MartyG-RealSense
commented
2 years ago Hi @haquebd There was a similar sounding case yesterday at https://github.com/IntelRealSense/realsense-ros/issues/2212 where a Jetson user with a D455 could not access the IMU in RealSense ROS. They also found that the IMU data was not accessible in librealsense programs such as realsense-viewer and rs-motion. They were able to confirm the presence of the /camera/imu topic using rostopic list in their particular case though. The IMU worked normally for them on a Windows computer, indicating that it was a Jetson-specific issue.
An important difference in your own case is that you are including align_depth:=true filters:=pointcloud in your roslaunch instruction. Align and pointcloud instructions are known to currently have problems when used in the ROS wrapper on Jetson boards specifically (the same setup works correctly on desktop / laptop PCs). An official Intel bug report has been filed about this Jetson issue, and https://github.com/IntelRealSense/realsense-ros/issues/1967 contains further information about Jetson pointcloud problems.
On the case that the bug report is linked to, the Jetson user found a workaround for generating a pointcloud, described at https://github.com/IntelRealSense/realsense-ros/issues/2201#issuecomment-1003006360
Could you try removing align_depth:=true filters:=pointcloud from your roslaunch instruction please in order to eliminate the possibility that your IMU access problem is being caused as a side-effect from these commands, please? Thanks!
haquebd
AlexKaravaev
blue-ringed-octopus
tugbakara
My goal is to use the D435i in Rtabmap with camera depth and IMU. I also tried with unite_imu_method:=linear_interpolation But still the same error. I dont see any "rostopic as /camera/imu"
The camera is connected with the supplied USB cable directly connected with the USB port in Jetson Xavier NX.
realsense_ros version 2.3.2 or latest and librealsense is 2.50.x The Jetpack and Ubuntu info as below:
ROS: Melodic Ubuntu: 18.04 Jetson Package: nvidia-jetpack Version: 4.6-b199 Architecture: arm64 Maintainer: NVIDIA Corporation Installed-Size: 194 Depends: nvidia-cuda (= 4.6-b199), nvidia-opencv (= 4.6-b199), nvidia-cudnn8 (= 4.6-b199), nvidia-tensorrt (= 4.6-b199), nvidia-visionworks (= 4.6-b199), nvidia-container (= 4.6-b199), nvidia-vpi (= 4.6-b199), nvidia-l4t-jetson-multimedia-api (>> 32.6-0), nvidia-l4t-jetson-multimedia-api (<< 32.7-0)
`remote-eng@xavier-nx:~$ roslaunch realsense2_camera rs_camera.launch initial_reset:=true align_depth:=true filters:=pointcloud depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 unite_imu_method:=copy enable_gyro:=true enable_accel:=true gyro_fps:=250 accel_fps:=200 ... logging to /home/remote-eng/.ros/log/9c1d2e46-6dda-11ec-b7ba-d8c0a6b11fcf/roslaunch-xavier-nx-23024.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://xavier-nx:42683/
SUMMARY
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [23034] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 9c1d2e46-6dda-11ec-b7ba-d8c0a6b11fcf process[rosout-1]: started with pid [23047] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [23064] process[camera/realsense2_camera-3]: started with pid [23065] [ INFO] [1641354626.842334499]: Initializing nodelet with 4 worker threads. [ INFO] [1641354627.238120701]: RealSense ROS v2.3.2 [ INFO] [1641354627.238257533]: Built with LibRealSense v2.50.0 [ INFO] [1641354627.238346878]: Running with LibRealSense v2.50.0 [ INFO] [1641354627.353258880]:
04/01 22:50:27,438 WARNING [546803020160] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1641354627.697529733]: Device with serial number 045322074531 was found.
[ INFO] [1641354627.697784838]: Device with physical ID 2-3.2-9 was found. [ INFO] [1641354627.697912903]: Device with name Intel RealSense D435I was found. [ INFO] [1641354627.700014065]: Device with port number 2-3.2 was found. [ INFO] [1641354627.700142257]: Device USB type: 3.2 [ INFO] [1641354627.700248786]: Resetting device... [ INFO] [1641354633.842230794]:
[ INFO] [1641354634.161278901]: Device with serial number 045322074531 was found.
[ INFO] [1641354634.162921885]: Device with physical ID 2-3.2-10 was found. [ INFO] [1641354634.163335903]: Device with name Intel RealSense D435I was found. [ INFO] [1641354634.165729098]: Device with port number 2-3.2 was found. [ INFO] [1641354634.165855562]: Device USB type: 3.2
[ INFO] [1641354634.674287960]: JSON file is not provided [ INFO] [1641354634.674410104]: ROS Node Namespace: camera [ INFO] [1641354634.674526489]: Device Name: Intel RealSense D435I [ INFO] [1641354634.674609753]: Device Serial No: 045322074531 [ INFO] [1641354634.674671577]: Device physical port: 2-3.2-10 [ INFO] [1641354634.674897051]: Device FW version: 05.13.00.50 [ INFO] [1641354634.674982555]: Device Product ID: 0x0B3A [ INFO] [1641354634.675044059]: Enable PointCloud: On [ INFO] [1641354634.675150620]: Align Depth: On [ INFO] [1641354634.675252060]: Sync Mode: On [ INFO] [1641354634.675517021]: Device Sensors: [ INFO] [1641354634.777893475]: Stereo Module was found. [ INFO] [1641354634.861425904]: RGB Camera was found. [ INFO] [1641354634.862906743]: Motion Module was found. [ INFO] [1641354634.863500218]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1641354634.864987137]: Add Filter: pointcloud [ INFO] [1641354634.869699671]: num_filters: 2 [ INFO] [1641354634.870251002]: Setting Dynamic reconfig parameters. [ INFO] [1641354639.237687847]: Done Setting Dynamic reconfig parameters. [ INFO] [1641354639.239303982]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1641354639.241110807]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8 [ WARN] [1641354639.244200902]: No mathcing profile found for gyro with fps=250 [ WARN] [1641354639.244338662]: Using default profile instead. [ INFO] [1641354639.244465191]: gyro stream is enabled - fps: 200 [ WARN] [1641354639.244642248]: No mathcing profile found for accel with fps=200 [ WARN] [1641354639.244744328]: Using default profile instead. [ INFO] [1641354639.244831689]: accel stream is enabled - fps: 63
[ INFO] [1641354639.258937868]: Expected frequency for depth = 30.00000 [ INFO] [1641354639.430975739]: Expected frequency for color = 30.00000 [ INFO] [1641354639.545222777]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1641354639.653979612]: Start publisher IMU
04/01 22:50:39,837 WARNING [547035201920] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ WARN] [1641354640.217446699]: [ WARN] [1641354640.320831510]: Hardware Notification:Motion Module failure,1.64135e+12,Error,Hardware Error 04/01 22:50:40,484 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1641354640.535796144]: SELECTED BASE:Depth, 0 [ INFO] [1641354640.596498480]: RealSense Node Is Up! 04/01 22:50:40,608 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,658 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,709 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:40,760 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:41,031 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:41,081 WARNING [546459083136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/01 22:50:42,708 ERROR [546056429952] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 `