Closed hugoyvrn closed 2 years ago
MartyG-RealSense
commented
2 years ago Hi @hugoyvrn Does the warning still occur if you reset the camera in the ROS wrapper by including the command initial_reset:=true in your roslaunch instruction, please?
roslaunch realsense2_camera rs_camera.launch initial_reset:=true
hugoyvrn
commented
2 years ago Thanks @MartyG-RealSense for your quick response.
This is the first thing I tried, it doesn't seem to change anything.
$ roslaunch realsense2_camera rs_camera.launch initial_reset:=true
... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-58553.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://hugo-victus-pc:41301/
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: 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/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: noetic
* /rosversion: 1.15.14
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [58567]
process[camera/realsense2_camera-2]: started with pid [58568]
[ INFO] [1655731385.680638651]: Initializing nodelet with 12 worker threads.
[ INFO] [1655731385.754289811]: RealSense ROS v2.3.2
[ INFO] [1655731385.754319878]: Built with LibRealSense v2.50.0
[ INFO] [1655731385.754329657]: Running with LibRealSense v2.50.0
[ INFO] [1655731385.778337614]:
[ INFO] [1655731385.883844192]: Device with serial number 146222254421 was found.
[ INFO] [1655731385.883877255]: Device with physical ID 4-1-9 was found.
[ INFO] [1655731385.883888216]: Device with name Intel RealSense D455 was found.
[ INFO] [1655731385.884233015]: Device with port number 4-1 was found.
[ INFO] [1655731385.884249807]: Device USB type: 3.2
[ INFO] [1655731385.884265858]: Resetting device...
[ INFO] [1655731391.961025976]:
[ INFO] [1655731392.062878063]: Device with serial number 146222254421 was found.
[ INFO] [1655731392.062910835]: Device with physical ID 4-1-9 was found.
[ INFO] [1655731392.062919903]: Device with name Intel RealSense D455 was found.
[ INFO] [1655731392.063215247]: Device with port number 4-1 was found.
[ INFO] [1655731392.063236558]: Device USB type: 3.2
[ INFO] [1655731392.064862915]: getParameters...
[ INFO] [1655731392.094779740]: setupDevice...
[ INFO] [1655731392.094808085]: JSON file is not provided
[ INFO] [1655731392.094816080]: ROS Node Namespace: camera
[ INFO] [1655731392.094824616]: Device Name: Intel RealSense D455
[ INFO] [1655731392.094830618]: Device Serial No: 146222254421
[ INFO] [1655731392.094837401]: Device physical port: 4-1-9
[ INFO] [1655731392.094843132]: Device FW version: 05.13.00.50
[ INFO] [1655731392.094850395]: Device Product ID: 0x0B5C
[ INFO] [1655731392.094855976]: Enable PointCloud: Off
[ INFO] [1655731392.094861607]: Align Depth: Off
[ INFO] [1655731392.094869251]: Sync Mode: Off
[ INFO] [1655731392.094896203]: Device Sensors:
[ INFO] [1655731392.190691378]: Stereo Module was found.
[ INFO] [1655731392.197778718]: RGB Camera was found.
[ INFO] [1655731392.197887306]: Motion Module was found.
[ INFO] [1655731392.197919868]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655731392.197945948]: num_filters: 0
[ INFO] [1655731392.197961457]: Setting Dynamic reconfig parameters.
[ INFO] [1655731395.240527707]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655731395.240949643]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1655731395.241797553]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655731395.241821919]: setupPublishers...
[ INFO] [1655731395.243467794]: Expected frequency for depth = 30.00000
[ INFO] [1655731395.264402819]: Expected frequency for color = 30.00000
[ INFO] [1655731395.278194679]: setupStreams...
20/06 15:23:15,526 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,577 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,627 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655731395.677900580]: SELECTED BASE:Depth, 0
[ INFO] [1655731395.685538742]: RealSense Node Is Up!
[ WARN] [1655731395.740031650]:
20/06 15:23:15,740 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,791 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,841 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,891 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11Thank you. Next, let's test whether the problem is related to the ROS wrapper having difficulty with processing the volume of data by using a lower stream configuration (depth only, 640x480, 15 FPS).
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
Do the control_transfer_returned warnings still occur with this launch?
hugoyvrn
commented
2 years ago Okay, do you have any idea how I can fix this? To me, it seems to be a camera software issue.
There is no change with these settings (I've already tested a lot of configurations from what you gave in the other github issues).
$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-70981.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://hugo-victus-pc:46029/
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: 15
* /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_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: noetic
* /rosversion: 1.15.14
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [70995]
process[camera/realsense2_camera-2]: started with pid [70996]
[ INFO] [1655754316.965389729]: Initializing nodelet with 12 worker threads.
[ INFO] [1655754317.033177845]: RealSense ROS v2.3.2
[ INFO] [1655754317.033209716]: Built with LibRealSense v2.50.0
[ INFO] [1655754317.033223492]: Running with LibRealSense v2.50.0
[ INFO] [1655754317.055527793]:
[ INFO] [1655754317.153544439]: Device with serial number 146222254421 was found.
[ INFO] [1655754317.153572362]: Device with physical ID 4-1-10 was found.
[ INFO] [1655754317.153580107]: Device with name Intel RealSense D455 was found.
[ INFO] [1655754317.153941709]: Device with port number 4-1 was found.
[ INFO] [1655754317.153980684]: Device USB type: 3.2
[ INFO] [1655754317.155082431]: getParameters...
[ INFO] [1655754317.185069871]: setupDevice...
[ INFO] [1655754317.185106611]: JSON file is not provided
[ INFO] [1655754317.185117341]: ROS Node Namespace: camera
[ INFO] [1655754317.185131088]: Device Name: Intel RealSense D455
[ INFO] [1655754317.185140415]: Device Serial No: 146222254421
[ INFO] [1655754317.185149292]: Device physical port: 4-1-10
[ INFO] [1655754317.185157658]: Device FW version: 05.13.00.50
[ INFO] [1655754317.185166275]: Device Product ID: 0x0B5C
[ INFO] [1655754317.185174370]: Enable PointCloud: Off
[ INFO] [1655754317.185182316]: Align Depth: Off
[ INFO] [1655754317.185190271]: Sync Mode: Off
[ INFO] [1655754317.185228394]: Device Sensors:
[ INFO] [1655754317.281893534]: Stereo Module was found.
[ INFO] [1655754317.289269696]: RGB Camera was found.
[ INFO] [1655754317.289403632]: Motion Module was found.
[ INFO] [1655754317.289432978]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655754317.289458627]: num_filters: 0
[ INFO] [1655754317.289473045]: Setting Dynamic reconfig parameters.
20/06 21:45:19,730 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
20/06 21:45:19,994 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1655754320.442757916]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655754320.443154305]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655754320.443989392]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655754320.444064356]: setupPublishers...
[ INFO] [1655754320.445538586]: Expected frequency for depth = 15.00000
[ INFO] [1655754320.474307173]: Expected frequency for color = 30.00000
[ INFO] [1655754320.488904340]: setupStreams...
20/06 21:45:20,704 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:20,754 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:20,804 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655754320.854922430]: SELECTED BASE:Depth, 0
20/06 21:45:20,854 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655754320.860755640]: RealSense Node Is Up!
[ WARN] [1655754321.025031797]:
20/06 21:45:21,025 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,075 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,125 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,176 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,226 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,277 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,327 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,377 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,528 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,679 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,729 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,879 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,930 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:22,080 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:22,130 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11Can you confirm that you do not have any other RealSense programs, such as realsense-viewer, already streaming with the camera before you perform the ROS launch?
Do the warnings reduce if you add enable_color:=false to your roslaunch instruction to disable the color stream?
hugoyvrn
commented
2 years ago I can confirm you that I do not have any other RealSense programs lunch at the same time.
Today, even after rebooting my computer, I have the other issue (the error (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0). But with another computer I still get the same issue (the error (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11). Anyway enable_color:=false does not change a thing.
$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false
... logging to /home/hugo/.ros/log/27819598-f144-11ec-afad-a598d86d1557/roslaunch-hugo-victus-pc-19792.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://hugo-victus-pc:40621/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: 15
* /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: False
* /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: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [19802]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 27819598-f144-11ec-afad-a598d86d1557
process[rosout-1]: started with pid [19812]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [19819]
process[camera/realsense2_camera-3]: started with pid [19820]
[ INFO] [1655803556.994129924]: Initializing nodelet with 12 worker threads.
[ INFO] [1655803557.145261805]: RealSense ROS v2.3.2
[ INFO] [1655803557.145290499]: Built with LibRealSense v2.50.0
[ INFO] [1655803557.145301720]: Running with LibRealSense v2.50.0
[ INFO] [1655803557.171811271]:
21/06 11:25:57,240 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803557.314491730]: Device with serial number 146222254421 was found.[ INFO] [1655803557.314540332]: Device with physical ID 4-1-2 was found.
[ INFO] [1655803557.314548577]: Device with name Intel RealSense D455 was found.
[ INFO] [1655803557.314832361]: Device with port number 4-1 was found.
[ INFO] [1655803557.314845897]: Device USB type: 3.2
[ INFO] [1655803557.319521224]: getParameters...
[ INFO] [1655803557.352628068]: setupDevice...
[ INFO] [1655803557.352658926]: JSON file is not provided
[ INFO] [1655803557.352669015]: ROS Node Namespace: camera
[ INFO] [1655803557.352678944]: Device Name: Intel RealSense D455
[ INFO] [1655803557.352686408]: Device Serial No: 146222254421
[ INFO] [1655803557.352697158]: Device physical port: 4-1-2
[ INFO] [1655803557.352708820]: Device FW version: 05.13.00.50
[ INFO] [1655803557.352716725]: Device Product ID: 0x0B5C
[ INFO] [1655803557.352724559]: Enable PointCloud: Off
[ INFO] [1655803557.352731402]: Align Depth: Off
[ INFO] [1655803557.352745339]: Sync Mode: Off
[ INFO] [1655803557.352794321]: Device Sensors:
[ INFO] [1655803557.450333421]: Stereo Module was found.
[ INFO] [1655803557.458155269]: RGB Camera was found.
[ INFO] [1655803557.458299671]: Motion Module was found.
[ INFO] [1655803557.458519815]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655803557.458566593]: num_filters: 0
[ INFO] [1655803557.458583134]: Setting Dynamic reconfig parameters.
[ INFO] [1655803560.507607341]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655803560.508549523]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655803560.508571014]: setupPublishers...
[ INFO] [1655803560.510506325]: Expected frequency for depth = 15.00000
[ INFO] [1655803560.532981084]: setupStreams...
21/06 11:26:00,704 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:00,754 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:00,805 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803560.855627359]: SELECTED BASE:Depth, 0
21/06 11:26:00,855 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803560.859860123]: RealSense Node Is Up!
[ WARN] [1655803561.026046151]:
21/06 11:26:01,027 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,077 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,128 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,179 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,431 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,482 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,532 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,683 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,734 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,885 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,936 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,087 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,138 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,289 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,340 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/hugo/.ros/log/50f927ba-f144-11ec-afad-a598d86d1557/roslaunch-hugo-victus-pc-22369.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://hugo-victus-pc:44689/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: 15
* /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_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: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [22377]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 50f927ba-f144-11ec-afad-a598d86d1557
process[rosout-1]: started with pid [22387]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [22394]
process[camera/realsense2_camera-3]: started with pid [22395]
[ INFO] [1655803626.516595368]: Initializing nodelet with 12 worker threads.
[ INFO] [1655803626.596673103]: RealSense ROS v2.3.2
[ INFO] [1655803626.596704362]: Built with LibRealSense v2.50.0
[ INFO] [1655803626.596717216]: Running with LibRealSense v2.50.0
[ INFO] [1655803626.621408736]:
21/06 11:27:06,679 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803626.759661624]: Device with serial number 146222254421 was found.[ INFO] [1655803626.759705296]: Device with physical ID 4-1-2 was found.
[ INFO] [1655803626.759763306]: Device with name Intel RealSense D455 was found.
[ INFO] [1655803626.760122361]: Device with port number 4-1 was found.
[ INFO] [1655803626.760152718]: Device USB type: 3.2
[ INFO] [1655803626.761551821]: getParameters...
[ INFO] [1655803626.790724603]: setupDevice...
[ INFO] [1655803626.790796277]: JSON file is not provided
[ INFO] [1655803626.790811556]: ROS Node Namespace: camera
[ INFO] [1655803626.790823789]: Device Name: Intel RealSense D455
[ INFO] [1655803626.790833067]: Device Serial No: 146222254421
[ INFO] [1655803626.790844669]: Device physical port: 4-1-2
[ INFO] [1655803626.790854287]: Device FW version: 05.13.00.50
[ INFO] [1655803626.790862823]: Device Product ID: 0x0B5C
[ INFO] [1655803626.790870597]: Enable PointCloud: Off
[ INFO] [1655803626.790878592]: Align Depth: Off
[ INFO] [1655803626.790887489]: Sync Mode: Off
[ INFO] [1655803626.790952732]: Device Sensors:
[ INFO] [1655803626.924101316]: Stereo Module was found.
[ INFO] [1655803626.930684012]: RGB Camera was found.
[ INFO] [1655803626.930842149]: Motion Module was found.
[ INFO] [1655803626.930883607]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655803626.930921839]: num_filters: 0
[ INFO] [1655803626.930934253]: Setting Dynamic reconfig parameters.
21/06 11:27:08,863 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:08,976 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:09,435 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803630.179653227]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655803630.180024576]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655803630.180831464]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655803630.180855680]: setupPublishers...
[ INFO] [1655803630.182247599]: Expected frequency for depth = 15.00000
[ INFO] [1655803630.202186356]: Expected frequency for color = 30.00000
[ INFO] [1655803630.215359592]: setupStreams...
21/06 11:27:10,291 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:10,528 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,579 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,629 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803630.679950141]: SELECTED BASE:Depth, 0
[ INFO] [1655803630.694779554]: RealSense Node Is Up!
21/06 11:27:10,781 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ WARN] [1655803630.849835960]:
21/06 11:27:10,850 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,901 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,951 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,002 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,054 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,104 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,256 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false
... logging to /home/ras/.ros/log/9a8d5f8a-f145-11ec-9cd1-b764e565c950/roslaunch-ras-ThinkPad-P40-Yoga-140785.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://ras-thinkpad-p40-yoga:35871/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: 15
* /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: False
* /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: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [140793]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 9a8d5f8a-f145-11ec-9cd1-b764e565c950
process[rosout-1]: started with pid [140803]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [140810]
process[camera/realsense2_camera-3]: started with pid [140811]
[ INFO] [1655804179.724855025]: Initializing nodelet with 4 worker threads.
[ INFO] [1655804179.838032794]: RealSense ROS v2.3.2
[ INFO] [1655804179.838099423]: Built with LibRealSense v2.50.0
[ INFO] [1655804179.838134268]: Running with LibRealSense v2.50.0
[ INFO] [1655804179.875762821]:
21/06 11:36:20,028 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655804180.133087402]: Device with serial number 146222254421 was found.[ INFO] [1655804180.133125063]: Device with physical ID 2-4-5 was found.
[ INFO] [1655804180.133140674]: Device with name Intel RealSense D455 was found.
[ INFO] [1655804180.133730662]: Device with port number 2-4 was found.
[ INFO] [1655804180.133810019]: Device USB type: 3.2
[ INFO] [1655804180.136275647]: getParameters...
[ INFO] [1655804180.183752208]: setupDevice...
[ INFO] [1655804180.183795573]: JSON file is not provided
[ INFO] [1655804180.183808317]: ROS Node Namespace: camera
[ INFO] [1655804180.183835410]: Device Name: Intel RealSense D455
[ INFO] [1655804180.183865373]: Device Serial No: 146222254421
[ INFO] [1655804180.183892183]: Device physical port: 2-4-5
[ INFO] [1655804180.183920735]: Device FW version: 05.13.00.50
[ INFO] [1655804180.183946775]: Device Product ID: 0x0B5C
[ INFO] [1655804180.183971013]: Enable PointCloud: Off
[ INFO] [1655804180.183995558]: Align Depth: Off
[ INFO] [1655804180.184020934]: Sync Mode: Off
[ INFO] [1655804180.184071231]: Device Sensors:
[ INFO] [1655804180.354205553]: Stereo Module was found.
[ INFO] [1655804180.376627036]: RGB Camera was found.
[ INFO] [1655804180.377048395]: Motion Module was found.
[ INFO] [1655804180.377136866]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655804180.377320571]: num_filters: 0
[ INFO] [1655804180.377356336]: Setting Dynamic reconfig parameters.
[ INFO] [1655804183.247510858]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655804183.248415678]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655804183.248474549]: setupPublishers...
[ INFO] [1655804183.252012983]: Expected frequency for depth = 15.00000
[ INFO] [1655804183.319642804]: setupStreams...
21/06 11:36:23,465 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,518 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,568 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655804183.619381829]: SELECTED BASE:Depth, 0
[ INFO] [1655804183.630505084]: RealSense Node Is Up!
[ WARN] [1655804183.743294632]:
21/06 11:36:23,744 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,794 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,844 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,895 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,146 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,196 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,247 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,397 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,448 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,598 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,651 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/ras/.ros/log/89611eae-f145-11ec-9cd1-b764e565c950/roslaunch-ras-ThinkPad-P40-Yoga-139512.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://ras-thinkpad-p40-yoga:35059/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: 15
* /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_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: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [139520]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 89611eae-f145-11ec-9cd1-b764e565c950
process[rosout-1]: started with pid [139530]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [139537]
process[camera/realsense2_camera-3]: started with pid [139538]
[ INFO] [1655804150.913190839]: Initializing nodelet with 4 worker threads.
[ INFO] [1655804151.057417340]: RealSense ROS v2.3.2
[ INFO] [1655804151.057450719]: Built with LibRealSense v2.50.0
[ INFO] [1655804151.057475255]: Running with LibRealSense v2.50.0
[ INFO] [1655804151.093420523]:
21/06 11:35:51,242 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655804151.349459792]: Device with serial number 146222254421 was found.[ INFO] [1655804151.349518681]: Device with physical ID 2-4-5 was found.
[ INFO] [1655804151.349544080]: Device with name Intel RealSense D455 was found.
[ INFO] [1655804151.350317339]: Device with port number 2-4 was found.
[ INFO] [1655804151.350376373]: Device USB type: 3.2
[ INFO] [1655804151.352392290]: getParameters...
[ INFO] [1655804151.402549128]: setupDevice...
[ INFO] [1655804151.402590464]: JSON file is not provided
[ INFO] [1655804151.402616136]: ROS Node Namespace: camera
[ INFO] [1655804151.402641973]: Device Name: Intel RealSense D455
[ INFO] [1655804151.402666738]: Device Serial No: 146222254421
[ INFO] [1655804151.402684610]: Device physical port: 2-4-5
[ INFO] [1655804151.402708121]: Device FW version: 05.13.00.50
[ INFO] [1655804151.402744271]: Device Product ID: 0x0B5C
[ INFO] [1655804151.402765445]: Enable PointCloud: Off
[ INFO] [1655804151.402787971]: Align Depth: Off
[ INFO] [1655804151.402814453]: Sync Mode: Off
[ INFO] [1655804151.402872606]: Device Sensors:
[ INFO] [1655804151.516745616]: Stereo Module was found.
[ INFO] [1655804151.540269417]: RGB Camera was found.
[ INFO] [1655804151.540661141]: Motion Module was found.
[ INFO] [1655804151.540718559]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655804151.540763556]: num_filters: 0
[ INFO] [1655804151.540798545]: Setting Dynamic reconfig parameters.
[ INFO] [1655804154.517867979]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655804154.518869118]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655804154.522553694]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655804154.522886468]: setupPublishers...
[ INFO] [1655804154.525888814]: Expected frequency for depth = 15.00000
[ INFO] [1655804154.590587965]: Expected frequency for color = 30.00000
[ INFO] [1655804154.645225192]: setupStreams...
21/06 11:35:54,878 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:54,928 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:54,978 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655804155.029405519]: SELECTED BASE:Depth, 0
[ INFO] [1655804155.063051780]: RealSense Node Is Up!
[ WARN] [1655804155.158494832]:
21/06 11:35:55,160 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,210 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,263 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,315 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,373 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,424 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,575 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,626 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,676 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,827 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,878 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:56,028 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:56,079 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
Let's look at the basics of your librealsense and ROS wrapper installations. You are correctly matching wrapper version 2.3.2 and librealsense version 2.50.0.
Which methods did you use to install librealsense and the ROS wrapper, please? Did you:
Install 2.3.2 and 2.50.0 from packages together at the same time using the ROS1 wrapper's Method 1 instructions
Install 2.3.2 and 2.50.0 separately from source code.
Sometimes people build librealsense on its own and then install librealsense and the wrapper together from packages with the wrapper's Method 1. By doing so, they are effectively installing librealsense twice. Or instead, they install librealsense with both packages and source code on the same computer, resulting in conflicts between the two SDK installation types such as the Multiple udev rules detected warning.
hugoyvrn
commented
2 years ago Thank you for your answer. I installed both packages with the command line sudo apt-get install ros-noetic-realsense2-camera or sudo apt-get install ros-noetic-realsense2-* (with melodic or galactic instead of noetic depending on the ros distribution).
I have never tried to build something from source. Should I try?
I also tried to remove the packages and reinstall them again.
MartyG-RealSense
commented
2 years ago All RealSense related packages should be uninstalled with the 'purge' command below. Is that the command that you used to uninstall, please?
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge
Once uninstall has been performed, I would recommend only installing Noetic or Galactic but not both, and purging the packages to remove one version before installing another from packages (for example, removing a Noetic wrapper installation before installing the Galactic wrapper from packages). This is because performing an apt-get build with the command in the wrapper documentation will install both librealsense and the wrapper. So doing an apt-get build for both Noetic and Galactic would be installing librealsense twice.
There is no harm in trying a source code build so long as the package build is uninstalled first before doing so. But you would have to reinstall librealsense separately first (either from packages or source code) and then install the ROS wrapper from source code afterwards.
MartyG-RealSense
commented
2 years ago Hi @hugoyvrn Do you require further assistance with this case, please? Thanks!
zhaojiaran111
commented
2 years ago I also got this error on my ubuntu 18.04 :
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false ... logging to /home/ubuntu/.ros/log/df7d8cb2-f77d-11ec-9bef-000c297dee61/roslaunch-ubuntu18-12606.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://ubuntu18:46121/
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [12616] ROS_MASTER_URI=http://localhost:11311
setting /run_id to df7d8cb2-f77d-11ec-9bef-000c297dee61
process[rosout-1]: started with pid [12627]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [12634]
process[camera/realsense2_camera-3]: started with pid [12635]
[ INFO] [1656488053.871208969]: Initializing nodelet with 4 worker threads.
[ INFO] [1656488053.955204319]: RealSense ROS v2.3.2
[ INFO] [1656488053.955257066]: Built with LibRealSense v2.50.0
[ INFO] [1656488053.955269420]: Running with LibRealSense v2.50.0
[ INFO] [1656488053.976464248]:
[ INFO] [1656488054.116212522]: Device with serial number 944122071620 was found.
[ INFO] [1656488054.116286683]: Device with physical ID 4-1-4 was found. [ INFO] [1656488054.116308373]: Device with name Intel RealSense D435 was found. [ INFO] [1656488054.116618761]: Device with port number 4-1 was found. [ INFO] [1656488054.116693975]: Device USB type: 3.2
[ INFO] [1656488054.157870741]: JSON file is not provided [ INFO] [1656488054.157880896]: ROS Node Namespace: camera [ INFO] [1656488054.157889678]: Device Name: Intel RealSense D435 [ INFO] [1656488054.157988626]: Device Serial No: 944122071620 [ INFO] [1656488054.158033405]: Device physical port: 4-1-4 [ INFO] [1656488054.158059641]: Device FW version: 05.11.01.100 [ INFO] [1656488054.158080191]: Device Product ID: 0x0B07 [ INFO] [1656488054.158162291]: Enable PointCloud: Off [ INFO] [1656488054.158218501]: Align Depth: Off [ INFO] [1656488054.158276365]: Sync Mode: Off [ INFO] [1656488054.158359392]: Device Sensors: [ INFO] [1656488054.218524188]: Stereo Module was found. [ INFO] [1656488054.228115784]: RGB Camera was found. [ INFO] [1656488054.228243143]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1656488054.228321297]: num_filters: 0 [ INFO] [1656488054.228336193]: Setting Dynamic reconfig parameters. [ INFO] [1656488056.161143504]: Done Setting Dynamic reconfig parameters. [ INFO] [1656488056.161598069]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1656488056.162978551]: Expected frequency for depth = 15.00000
[ INFO] [1656488056.257729293]: SELECTED BASE:Depth, 0 29/06 15:34:16,259 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1656488056.263402398]: RealSense Node Is Up! [ WARN] [1656488056.452406858]: 29/06 15:34:16,453 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,504 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,556 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,609 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,660 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,711 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,864 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/06 15:34:16,916 WARNING [139784887027456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
zhaojiaran111
commented
2 years ago I have used all the methods above and failed
hugoyvrn
commented
2 years ago Let's look at the basics of your librealsense and ROS wrapper installations. You are correctly matching wrapper version 2.3.2 and librealsense version 2.50.0.
Which methods did you use to install librealsense and the ROS wrapper, please? Did you:
1. Install 2.3.2 and 2.50.0 from packages together at the same time using the ROS1 wrapper's **Method 1** instructions 2. Install 2.3.2 and 2.50.0 separately from source code.Sometimes people build librealsense on its own and then install librealsense and the wrapper together from packages with the wrapper's Method 1. By doing so, they are effectively installing librealsense twice. Or instead, they install librealsense with both packages and source code on the same computer, resulting in conflicts between the two SDK installation types such as the Multiple udev rules detected warning.
All RealSense related packages should be uninstalled with the 'purge' command below. Is that the command that you used to uninstall, please?
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purgeOnce uninstall has been performed, I would recommend only installing Noetic or Galactic but not both, and purging the packages to remove one version before installing another from packages (for example, removing a Noetic wrapper installation before installing the Galactic wrapper from packages). This is because performing an apt-get build with the command in the wrapper documentation will install both librealsense and the wrapper. So doing an apt-get build for both Noetic and Galactic would be installing librealsense twice.
There is no harm in trying a source code build so long as the package build is uninstalled first before doing so. But you would have to reinstall librealsense separately first (either from packages or source code) and then install the ROS wrapper from source code afterwards.
Hi @MartyG-RealSense, sorry for my late reply, I am now back with the camera.
I used apt remove --purge ros-noetic-realsense2-* to remove the packages, but it makes no difference when I do it with dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge. I don't think the problem is in the installation, I tested on three PCs, one with only melodic (Ubuntu 18), two with noetic and galactic (Ubuntu 20). I had this problem in every test I did. I had to keep galactic on my PC, but I will only install realsense packages on noetic.
Any other ideas? Thanks,
MartyG-RealSense
commented
2 years ago @hugoyvrn What kernel version(s) are you using on your computers, please?
A package installation of the librealsense SDK supports up to kernel 5.4, whilst the most recent supported kernels on a source-code build of librealsense are 5.8 and 5.11. Whilst newer unsupported kernels such as 5.13 can work with librealsense, there may be unpredictable consequences in regards to stability.
MariamFdil
commented
2 years ago Hi @MartyG-RealSense I have the same issue and here is what I use : camera : Realsense depth camera D455 os : ubuntu 20.04 ROS: noetic / JetPack 5.0.1 Kernel : 5.10.65-tegra librealsense version : 2.50 ROS wrapper : 2.3.2
I built from source the librealsense then realsense_ros , I tried all what you have proposed in all the forums but the I have the same error:
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [8877] ROS_MASTER_URI=http://192.168.1.168:11311
setting /run_id to f5c7b254-fc78-11ec-8606-d8c0a6b112b7
process[rosout-1]: started with pid [8887]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [8894]
process[camera/realsense2_camera-3]: started with pid [8895]
[ INFO] [1657035702.062501968]: Initializing nodelet with 6 worker threads.
[ INFO] [1657035702.650540202]: RealSense ROS v2.3.2
[ INFO] [1657035702.650751081]: Built with LibRealSense v2.50.0
[ INFO] [1657035702.650840969]: Running with LibRealSense v2.50.0
[ INFO] [1657035702.770029624]:
[ INFO] [1657035703.073070165]: Device with serial number 037322251446 was found.
[ INFO] [1657035703.073249108]: Device with physical ID 2-3.4.2-4 was found. [ INFO] [1657035703.073326548]: Device with name Intel RealSense D455 was found. [ INFO] [1657035703.076495310]: Device with port number 2-3.4.2 was found. [ INFO] [1657035703.076646030]: Device USB type: 3.2
[ INFO] [1657035703.280178263]: JSON file is not provided [ INFO] [1657035703.280276151]: ROS Node Namespace: camera [ INFO] [1657035703.280420695]: Device Name: Intel RealSense D455 [ INFO] [1657035703.280537239]: Device Serial No: 037322251446 [ INFO] [1657035703.280664630]: Device physical port: 2-3.4.2-4 [ INFO] [1657035703.280758486]: Device FW version: 05.13.00.50 [ INFO] [1657035703.280839062]: Device Product ID: 0x0B5C [ INFO] [1657035703.280912054]: Enable PointCloud: On [ INFO] [1657035703.280985622]: Align Depth: Off [ INFO] [1657035703.281058102]: Sync Mode: On [ INFO] [1657035703.281465749]: Device Sensors: [ INFO] [1657035703.459164562]: Stereo Module was found. [ INFO] [1657035703.532637759]: RGB Camera was found. [ INFO] [1657035703.533729117]: Motion Module was found. [ INFO] [1657035703.534866395]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1657035703.535037243]: Add Filter: pointcloud [ INFO] [1657035703.537963797]: num_filters: 1 [ INFO] [1657035703.538101684]: Setting Dynamic reconfig parameters. 05/07 11:41:45,618 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 05/07 11:41:46,662 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1657035707.578145140]: Done Setting Dynamic reconfig parameters. [ INFO] [1657035707.589740094]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1657035707.597592175]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1657035707.617546442]: Expected frequency for depth = 30.00000 [ INFO] [1657035707.817498608]: Expected frequency for color = 30.00000
05/07 11:41:48,456 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:48,506 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:48,557 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657035708.609176810]: SELECTED BASE:Depth, 0 05/07 11:41:48,612 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657035708.657499440]: RealSense Node Is Up! [ WARN] [1657035708.825232088]: 05/07 11:41:48,827 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:48,878 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,030 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,080 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 05/07 11:41:49,131 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,182 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,234 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,386 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,437 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,573 ERROR [281471654801776] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 05/07 11:41:49,690 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,741 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 05/07 11:41:49,791 WARNING [281472188158320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
MartyG-RealSense
commented
2 years ago Hi @MariamFdil Can you confirm if you have tried the initial_reset:=true method mentioned earlier in this discussion at https://github.com/IntelRealSense/realsense-ros/issues/2386#issuecomment-1160379686 as initial_reset is False in your log. Thanks!
MariamFdil
commented
2 years ago @MartyG-RealSense yes I’ve tried it and it didn’t change anything.
MartyG-RealSense
commented
2 years ago @MariamFdil It looks as though the pointcloud filter is being enabled. Do the control_transfer returned warnings still occur if pointcloud is not enabled?
MariamFdil
commented
2 years ago @MartyG-RealSense I tried this command right now roslaunch rs_camera.launch enable_pointcloud:=false. Here is the log info :
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [15094] ROS_MASTER_URI=http://192.168.1.168:11311
setting /run_id to ecdcfe4a-fd38-11ec-86d3-d8c0a6b112b7
process[rosout-1]: started with pid [15104]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [15111]
process[camera/realsense2_camera-3]: started with pid [15112]
[ INFO] [1657118150.579722149]: Initializing nodelet with 6 worker threads.
[ INFO] [1657118151.032224607]: RealSense ROS v2.3.2
[ INFO] [1657118151.032380287]: Built with LibRealSense v2.50.0
[ INFO] [1657118151.032476159]: Running with LibRealSense v2.50.0
[ INFO] [1657118151.149919036]:
[ INFO] [1657118151.438012957]: Device with serial number 037322251446 was found.
[ INFO] [1657118151.438231421]: Device with physical ID 2-3.4.2-5 was found. [ INFO] [1657118151.438339901]: Device with name Intel RealSense D455 was found. [ INFO] [1657118151.440099583]: Device with port number 2-3.4.2 was found. [ INFO] [1657118151.440222975]: Device USB type: 3.2
[ INFO] [1657118151.650134776]: JSON file is not provided [ INFO] [1657118151.650256952]: ROS Node Namespace: camera [ INFO] [1657118151.650380024]: Device Name: Intel RealSense D455 [ INFO] [1657118151.650456216]: Device Serial No: 037322251446 [ INFO] [1657118151.650546360]: Device physical port: 2-3.4.2-5 [ INFO] [1657118151.650614520]: Device FW version: 05.13.00.50 [ INFO] [1657118151.650690168]: Device Product ID: 0x0B5C [ INFO] [1657118151.651189945]: Enable PointCloud: Off [ INFO] [1657118151.652202426]: Align Depth: Off [ INFO] [1657118151.652322811]: Sync Mode: Off [ INFO] [1657118151.652484251]: Device Sensors: [ INFO] [1657118151.826741475]: Stereo Module was found. [ INFO] [1657118151.914760089]: RGB Camera was found. [ INFO] [1657118151.916332219]: Motion Module was found. [ INFO] [1657118151.916738684]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1657118151.916897564]: num_filters: 0 [ INFO] [1657118151.916995836]: Setting Dynamic reconfig parameters. [ INFO] [1657118155.763547039]: Done Setting Dynamic reconfig parameters. [ INFO] [1657118155.768725702]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1657118155.776326929]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1657118155.790293924]: Expected frequency for depth = 30.00000 [ INFO] [1657118155.976413504]: Expected frequency for color = 30.00000
06/07 10:35:56,551 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:56,602 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:56,653 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657118156.704446753]: SELECTED BASE:Depth, 0 06/07 10:35:56,705 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657118156.752354979]: RealSense Node Is Up! [ WARN] [1657118156.829460268]: 06/07 10:35:56,831 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:56,882 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,034 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,085 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,148 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,199 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,249 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,301 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:35:57,352 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:36:02,318 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 10:36:02,368 WARNING [281472398180720] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
MartyG-RealSense
commented
2 years ago And the warnings still occur if you use a lower 640x480 resolution for both depth and color?
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30
MariamFdil
commented
2 years ago @MartyG-RealSense Yes still occurs...
MartyG-RealSense
commented
2 years ago @MariamFdil Could you check the CPU percentage usage of your Ubuntu 20.04 computer with a system monitoring tool such as htop please and see whether CPU usage % is near 100%. If it is then this could indicate that your warnings might be occurring because the computer's CPU is over-burdened with processing and so cannot effectively process the frames arriving from the camera.
prasuchit
commented
2 years ago I did everything aforementioned and still end up with this while running this command:
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30
06/07 17:25:26,663 ERROR [140619812943616] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
06/07 17:25:26,679 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
06/07 17:25:26,730 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
06/07 17:25:26,780 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
06/07 17:25:26,830 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1657142727.542752535]: Hardware Notification:Depth stream start failure,1.65714e+12,Error,Hardware Error
06/07 17:25:27,888 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
06/07 17:25:28,523 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
I didn't want to spam the page with redundant logs so I've only added limited errors and warnings that seemed relevant.
MartyG-RealSense
commented
2 years ago Hi @prasuchit Which computer and operating system are you using? Also, which versions of ROS, the librealsense SDK and the RealSense ROS wrapper are you using?
Could you also provide a complete roslaunch log, please?
If you are concerned about log spam, please feel free to create a new case for your problem by visiting the front page of the forum at the link below and clicking the green New Issue button.
prasuchit
commented
2 years ago Hi @MartyG-RealSense ,
Computer - Dell Precision 5820 Tower with Intel(R) Xeon(R) W-2104 CPU @ 3.20GHz, 72 gigs RAM and Nvidia quadro RTX 4000 gpu.
OS - Ubuntu 20.04; ROS - Noetic; RealSense ROS v2.2.21; LibRealSense v2.50.0;
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30
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://Whisler:42071/
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [102434] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8d040e1c-fde9-11ec-b04f-07bd33fe1891
process[rosout-1]: started with pid [102447]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [102454]
process[camera/realsense2_camera-3]: started with pid [102455]
[ INFO] [1657194008.536416330]: Initializing nodelet with 4 worker threads.
[ INFO] [1657194008.664998932]: RealSense ROS v2.2.21
[ INFO] [1657194008.665036296]: Built with LibRealSense v2.50.0
[ INFO] [1657194008.665057382]: Running with LibRealSense v2.50.0
[ INFO] [1657202451.227795106]:
07/07 10:00:51,288 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
07/07 10:00:51,340 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1657202451.518585162]: Device with serial number 919122073259 was found.
[ INFO] [1657202451.518667111]: Device with physical ID 2-10.2-7 was found. [ INFO] [1657202451.518696187]: Device with name Intel RealSense D435I was found. [ INFO] [1657202451.519328132]: Device with port number 2-10.2 was found. [ INFO] [1657202451.519360667]: Device USB type: 3.2
[ INFO] [1657202451.570912443]: JSON file is not provided [ INFO] [1657202451.570928353]: ROS Node Namespace: camera [ INFO] [1657202451.570949488]: Device Name: Intel RealSense D435I [ INFO] [1657202451.570968021]: Device Serial No: 919122073259 [ INFO] [1657202451.570982043]: Device physical port: 2-10.2-7 [ INFO] [1657202451.570997905]: Device FW version: 05.13.00.50 [ INFO] [1657202451.571016615]: Device Product ID: 0x0B3A [ INFO] [1657202451.571035331]: Enable PointCloud: Off [ INFO] [1657202451.571049453]: Align Depth: Off [ INFO] [1657202451.571067275]: Sync Mode: Off [ INFO] [1657202451.571132916]: Device Sensors: [ INFO] [1657202451.631245052]: Stereo Module was found. [ INFO] [1657202451.651901589]: RGB Camera was found. [ INFO] [1657202451.652067379]: Motion Module was found. [ INFO] [1657202451.652123591]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1657202451.652151898]: num_filters: 0 [ INFO] [1657202451.652194130]: Setting Dynamic reconfig parameters. 07/07 10:00:53,328 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 07/07 10:00:53,494 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 07/07 10:00:53,603 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 07/07 10:00:53,989 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1657202454.511580952]: Done Setting Dynamic reconfig parameters. [ INFO] [1657202454.512084190]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1657202454.512575191]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1657202454.514952459]: Expected frequency for depth = 30.00000 [ INFO] [1657202454.550824595]: Expected frequency for color = 30.00000
[ INFO] [1657202454.617124685]: insert Depth to Stereo Module [ INFO] [1657202454.617325477]: insert Color to RGB Camera 07/07 10:00:54,725 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657202454.775347209]: SELECTED BASE:Depth, 0 [ INFO] [1657202454.786561663]: RealSense Node Is Up! 07/07 10:00:54,852 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:54,902 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:54,953 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:55,090 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:55,141 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:55,191 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:55,342 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:55,493 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:00:56,246 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:01:01,500 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 10:01:05,551 WARNING [140168329684736] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
MartyG-RealSense
commented
2 years ago It is important to match the RealSense ROS wrapper version as closely as possible with the librealsense SDK version listed in that particular wrapper version's release notes. The librealsense version that matches with the 2.2.21 wrapper version that you are using is 2.41.0
https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.21
If you are using SDK 2.50.0 then the correct Noetic-compatible wrapper version to match it with is 2.3.2
https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.2
MariamFdil
commented
2 years ago @MartyG-RealSense it seems that the camera doesn't use that much space of the CPU
prasuchit
commented
2 years ago @MartyG-RealSense I updated the ros wrapper like you said and nothing changed.
started roslaunch server http://Whisler:44179/
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [200598] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 98f610aa-fe1e-11ec-b04f-07bd33fe1891
process[rosout-1]: started with pid [200611]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [200619]
process[camera/realsense2_camera-3]: started with pid [200620]
[ INFO] [1657216791.821151101]: Initializing nodelet with 4 worker threads.
[ INFO] [1657216791.956178856]: RealSense ROS v2.3.2
[ INFO] [1657216791.956225762]: Built with LibRealSense v2.50.0
[ INFO] [1657216791.956248450]: Running with LibRealSense v2.50.0
[ INFO] [1657216791.988460306]:
07/07 13:59:52,035 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1657216792.185015882]: Device with serial number 919122073259 was found.
[ INFO] [1657216792.185089060]: Device with physical ID 2-10.2-7 was found. [ INFO] [1657216792.185191183]: Device with name Intel RealSense D435I was found. [ INFO] [1657216792.185807164]: Device with port number 2-10.2 was found. [ INFO] [1657216792.185842666]: Device USB type: 3.2
[ INFO] [1657216792.236459833]: JSON file is not provided [ INFO] [1657216792.236480552]: ROS Node Namespace: camera [ INFO] [1657216792.236516018]: Device Name: Intel RealSense D435I [ INFO] [1657216792.236537820]: Device Serial No: 919122073259 [ INFO] [1657216792.236566865]: Device physical port: 2-10.2-7 [ INFO] [1657216792.236594045]: Device FW version: 05.13.00.50 [ INFO] [1657216792.236614589]: Device Product ID: 0x0B3A [ INFO] [1657216792.236634764]: Enable PointCloud: Off [ INFO] [1657216792.236655452]: Align Depth: Off [ INFO] [1657216792.236675472]: Sync Mode: Off [ INFO] [1657216792.236762077]: Device Sensors: [ INFO] [1657216792.315369354]: Stereo Module was found. [ INFO] [1657216792.332075925]: RGB Camera was found. [ INFO] [1657216792.332930441]: Motion Module was found. [ INFO] [1657216792.333158410]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1657216792.333327802]: num_filters: 0 [ INFO] [1657216792.333471650]: Setting Dynamic reconfig parameters. 07/07 13:59:53,838 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1657216794.779297862]: Done Setting Dynamic reconfig parameters. [ INFO] [1657216794.779799218]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1657216794.780274107]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1657216794.782909226]: Expected frequency for depth = 30.00000 [ INFO] [1657216794.819605736]: Expected frequency for color = 30.00000
07/07 13:59:54,968 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1657216795.020162298]: SELECTED BASE:Depth, 0 [ INFO] [1657216795.028079622]: RealSense Node Is Up! [ WARN] [1657216795.095053480]: 07/07 13:59:55,096 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,147 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,197 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,361 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,411 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,461 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/07 13:59:55,813 WARNING [139998592149248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
prasuchit
commented
2 years ago @MartyG-RealSense Another very important problem I forgot to mention(might be because of the same error) is that 2 out of 5 times when I run the driver launch file, the whole system freezes, nothing I do unfreezes it and I've to hard restart my PC. Please let me know how this can be fixed as well. Thanks.
MartyG-RealSense
commented
2 years ago @prasuchit Thanks again for your patience. Whilst RealSense 400 Series cameras can work with any Intel or Arm processor and so should be fine with your Intel Xeon processor, the overall hardware specification of your Xeon server machine may be causing some conflicts with the librealsense SDK that runs underneath the ROS wrapper as the specification is not typical of a consumer PC. This could be the reason for your frequent launch freezes.
What method do you use to install librealsense and the ROS wrapper, please?
or
or
prasuchit
commented
2 years ago Hi @MartyG-RealSense ,
I used the this method for the installation.
MartyG-RealSense
commented
2 years ago So you installed the librealsense SDK from packages with apt-get and then built the ROS wrapper from source code with the wrapper's Method 2, please?
prasuchit
commented
2 years ago @MartyG-RealSense yes I did.
MartyG-RealSense
commented
2 years ago Are there any problems in the RealSense Viewer tool if you have tried it. If you have tried the Viewer, does it work normally but the ROS wrapper has problems?
prasuchit
commented
2 years ago @MartyG-RealSense I found the problem. Since I've been working with realsense-ros for a really long time, somewhere along the way, I installed the packages through both methods 1 and 2(viz. through apt-get instructions on the wrapper documentation and through these instructions)
So I uninstalled everything related to realsense and reinstalled it just using this method. The apt-get method definitely has many problems, but this method works fine now.
The control_transfer error is gone and both the viewer and the roslaunch file are running smoothly. You may now close this issue, I'll raise a new one if I run into any further problems. Thanks for all the help. :)
MartyG-RealSense
commented
2 years ago You are very welcome. It's great to hear that you achieved a solution. Thanks very much for the update.
I will check that the others on this case have solved their own problems first before closing.
MartyG-RealSense
commented
2 years ago @hugoyvrn @MariamFdil @zhaojiaran111 Do you have updates about your own issues that you can provide, please? Thanks!
MariamFdil
commented
2 years ago @MartyG-RealSense As I said yesterday it's not a problem of space.. I tried a new installation in an another workspace and I built from source but I got the same error when I launch the rs_camera launch file. PS : realsense_viewer work very well I have one little problem with the motion mode that doesn't work.
Thank you for your help!
MartyG-RealSense
commented
2 years ago @MariamFdil Your mention of JetPack 5.0.1 at the start of you section of this discussion at https://github.com/IntelRealSense/realsense-ros/issues/2386#issuecomment-1175336352 indicates that you are using an Nvidia Jetson as your computer. You also mention in that initial comment that you built librealsense from source.
Have you tried an RSUSB backend source code build of librealsense on Jetson like the one in the Jetson instructions at https://github.com/IntelRealSense/librealsense/issues/6964#issuecomment-706643114 by including the CMake build flag -DFORCE_RSUSB_BACKEND=ON please? An RSUSB build bypasses the Linux kernel and so is not dependent on Linux versions or kernel versions and does not require patching.
MariamFdil
commented
2 years ago @MartyG-RealSense I’ve tried both methods building from source using native backend method and RSUSB backend method. The first didn’t work because of patches. The second Worked and here is the command that I used :
sudo cmake -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -OpenGL_GL_PREFERENCE=LEGACY
I followed the steps in this issue : https://github.com/IntelRealSense/librealsense/issues/6710
MartyG-RealSense
commented
2 years ago The build flag -OpenGL_GL_PREFERENCE=LEGACY is usually not used in librealsense source code builds and in a few cases where it is they have been for Raspberry Pi instead of Jetson. It does not seem likely that this flag will be having an effect on the particular problems that you are experiencing in the ROS wrapper though.
Which model of Jetson board are you using, please? If you have a Nano then Intel strongly recommend enabling the barrel jack connector to provide extra power using the instructions at the link below if the particular Nano model owned is equipped with a barrel jack.
https://jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/
It is also common with librealsense source code builds on Jetson to enable support for CUDA graphics acceleration by including the build flag -DBUILD_WITH_CUDA=true in the CMake build instruction.
MariamFdil
commented
2 years ago @MartyG-RealSense I've added the flag 'OpenGL_GL_PREFERENCE=LEGACY' because of a warning that I had, and you're right it didn't change anything.
I have the Jetson Xavier NX developer kit.
I also used the flag -DBUILD_WITH_CUDA=true in my second try of building from source.
MartyG-RealSense
commented
2 years ago @MariamFdil Have you tried changing the USB cable to eliminate the cable as a possible cause of your warnings, please?
MariamFdil
commented
2 years ago @MartyG-RealSense I just tried nothing has changed... PS : The same error occurs when I use the launch file rs_camera and Realsense_viewer even if I have the image
MartyG-RealSense
commented
2 years ago At the point when most possible solutions have been attempted and the problem still occurs, I recommend a wipe and fresh re-install of the computer, including the operating system, if it is possible to do so. This strategy has a good success rate of immediately correcting previously unsolvable problems by removing hidden conflicts.
MartyG-RealSense
commented
2 years ago Hi @hugoyvrn @MariamFdil and @zhaojiaran111 Do you have updates about your problems that you can provide, please? Thanks!
MariamFdil
commented
2 years ago Hi @MartyG-RealSense I rebuilt everything disabling the rsusb backend and the error disapeared. Thanks!
MartyG-RealSense
commented
2 years ago Hi @MariamFdil That's excellent news that you achieved a solution :) Thanks for the update!
MartyG-RealSense
commented
2 years ago Case closed due to no further comments received.
kerolex
commented
2 years ago Hi (@MartyG-RealSense),
I am trying to acquire some RGB + depth image sequences with a Intel RealSense D435i device, but I got the same issue raised in this thread, when running roslaunch.
I created a custom rs_cam.launch that also sets the parameter initial_reset:=true.
Here details of my setup:
Note that installing RealSense-ROS with Method 1, I cannot see realsense-viewer from terminal. However, in a previous installation of the SDK followed by the installation of RealSense ROS, I could access realsense-viewer. When using realsense-viewer the streaming of both RGB and depth was OK.
The USB ports are all 3.2.
Summary of the log is attached. Also note that my laptop tends to freeze any now and then after calling roslaunch.
FYI - I also tried all the procedure on a Dell All-in-One and I could acquired the images. So, the problem seems more specific to the laptop.
Would you have any advise on how to fix the issue for the laptop, as I would need to acquire image sequences with some mobility? I am available to provide any addition information if needed.
Hello,
Camera: Realsense depth camera D455 OS: Linux (Ubutuntu 20.04, same issue in Ubuntu 18.04) ROS distribution: ros1 noetic (same issue on ros1 with melodic and ros2 with galactic)
No problem seen with realsense-viewer (neither on Windows 10 nor Ubuntu 20.04).
I changed the USB port and the USB C cable, tested on different computers and reset the camera with realsense-viewer.
I am want to do localization with the camera
roslaunch realsense2_camera rs_camera.launchorroslaunch realsense2_camera rs_rgbd.launch, whatever the parameters used I never get Pose, odom nor tf publication.Two errors seem to be the problem :
and
Does anyone have any idea what is causing this problem?
Thanks in advance.
Some terminal outputs: