Successfully installed cron-descriptor-1.2.24
ERROR: Missing user or command in system cron line.
cron job set to run Every minute

As expected, it fails to download the pyrealsense2, as it does not exist for arm and we built it manually. Also, in the manually built pyrealsense2, the pipeline object does not get compiled with arm, and that tool is the key for the ethernet example (as it requires the camera), as we requested here https://github.com/IntelRealSense/librealsense/issues/6820

@RealSenseSupport can you comment on all this? Thanks

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis Sorry for the late response. After double check, L515 is not currently supported in rs-server. Team is working on this and any update will let you know.

RealSenseSupport commented 3 years ago

@mirkocomparetti-synesis Sorry to inform you that there's no plan to implement rs-server for L515 now. Any other question from your side? Thanks!

RealSenseSupport commented 2 years ago

@mirkocomparetti-synesis Any other questions about this ticket? Please note that the ticket will be closed in another 7 days if we don't get update from you. Thanks!

RealSenseSupport commented 2 years ago

@mirkocomparetti-synesis Sorry that we don't hear from you for weeks. This ticket will be closed at this point. Please create new ticket if you still have any other questions or issues. Thanks!

IntelRealSense / realsense-ros

L515 stops after few seconds #1804