RealSense(D455) unfindable on ubuntu 20.04 ROS2 foxy

[cms0373]

I've installed ROS2 foxy on ubuntu 20.04 and have done all instructions given. Succeed from STEP 1 to STEP 6 including "colcon build" in STEP 5 but when I start the camera node using "ros2 launch realsense2_camera rs_launch.py" command, something goes wrong with this result.

ms@ms-NUC12WSKi7:~/ros2_ws/build$ ros2 launch realsense2_camera rs_launch.py [INFO] [launch]: All log files can be found below /home/ms/.ros/log/2023-03-22-16-22-13-015730-ms-NUC12WSKi7-79309 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]: process started with pid [79311] [realsense2_camera_node-1] [INFO] [1679469733.111380351] [camera.camera]: RealSense ROS v4.51.1 [realsense2_camera_node-1] [INFO] [1679469733.111439954] [camera.camera]: Built with LibRealSense v2.53.1 [realsense2_camera_node-1] [INFO] [1679469733.111447370] [camera.camera]: Running with LibRealSense v2.53.1 [realsense2_camera_node-1] [WARN] [1679469733.113161779] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469739.118875532] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469745.126050206] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469751.130079530] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469757.134135917] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469763.140048847] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469769.146125728] [camera.camera]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679469775.151718069] [camera.camera]: No RealSense devices were found!

But RealSense is actually connected. Here's result of "lsusb" command. ms@ms-NUC12WSKi7:~/ros2_ws/build$ lsusb Bus 004 Device 007: ID 8086:0b5c Intel Corp. Intel(R) RealSense(TM) Depth Camera 455 Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 003 Device 006: ID 046d:c534 Logitech, Inc. Unifying Receiver Bus 003 Device 003: ID 8087:0033 Intel Corp. Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

What might be the problem? How can I fix this? Thank you for the response.

[MartyG-RealSense]

Hi @cms0373 Is the camera detected if you reset it at launch by adding initial_reset:=true to your launch instruction, please?

ros2 launch realsense2_camera rs_launch.py initial_reset:=true

[cms0373]

Nope. Still not detected and showing same result.

[MartyG-RealSense]

What happens if you unplug the camera, wait a couple of seconds and re-insert it and then run the launch command again.

[cms0373]

Still same. I've plugged RealSense in Windows PC and it is detected.

[MartyG-RealSense]

I note that when you run the launch instruction you are in the directory ros2_ws/build. If you cd ~/ros2_ws one directory back to ros2_ws/ and launch from there, is the camera still undetected?

[cms0373]

Still undetected :(

[cms0373]

Here is the result of instruction run on "~/ros2_ws" ms@ms-NUC12WSKi7:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py initial_reset:=true [INFO] [launch]: All log files can be found below /home/ms/.ros/log/2023-03-22-18-04-09-297269-ms-NUC12WSKi7-98438 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]: process started with pid [98440] [realsense2_camera_node-1] [INFO] [1679475849.406571127] [RealSenseCameraNode]: RealSense ROS v3.2.3 [realsense2_camera_node-1] [INFO] [1679475849.406609430] [RealSenseCameraNode]: Built with LibRealSense v2.53.1 [realsense2_camera_node-1] [INFO] [1679475849.406614186] [RealSenseCameraNode]: Running with LibRealSense v2.53.1 [realsense2_camera_node-1] [WARN] [1679475849.408617872] [RealSenseCameraNode]: No RealSense devices were found! [realsense2_camera_node-1] [WARN] [1679475855.414979256] [RealSenseCameraNode]: No RealSense devices were found! ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[ERROR] [realsense2_camera_node-1]: process[realsense2_camera_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [realsense2_camera_node-1]: sending signal 'SIGTERM' to process[realsense2_camera_node-1] [ERROR] [realsense2_camera_node-1]: process has died [pid 98440, exit code -15, cmd '/home/ms/camera_ws/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node --ros-args --log-level info --ros-args -r node:=camera -r ns:=/camera --params-file /tmp/launch_params_vurjzong'].

Thank you.

[MartyG-RealSense]

For a small number of RealSense ROS users, a ros2 launch may not work but a ros2 run launch does.

ros2 run realsense2_camera realsense2_camera_node

[cms0373]

Thank you for the response. But when I run "ros2 run realsense2_camera rs_launch.py initial_reset:=true", it says "No executable found". Same result when I run without "initial_reset:=true".

[cms0373]

Here's the result of running "ros2 run realsense2_camera realsense2_camera_node"

ms@ms-NUC12WSKi7:~/ros2_ws$ ros2 run realsense2_camera realsense2_camera_node [INFO] [1679476070.913186104] [RealSenseCameraNode]: RealSense ROS v3.2.3 [INFO] [1679476070.913226413] [RealSenseCameraNode]: Built with LibRealSense v2.53.1 [INFO] [1679476070.913230385] [RealSenseCameraNode]: Running with LibRealSense v2.53.1 [WARN] [1679476070.914992932] [RealSenseCameraNode]: No RealSense devices were found! [WARN] [1679476076.921133450] [RealSenseCameraNode]: No RealSense devices were found! ^C[INFO] [1679476078.435760025] [rclcpp]: signal_handler(signal_value=2)

[MartyG-RealSense]

Can you tell me the method that you used to install the librealsense SDK please?

[cms0373]

Overall method was based on this github "Installation Instructions". At the STEP 2, I referred to the link below. https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

[cms0373]

Or I had to follow the steps from the link below instead of the link above? https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

[MartyG-RealSense]

Either method is fine for installing librealsense if you are going to be building the ROS wrapper from source code afterwards. The SDK does have to be built first and the ROS wrapper secondly afterwards though.

In some cases a camera may not be detected when using the distribution_linux.md or installation.md instructions, but is detected if the SDK is built from source code with the RSUSB backend installation method.

Let's try installing librealsense and the wrapper together at the same time from packages. The packages in the instruction below are based on the RSUSB backend and so may resolve the detection problem.

sudo apt-get install ros-foxy-realsense2-camera

[cms0373]

Still undetected even I run below command. sudo apt-get install ros-foxy-realsense2-camera

I went through all processes once more of below link but nothing helped me. :( https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/README.md

Step 2: Install the latest Intel® RealSense™ SDK 2.0 *ms@ms-NUC12WSKi7:~/ros2_ws$ cat /etc/release | grep debian ID_LIKE=debian** This is my computer's status so I referred to this link. https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages Is this right method for installing SDK? Succeed other steps including installing ROS2 wrapper from source.

[cms0373]

I'm going to re-install my ubuntu 20.04 and do the same procedure referring to the link below. https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/README.md

[MartyG-RealSense]

As you are using a NUC, using the distribution_linux instructions to install the SDK from packages instead of building it from source code should be fine.

[cms0373]

This is result of running this command. ros2 launch realsense2_camera rs_launch.py

Same error that occured on my manager's NUC PC.

[MartyG-RealSense]

The red auto-exposure limit error is usually caused by not having camera firmware driver version 5.14.0.0 installed when using SDK 2.53.1. Firmware 5.14.0.0 is the recommended firmware for SDK 2.53.1.

Because the firmware is stored inside the camera hardware and not on the computer, a firmware problem will be carried inside the camera to other computers, hence why the same error likely occurs on your manager's NUC too.

[cms0373]

this is the result of firmware update, but error occured due to permission denial.

[MartyG-RealSense]

As it says Firmware update done, the update may have completed successfully despite the error message. The command below should show a short summary of the camera information including its currently installed firmware version.

rs-enumerate-devices -s

[cms0373]

Same error occured :( What else could be the solution? Thank you again for helping my task.

[MartyG-RealSense]

The error message does not seem to have prevented the launch from completing successfully with RealSense Node is Up! so have you checked in Rviz to see if the topics are being published and displayed, please?

[cms0373]

I don't get the meaning of "topics are being published and displayed". Sorry for my inexperience.. https://github.com/doosan-robotics/doosan-robot2 I'm also referring to this github link and when I run this command ros2 launch dsr_launcher2 dsr_joint_state_pub.launch.py model:=a0912 color:=blue I can see the example model on Rviz window.

[MartyG-RealSense]

It's no trouble at all, don't worry. :)

Once a RealSense camera has been launched then you may want to see the depth and RGB streams displayed visually onscreen. This can be done in ROS with RViz, which can be run in ROS2 once launch has completed by inputting the command ros2 run rviz rviz

[cms0373]

Realsense detection problem occured when I launched realsense-viewer today. I think the problem is caused by what I've done with this link. https://github.com/doosan-robotics/doosan-robot2 We decided to install Ubuntu 18.04 and ROS1. Thank you for all replies.

[cms0373]

Hi, I've succeed running roslaunch realsense2_camera rs_camera.launch. This is the result, and it process stopped here.

As you mentioned, I launched Rviz by running rviz command at another terminal. (Since the terminal I was using stopped). But I could see nothing on Rviz window. RealSense camera is detected and I can see camera is working by running realsense-viewer command. What I've done is wrong if I cannot see anything on Rviz window?

I work on Ubuntu 20.04 Ros noetic version.

[MartyG-RealSense]

If the control_transfer returned warning generates continuously in the log then it typically means that there is a communication problem between the camera and computer, such as a faulty USB cable or a glitch on the USB port.

When there are such problems in the RealSense ROS wrapper, realsense-viewer is usually able to still work correctly, as you found yourself. realsense-viewer is running directly on librealsense whilst the ROS wrapper is a layer running on top of librealsense and can be more sensitive to problems in the camera connection.

https://github.com/IntelRealSense/realsense-ros/issues/2386#issuecomment-1264499208 may be a helpful reference as the RealSense user in that comment was also using D455 with Ubuntu 20.04 and experiencing control_transfer returned warnings and shared advice for what worked for them in resolving it.

[MartyG-RealSense]

Hi @cms0373 Do you require further assistance with this case, please? Thanks!

[cms0373]

I'm fine from now. Got my Realsense detection problem solved by uninstalling SDK and installing again. Thank you so much for your assistance.

[MartyG-RealSense]

You are very welcome,, @cms0373 - it's great news that you succeeded. Thanks very much for the update!