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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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roslaunch problem (please help!!!): what(): stop_streaming() failed. Hid device is not streaming! #2818

Closed loubron23 closed 1 year ago

loubron23 commented 1 year ago

My system is ubuntu 16.04lts, camera is realsense d435i, RealSense ROS v2.2.7, LibRealSense v2.54.1 and when i use the "roslaunch realsense2_camera rs_camera.launch" I got:

[ INFO] [1689951428.123701106]: RealSense Node Is Up! terminate called after throwing an instance of 'rs2::wrong_api_call_sequence_error' what(): stop_streaming() failed. Hid device is not streaming! [camera/realsense2_camera_manager-1] process has died [pid 14152, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/e6d6ff9c-279d-11ee-b7c9-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/e6d6ff9c-279d-11ee-b7c9-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/e6d6ff9c-279d-11ee-b7c9-003018050a5a/camera-realsense2_camera-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

This problem has been bothering me for three days now。

please help

MartyG-RealSense commented 1 year ago

Hi @loubron23 You have a mismatch between your librealsense SDK and RealSense ROS wrapper versions. It is important to match the wrapper version as closely as possible with the librealsense version listed in the release notes for that particular wrapper version.

As you are using the ROS1 wrapper, the best match is librealsense 2.51.1 and wrapper 2.3.2. You should also ensure that camera firmware driver version 5.13.0.50 is used with librealsense 2.51.1. It is necessary to use 2.51.1 because the ROS1 wrapper is no longer updated and so is not designed for use with newer librealsense versions such as 2.53.1 and 2.54.1.

If you would prefer to continue with librealsense 2.54.1 then you should change from ROS1 to ROS2, update the firmware to 5.15.0.2 and build ROS2 wrapper 4.54.1.

loubron23 commented 1 year ago

Hi @loubron23 You have a mismatch between your librealsense SDK and RealSense ROS wrapper versions. It is important to match the wrapper version as closely as possible with the librealsense version listed in the release notes for that particular wrapper version.

As you are using the ROS1 wrapper, the best match is librealsense 2.51.1 and wrapper 2.3.2. You should also ensure that camera firmware driver version 5.13.0.50 is used with librealsense 2.51.1. It is necessary to use 2.51.1 because the ROS1 wrapper is no longer updated and so is not designed for use with newer librealsense versions such as 2.53.1 and 2.54.1.

If you would prefer to continue with librealsense 2.54.1 then you should change from ROS1 to ROS2, update the firmware to 5.15.0.2 and build ROS2 wrapper 4.54.1.

@MartyG-RealSense Thank you very much. I have installed librealsense 2.51.1 and wrapper 2.3.2. But now there is a new problem that after roslaunch it will stay for a period of 10 seconds and then automatically shut down.

roslaunch realsense2_camera rs_camera.launch ... logging to /home/neousys/.ros/log/e6d6ff9c-279d-11ee-b7c9-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-4774.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:41565/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [4783] process[camera/realsense2_camera-2]: started with pid [4787] [ INFO] [1690010784.033109373]: Initializing nodelet with 16 worker threads. [ INFO] [1690010784.208269667]: RealSense ROS v2.3.2 [ INFO] [1690010784.208288300]: Built with LibRealSense v2.51.1 [ INFO] [1690010784.208295841]: Running with LibRealSense v2.51.1 [ INFO] [1690010784.254692479]:
[ INFO] [1690010784.288257950]: Device with serial number 045322073426 was found.

[ INFO] [1690010784.288319280]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. [ INFO] [1690010784.288349018]: Device with name Intel RealSense D435I was found. [ INFO] [1690010784.289296589]: Device with port number 2-1 was found. [ INFO] [1690010784.289354881]: Device USB type: 3.2

[ INFO] [1690010784.605924300]: JSON file is not provided [ INFO] [1690010784.605963781]: ROS Node Namespace: camera [ INFO] [1690010784.606023953]: Device Name: Intel RealSense D435I [ INFO] [1690010784.606059628]: Device Serial No: 045322073426 [ INFO] [1690010784.606113173]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 [ INFO] [1690010784.606151254]: Device FW version: 05.15.00.02 [ INFO] [1690010784.606182981]: Device Product ID: 0x0B3A [ INFO] [1690010784.606213188]: Enable PointCloud: Off [ INFO] [1690010784.606241793]: Align Depth: Off [ INFO] [1690010784.606274720]: Sync Mode: Off [ INFO] [1690010784.606467964]: Device Sensors: [ INFO] [1690010784.642559736]: Stereo Module was found. 22/07 15:26:24,643 WARNING [140222821062400] (backend-v4l2.cpp:1444) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! [ INFO] [1690010784.673431045]: RGB Camera was found. [ INFO] [1690010784.674065698]: Motion Module was found. [ INFO] [1690010784.674092082]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1690010784.674113214]: num_filters: 0 [ INFO] [1690010784.674130529]: Setting Dynamic reconfig parameters. hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) [ WARN] [1690010784.850720380]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options. [ INFO] [1690010784.879075402]: Done Setting Dynamic reconfig parameters. [ INFO] [1690010784.881004098]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1690010784.884396778]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1690010784.892068266]: Expected frequency for depth = 30.00000 [ INFO] [1690010784.969353556]: Expected frequency for color = 30.00000

[ INFO] [1690010785.093768376]: SELECTED BASE:Depth, 0 [ INFO] [1690010785.130113405]: RealSense Node Is Up! 22/07 15:26:25,211 WARNING [140222503548672] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details. [ WARN] [1690010785.214290314]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 22/07 15:26:25,536 WARNING [140222514386688] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details. [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/e6d6ff9c-279d-11ee-b7c9-003018050a5a/camera-realsense2_camera-2*.log

MartyG-RealSense commented 1 year ago

Does it make a difference if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch, please?

loubron23 commented 1 year ago

Does it make a difference if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch, please?

@MartyG-RealSense Oops, It's still the same result.

MartyG-RealSense commented 1 year ago 
likely requires patch for fourcc code RW16!
Frame metadata isn't available!
UVC metadata payloads not available.

The messages above indicate that librealsense was built from source code but the Linux kernel has not had a kernel patch script applied to it. It is therefore not capable of providing camera metadata information.

If you did build librealsense from source code, on an Ubuntu 16.04 computer then the librealsense kernel patch script ./scripts/patch-realsense-ubuntu-lts.sh should be run if using a kernel version older than 5.13.

loubron23 commented 1 year ago 
likely requires patch for fourcc code RW16!
Frame metadata isn't available!
UVC metadata payloads not available.

The messages above indicate that librealsense was built from source code but the Linux kernel has not had a kernel patch script applied to it. It is therefore not capable of providing camera metadata information.

If you did build librealsense from source code, on an Ubuntu 16.04 computer then the librealsense kernel patch script ./scripts/patch-realsense-ubuntu-lts.sh should be run if using a kernel version older than 5.13.

thank you! But for some reason, i can only try this after 1 week. Please wait, thanks~

MartyG-RealSense commented 1 year ago

It's no trouble at all to keep this case open until you are ready. Thanks!

loubron23 commented 1 year ago

hello, @MartyG-RealSense ! I run the command ./scripts/patch-realsense-ubuntu-lts.sh when installing the librealsense. And I reinstall the realsense2_camera, but now it still has problem. After using the "roslaunch realsense2_camera rs_camera.launch" I got:

... logging to /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-18500.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:44193/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [18509] process[camera/realsense2_camera-2]: started with pid [18510] [ INFO] [1690957762.620274202]: Initializing nodelet with 16 worker threads. [ INFO] [1690957762.801037541]: RealSense ROS v2.3.2 [ INFO] [1690957762.801055934]: Built with LibRealSense v2.51.1 [ INFO] [1690957762.801063456]: Running with LibRealSense v2.51.1 [ INFO] [1690957762.835523215]:
[ INFO] [1690957762.911036054]: Device with serial number 045322073426 was found.

[ INFO] [1690957762.911120609]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. [ INFO] [1690957762.911189376]: Device with name Intel RealSense D435I was found. [ INFO] [1690957762.912458464]: Device with port number 2-1 was found. [ INFO] [1690957762.912532384]: Device USB type: 3.2

[ INFO] [1690957763.240673611]: JSON file is not provided [ INFO] [1690957763.240747724]: ROS Node Namespace: camera [ INFO] [1690957763.240825647]: Device Name: Intel RealSense D435I [ INFO] [1690957763.240870640]: Device Serial No: 045322073426 [ INFO] [1690957763.240924054]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 [ INFO] [1690957763.240961153]: Device FW version: 05.15.00.02 [ INFO] [1690957763.240992959]: Device Product ID: 0x0B3A [ INFO] [1690957763.241061088]: Enable PointCloud: Off [ INFO] [1690957763.241093908]: Align Depth: Off [ INFO] [1690957763.241125373]: Sync Mode: Off [ INFO] [1690957763.241310127]: Device Sensors: [ INFO] [1690957763.271803294]: Stereo Module was found. [ INFO] [1690957763.296733607]: RGB Camera was found. [ INFO] [1690957763.297300770]: Motion Module was found. [ INFO] [1690957763.297327542]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1690957763.297344782]: num_filters: 0 [ INFO] [1690957763.297355027]: Setting Dynamic reconfig parameters. hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) [ INFO] [1690957763.461541879]: Done Setting Dynamic reconfig parameters. [ INFO] [1690957763.463515421]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1690957763.466847707]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1690957763.475068240]: Expected frequency for depth = 30.00000 [ INFO] [1690957763.566013129]: Expected frequency for color = 30.00000

[ INFO] [1690957763.687854924]: SELECTED BASE:Depth, 0 [ INFO] [1690957763.721261541]: RealSense Node Is Up! [ WARN] [1690957763.808488594]: [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/camera-realsense2_camera-2*.log

There is a warn without any content, and then it just finished. What's wrong?

loubron23 commented 1 year ago

@MartyG-RealSense hello!

I find the prompt: hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready). Then I downgrade the realsense firm version to 5. 13.0.50, then the prompt disappeared. And then the result appears a new error.

... logging to /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-4141.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:43937/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [4150] process[camera/realsense2_camera-2]: started with pid [4151] [ INFO] [1690965211.340682754]: Initializing nodelet with 16 worker threads. [ INFO] [1690965211.395985751]: RealSense ROS v2.3.2 [ INFO] [1690965211.396005524]: Built with LibRealSense v2.51.1 [ INFO] [1690965211.396030246]: Running with LibRealSense v2.51.1 [ INFO] [1690965211.425896176]:
[ INFO] [1690965211.503355230]: Device with serial number 045322073426 was found.

[ INFO] [1690965211.503497921]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. [ INFO] [1690965211.503550819]: Device with name Intel RealSense D435I was found. [ INFO] [1690965211.504893792]: Device with port number 2-1 was found. [ INFO] [1690965211.504976689]: Device USB type: 3.2

[ INFO] [1690965211.751458372]: JSON file is not provided [ INFO] [1690965211.751504359]: ROS Node Namespace: camera [ INFO] [1690965211.751565750]: Device Name: Intel RealSense D435I [ INFO] [1690965211.751599469]: Device Serial No: 045322073426 [ INFO] [1690965211.751638167]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 [ INFO] [1690965211.751677161]: Device FW version: 05.13.00.50 [ INFO] [1690965211.751722869]: Device Product ID: 0x0B3A [ INFO] [1690965211.751752469]: Enable PointCloud: Off [ INFO] [1690965211.751780352]: Align Depth: Off [ INFO] [1690965211.751806995]: Sync Mode: Off [ INFO] [1690965211.751985844]: Device Sensors: [ INFO] [1690965211.781758220]: Stereo Module was found. [ INFO] [1690965211.806828573]: RGB Camera was found. [ INFO] [1690965211.807431811]: Motion Module was found. [ INFO] [1690965211.807460960]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1690965211.807479018]: num_filters: 0 [ INFO] [1690965211.807488328]: Setting Dynamic reconfig parameters. [ INFO] [1690965212.031772977]: Done Setting Dynamic reconfig parameters. [ INFO] [1690965212.032585866]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1690965212.033853327]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1690965212.039557800]: Expected frequency for depth = 30.00000 [ INFO] [1690965212.135236002]: Expected frequency for color = 30.00000

[ INFO] [1690965212.272417710]: SELECTED BASE:Depth, 0 [ INFO] [1690965212.306818348]: RealSense Node Is Up! [ WARN] [1690965212.392920154]: [ERROR] [1690965212.813704377]: hwmon command 0x75( 0 2cf 0 4ff ) failed (response -6= Invalid parameter) [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/camera-realsense2_camera-2*.log

MartyG-RealSense commented 1 year ago

I note from the top of the above log that you are using a Neousys Nuvo 7000 Series industrial PC with an Intel processor.

Whilst RealSense 400 Series cameras can work with any Intel processor, they may work better with PCs with unusual hardware / software configurations such as industrial machines if librealsense is built from source code with CMake with the -DFORCE_RSUSB_BACKEND=TRUE flag included in the CMake build installation. This flag causes the SDK to bypass the kernel, meaning that it is not dependent on Linux versions or kernel versions and does not require a kernel patch to be applied.

If librealsense is built again then the ROS wrapper must be built again afterwards.

loubron23 commented 1 year ago

I note from the top of the above log that you are using a Neousys Nuvo 7000 Series industrial PC with an Intel processor.

Whilst RealSense 400 Series cameras can work with any Intel processor, they may work better with PCs with unusual hardware / software configurations such as industrial machines if librealsense is built from source code with CMake with the -DFORCE_RSUSB_BACKEND=TRUE flag included in the CMake build installation. This flag causes the SDK to bypass the kernel, meaning that it is not dependent on Linux versions or kernel versions and does not require a kernel patch to be applied.

If librealsense is built again then the ROS wrapper must be built again afterwards.

@MartyG-RealSense Thank you for reply! Do you mean that use "cmake …/ -DFORCE_RSUSB_BACKEND=TRUE" instead of "cmake …/ -DBUILD_EXAMPLES=true" when build librealsense?

MartyG-RealSense commented 1 year ago

The -DFORCE flag should be added to your existing CMake instruction.

cmake …/ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=TRUE

If you need graphics support and graphical tools and graphical programs such as realsense-viewer then you should add -DBUILD_GRAPHICAL_EXAMPLES=TRUE otherwise leave it out if your industrial computer is a 'headless' one without a display screen.

I also recommend including the flag -DCMAKE_BUILD_TYPE=Release which should make the SDK build work better by building it in Release mode (which includes optimizations) instead of the default Debug mode.

For example:

cmake …/ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=TRUE -DCMAKE_BUILD_TYPE=Release

loubron23 commented 1 year ago

@MartyG-RealSense I use the command "cmake …/ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=TRUE -DCMAKE_BUILD_TYPE=Release -DBUILD_GRAPHICAL_EXAMPLES=TRUE " to build the librealsense, and rebuild the ros wrapper. Then it comes as (I was able to use realsense-ROS normally four months ago on the same PC. Does this indicate that it has nothing to do with the industrial PC?):

... logging to /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-5838.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:42265/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [5847] process[camera/realsense2_camera-2]: started with pid [5848] [ INFO] [1690989463.187787229]: Initializing nodelet with 16 worker threads. [ INFO] [1690989463.356459790]: RealSense ROS v2.3.2 [ INFO] [1690989463.356500527]: Built with LibRealSense v2.51.1 [ INFO] [1690989463.356523966]: Running with LibRealSense v2.51.1 [ INFO] [1690989463.408567379]:
[ INFO] [1690989463.656953523]: Device with serial number 045322073426 was found.

[ INFO] [1690989463.657047854]: Device with physical ID 2-3-2 was found. [ INFO] [1690989463.657103967]: Device with name Intel RealSense D435I was found. [ INFO] [1690989463.658697700]: Device with port number 2-3 was found. [ INFO] [1690989463.658783547]: Device USB type: 3.2

[ INFO] [1690989463.955478696]: JSON file is not provided [ INFO] [1690989463.955518365]: ROS Node Namespace: camera [ INFO] [1690989463.955567613]: Device Name: Intel RealSense D435I [ INFO] [1690989463.955602809]: Device Serial No: 045322073426 [ INFO] [1690989463.955635994]: Device physical port: 2-3-2 [ INFO] [1690989463.955666538]: Device FW version: 05.13.00.50 [ INFO] [1690989463.955709913]: Device Product ID: 0x0B3A [ INFO] [1690989463.955743654]: Enable PointCloud: Off [ INFO] [1690989463.955776570]: Align Depth: Off [ INFO] [1690989463.955805185]: Sync Mode: Off [ INFO] [1690989463.955894630]: Device Sensors: [ INFO] [1690989464.045625092]: Stereo Module was found. [ INFO] [1690989464.069874781]: RGB Camera was found. [ INFO] [1690989464.070218379]: Motion Module was found. [ INFO] [1690989464.070917606]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1690989464.070999731]: num_filters: 0 [ INFO] [1690989464.071038965]: Setting Dynamic reconfig parameters. [ INFO] [1690989466.988404305]: Done Setting Dynamic reconfig parameters. [ INFO] [1690989466.994486384]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1690989466.997573772]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1690989467.007194050]: Expected frequency for depth = 30.00000 [ INFO] [1690989467.108242807]: Expected frequency for color = 30.00000

02/08 23:17:47,416 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [ INFO] [1690989467.466987918]: SELECTED BASE:Depth, 0 [ INFO] [1690989467.508097984]: RealSense Node Is Up! [ WARN] [1690989467.534236112]: 02/08 23:17:47,535 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:47,585 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:47,637 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:47,768 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:47,818 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:47,868 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,021 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,172 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,222 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,374 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,425 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,576 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,627 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,778 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,829 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:48,980 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:49,031 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:49,183 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 02/08 23:17:49,233 WARNING [139972875634432] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/271ba132-3038-11ee-a6ec-003018050a5a/camera-realsense2_camera-2*.log

MartyG-RealSense commented 1 year ago

If you were able to use the ROS1 wrapper successfully on the same PC several months ago then it would indicate that the industrial PC can run the ROS wrapper. But the ROS1 wrapper has not been updated since then, so it also suggests that there is not a fault in the wrapper either.

As you built with -DBUILD_GRAPHICAL_EXAMPLES=TRUE then the realsense-viewer librealsense program should be accessible. Does the camera work normally in realsense-viewer?

If librealsense and the ROS wrapper have been installed additional times on the same computer then there may be a hidden glitch somewhere, as I would recommend removing existing previous installations of librealsense and the wrapper before performing a new installation. A fast way to do that would be to simply wipe the computer's drive and install everything again from the beginning, including Ubuntu and ROS. Doing so can remove hidden tangles from the system and suddenly resolve previous unsolvable errors.

Which version of ROS1 are you using, please? The most suitable ROS1 branch for Ubuntu 16.04 would be ROS Kinetic instead of Melodic or Noetic,

loubron23 commented 1 year ago

If you were able to use the ROS1 wrapper successfully on the same PC several months ago then it would indicate that the industrial PC can run the ROS wrapper. But the ROS1 wrapper has not been updated since then, so it also suggests that there is not a fault in the wrapper either.

As you built with -DBUILD_GRAPHICAL_EXAMPLES=TRUE then the realsense-viewer librealsense program should be accessible. Does the camera work normally in realsense-viewer?

If librealsense and the ROS wrapper have been installed additional times on the same computer then there may be a hidden glitch somewhere, as I would recommend removing existing previous installations of librealsense and the wrapper before performing a new installation. A fast way to do that would be to simply wipe the computer's drive and install everything again from the beginning, including Ubuntu and ROS. Doing so can remove hidden tangles from the system and suddenly resolve previous unsolvable errors.

Which version of ROS1 are you using, please? The most suitable ROS1 branch for Ubuntu 16.04 would be ROS Kinetic instead of Melodic or Noetic,

Yes, the camera has always been normal in the realsense viewer. I have indeed reinstalled librealsense and the ROS wrapper many times. But my current conditions do not support me to reinstall the ubuntu and ros because there are many important things that have already been configured. I did consider this, so I tried using the 18.04 Docker on the PC, but it still reported an error. May I have a way to remove existing previous installations of librealsense and the wrapper without reinstalling ubuntu and ROS? Thank you!

MartyG-RealSense commented 1 year ago

Source code builds of the ROS wrapper can be removed simply by completely deleting the entire catkin_ws catkin workspace folder and creating it again on your next wrapper installation.

Source code builds of librealsense can be removed by going to the 'build' directory of your librealsense source code folder and using the CMake command below.

sudo make uninstall && make clean

If you have ever installed librealsense or the ROS wrapper from packages on the computer instead of building from source code then you can remove all RealSense related packages from the computer by inputting the command below into the Ubuntu terminal.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

loubron23 commented 1 year ago

Source code builds of the ROS wrapper can be removed simply by completely deleting the entire catkin_ws catkin workspace folder and creating it again on your next wrapper installation.

Source code builds of librealsense can be removed by going to the 'build' directory of your librealsense source code folder and using the CMake command below.

sudo make uninstall && make clean

If you have ever installed librealsense or the ROS wrapper from packages on the computer instead of building from source code then you can remove all RealSense related packages from the computer by inputting the command below into the Ubuntu terminal.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge OK, I removed existing previous installations of librealsense and the wrapper. The result is still the same.!!! To be honest, my mindset has already collapsed.

MartyG-RealSense commented 1 year ago

After performing the launch and then stopping it, please try unplugging the camera and wait 10 seconds. Then re-insert the camera into the USB port and perform the ROS launch again.

Does the control_transfer returned error, index: 768, error: Success, number: 0 warning still occur after the unplug, wait and re-insertion?

loubron23 commented 1 year ago

control_transfer returned error, index: 768, error: Success, number: 0

control_transfer returned error, index: 768, error: Success, number: 0 warning doesn't occur now. But the result is still the same, warn and then finished cleanly.

MartyG-RealSense commented 1 year ago

Let's next try a different kind of ROS1 launch - rs_rgbd.launch instead of rs_camera.

Before doing so, support for an RGBD launch in Kinetic will need to be installed with the instruction below.

sudo apt-get install ros-kinetic-rgbd-launch

After this installation is complete, perform the rs_rgbd launch.

roslaunch realsense2_camera rs_rgbd launch

loubron23 commented 1 year ago

Let's next try a different kind of ROS1 launch - rs_rgbd.launch instead of rs_camera.

Before doing so, support for an RGBD launch in Kinetic will need to be installed with the instruction below.

sudo apt-get install ros-kinetic-rgbd-launch

After this installation is complete, perform the rs_rgbd launch.

roslaunch realsense2_camera rs_rgbd launch

Thank you for being so patient! If I use roslaunch realsense2_camera rs_rgbd launch, it will become:

... logging to /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-28330.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:37973/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [28339] process[camera/realsense2_camera-2]: started with pid [28340] process[camera/color_rectify_color-3]: started with pid [28341] process[camera/points_xyzrgb_hw_registered-4]: started with pid [28342] [ INFO] [1691082743.431813022]: Initializing nodelet with 16 worker threads. [ INFO] [1691082743.511562452]: RealSense ROS v2.2.7 [ INFO] [1691082743.511588232]: Running with LibRealSense v2.45.0

[ INFO] [1691082744.051285289]: JSON file is not provided [ INFO] [1691082744.051355952]: ROS Node Namespace: camera [ INFO] [1691082744.051420222]: Device Name: Intel RealSense D435I [ INFO] [1691082744.051466466]: Device Serial No: 045322073426 [ INFO] [1691082744.051519829]: Device FW version: 05.13.00.50 [ INFO] [1691082744.051567663]: Device Product ID: 0x0B3A [ INFO] [1691082744.051621852]: Enable PointCloud: Off [ INFO] [1691082744.051690938]: Align Depth: On [ INFO] [1691082744.051745065]: Sync Mode: On [ INFO] [1691082744.052380771]: Device Sensors: [ INFO] [1691082744.052889705]: Stereo Module was found. [ INFO] [1691082744.053016189]: RGB Camera was found. [ INFO] [1691082744.053089980]: Motion Module was found. [ INFO] [1691082744.053199131]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053251868]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053298919]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053358645]: Setting Dynamic reconfig parameters. [ INFO] [1691082744.649519361]: Done Setting Dynamic reconfig parameters. [ INFO] [1691082744.678148713]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.679099064]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.680121399]: infra2 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.703869389]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1691082744.711917740]: Expected frequency for depth = 30.00000 [ INFO] [1691082744.801287047]: Expected frequency for infra1 = 30.00000 [ INFO] [1691082744.886055864]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1691082744.973039816]: Expected frequency for infra2 = 30.00000 [ INFO] [1691082745.059484730]: Expected frequency for color = 30.00000 [ INFO] [1691082745.140040821]: Expected frequency for aligned_depth_to_color = 30.00000

[ INFO] [1691082745.233177625]: insert Depth to Stereo Module [ INFO] [1691082745.233703215]: insert Color to RGB Camera [ INFO] [1691082745.233870728]: insert Infrared to Stereo Module [ INFO] [1691082745.233987394]: insert Infrared to Stereo Module [ INFO] [1691082745.234124778]: insert Gyro to Motion Module [ INFO] [1691082745.234244162]: insert Accel to Motion Module 04/08 01:12:25,247 WARNING [139700304074496] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ INFO] [1691082745.338291034]: num_filters: 0 [ INFO] [1691082745.338441380]: SELECTED BASE:Depth, 0 [ INFO] [1691082745.347373280]: RealSense Node Is Up! terminate called without an active exception [camera/realsense2_camera_manager-1] process has died [pid 28339, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera-2.log [camera/points_xyzrgb_hw_registered-4] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-points_xyzrgb_hw_registered-4*.log

Let's next try a different kind of ROS1 launch - rs_rgbd.launch instead of rs_camera.

Before doing so, support for an RGBD launch in Kinetic will need to be installed with the instruction below.

sudo apt-get install ros-kinetic-rgbd-launch

After this installation is complete, perform the rs_rgbd launch.

roslaunch realsense2_camera rs_rgbd launch

Thank you for being so patient! If I use roslaunch realsense2_camera rs_rgbd launch, it will become:

... logging to /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-28330.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:37973/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [28339] process[camera/realsense2_camera-2]: started with pid [28340] process[camera/color_rectify_color-3]: started with pid [28341] process[camera/points_xyzrgb_hw_registered-4]: started with pid [28342] [ INFO] [1691082743.431813022]: Initializing nodelet with 16 worker threads. [ INFO] [1691082743.511562452]: RealSense ROS v2.2.7 [ INFO] [1691082743.511588232]: Running with LibRealSense v2.45.0

[ INFO] [1691082744.051285289]: JSON file is not provided [ INFO] [1691082744.051355952]: ROS Node Namespace: camera [ INFO] [1691082744.051420222]: Device Name: Intel RealSense D435I [ INFO] [1691082744.051466466]: Device Serial No: 045322073426 [ INFO] [1691082744.051519829]: Device FW version: 05.13.00.50 [ INFO] [1691082744.051567663]: Device Product ID: 0x0B3A [ INFO] [1691082744.051621852]: Enable PointCloud: Off [ INFO] [1691082744.051690938]: Align Depth: On [ INFO] [1691082744.051745065]: Sync Mode: On [ INFO] [1691082744.052380771]: Device Sensors: [ INFO] [1691082744.052889705]: Stereo Module was found. [ INFO] [1691082744.053016189]: RGB Camera was found. [ INFO] [1691082744.053089980]: Motion Module was found. [ INFO] [1691082744.053199131]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053251868]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053298919]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053358645]: Setting Dynamic reconfig parameters. [ INFO] [1691082744.649519361]: Done Setting Dynamic reconfig parameters. [ INFO] [1691082744.678148713]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.679099064]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.680121399]: infra2 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.703869389]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1691082744.711917740]: Expected frequency for depth = 30.00000 [ INFO] [1691082744.801287047]: Expected frequency for infra1 = 30.00000 [ INFO] [1691082744.886055864]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1691082744.973039816]: Expected frequency for infra2 = 30.00000 [ INFO] [1691082745.059484730]: Expected frequency for color = 30.00000 [ INFO] [1691082745.140040821]: Expected frequency for aligned_depth_to_color = 30.00000

[ INFO] [1691082745.233177625]: insert Depth to Stereo Module [ INFO] [1691082745.233703215]: insert Color to RGB Camera [ INFO] [1691082745.233870728]: insert Infrared to Stereo Module [ INFO] [1691082745.233987394]: insert Infrared to Stereo Module [ INFO] [1691082745.234124778]: insert Gyro to Motion Module [ INFO] [1691082745.234244162]: insert Accel to Motion Module 04/08 01:12:25,247 WARNING [139700304074496] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ INFO] [1691082745.338291034]: num_filters: 0 [ INFO] [1691082745.338441380]: SELECTED BASE:Depth, 0 [ INFO] [1691082745.347373280]: RealSense Node Is Up! terminate called without an active exception [camera/realsense2_camera_manager-1] process has died [pid 28339, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera-2.log [camera/points_xyzrgb_hw_registered-4] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-points_xyzrgb_hw_registered-4*.log

loubron23 commented 1 year ago

Also, I would like to ask. I tried to install librealsense on another Industrial PC, but its kernel is 4.19.90+. Does this mean that it does not support librealsense？

MartyG-RealSense commented 1 year ago

It is possible to install librealsense on a computer with an unsupported kernel but there may be unforeseen issues in regards to stability and hardware timestamp metadata will not be supported.

Kernel 4.19 is not supported. However, if librealsense is built from source code with the RSUSB backend = true installation method then it bypasses the kernel and so it can be used with any kernel, with hardware metadata support included.

loubron23 commented 1 year ago

It is possible to install librealsense on a computer with an unsupported kernel but there may be unforeseen issues in regards to stability and hardware timestamp metadata will not be supported.

Kernel 4.19 is not supported. However, if librealsense is built from source code with the RSUSB backend = true installation method then it bypasses the kernel and so it can be used with any kernel, with hardware metadata support included.

Let's next try a different kind of ROS1 launch - rs_rgbd.launch instead of rs_camera. Before doing so, support for an RGBD launch in Kinetic will need to be installed with the instruction below. sudo apt-get install ros-kinetic-rgbd-launch After this installation is complete, perform the rs_rgbd launch. roslaunch realsense2_camera rs_rgbd launch

Thank you for being so patient! If I use roslaunch realsense2_camera rs_rgbd launch, it will become:

... logging to /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-28330.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:37973/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: True
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -1.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /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/enable_accel: True
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: True
  • /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: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /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_width: 640
  • /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/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/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/topic_odom_in: camera/odom_in
  • /camera/realsense2_camera/unite_imu_method: none
  • /rosdistro: kinetic
  • /rosversion: 1.12.17

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [28339] process[camera/realsense2_camera-2]: started with pid [28340] process[camera/color_rectify_color-3]: started with pid [28341] process[camera/points_xyzrgb_hw_registered-4]: started with pid [28342] [ INFO] [1691082743.431813022]: Initializing nodelet with 16 worker threads. [ INFO] [1691082743.511562452]: RealSense ROS v2.2.7 [ INFO] [1691082743.511588232]: Running with LibRealSense v2.45.0 [ INFO] [1691082743.778234194]: getParameters... [ INFO] [1691082744.051153916]: setupDevice... [ INFO] [1691082744.051285289]: JSON file is not provided [ INFO] [1691082744.051355952]: ROS Node Namespace: camera [ INFO] [1691082744.051420222]: Device Name: Intel RealSense D435I [ INFO] [1691082744.051466466]: Device Serial No: 045322073426 [ INFO] [1691082744.051519829]: Device FW version: 05.13.00.50 [ INFO] [1691082744.051567663]: Device Product ID: 0x0B3A [ INFO] [1691082744.051621852]: Enable PointCloud: Off [ INFO] [1691082744.051690938]: Align Depth: On [ INFO] [1691082744.051745065]: Sync Mode: On [ INFO] [1691082744.052380771]: Device Sensors: [ INFO] [1691082744.052889705]: Stereo Module was found. [ INFO] [1691082744.053016189]: RGB Camera was found. [ INFO] [1691082744.053089980]: Motion Module was found. [ INFO] [1691082744.053199131]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053251868]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053298919]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053358645]: Setting Dynamic reconfig parameters. [ INFO] [1691082744.649519361]: Done Setting Dynamic reconfig parameters. [ INFO] [1691082744.678148713]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.679099064]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.680121399]: infra2 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.703869389]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.706444189]: setupPublishers... [ INFO] [1691082744.711917740]: Expected frequency for depth = 30.00000 [ INFO] [1691082744.801287047]: Expected frequency for infra1 = 30.00000 [ INFO] [1691082744.886055864]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1691082744.973039816]: Expected frequency for infra2 = 30.00000 [ INFO] [1691082745.059484730]: Expected frequency for color = 30.00000 [ INFO] [1691082745.140040821]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1691082745.220511993]: setupStreams... [ INFO] [1691082745.233177625]: insert Depth to Stereo Module [ INFO] [1691082745.233703215]: insert Color to RGB Camera [ INFO] [1691082745.233870728]: insert Infrared to Stereo Module [ INFO] [1691082745.233987394]: insert Infrared to Stereo Module [ INFO] [1691082745.234124778]: insert Gyro to Motion Module [ INFO] [1691082745.234244162]: insert Accel to Motion Module 04/08 01:12:25,247 WARNING [139700304074496] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ INFO] [1691082745.338291034]: num_filters: 0 [ INFO] [1691082745.338441380]: SELECTED BASE:Depth, 0 [ INFO] [1691082745.347373280]: RealSense Node Is Up! terminate called without an active exception [camera/realsense2_camera_manager-1] process has died [pid 28339, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera-2.log [camera/points_xyzrgb_hw_registered-4] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-points_xyzrgb_hw_registered-4*.log

Let's next try a different kind of ROS1 launch - rs_rgbd.launch instead of rs_camera. Before doing so, support for an RGBD launch in Kinetic will need to be installed with the instruction below. sudo apt-get install ros-kinetic-rgbd-launch After this installation is complete, perform the rs_rgbd launch. roslaunch realsense2_camera rs_rgbd launch

Thank you for being so patient! If I use roslaunch realsense2_camera rs_rgbd launch, it will become:

... logging to /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-28330.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:37973/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: True
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -1.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /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/enable_accel: True
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: True
  • /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: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /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_width: 640
  • /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/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/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/topic_odom_in: camera/odom_in
  • /camera/realsense2_camera/unite_imu_method: none
  • /rosdistro: kinetic
  • /rosversion: 1.12.17

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [28339] process[camera/realsense2_camera-2]: started with pid [28340] process[camera/color_rectify_color-3]: started with pid [28341] process[camera/points_xyzrgb_hw_registered-4]: started with pid [28342] [ INFO] [1691082743.431813022]: Initializing nodelet with 16 worker threads. [ INFO] [1691082743.511562452]: RealSense ROS v2.2.7 [ INFO] [1691082743.511588232]: Running with LibRealSense v2.45.0 [ INFO] [1691082743.778234194]: getParameters... [ INFO] [1691082744.051153916]: setupDevice... [ INFO] [1691082744.051285289]: JSON file is not provided [ INFO] [1691082744.051355952]: ROS Node Namespace: camera [ INFO] [1691082744.051420222]: Device Name: Intel RealSense D435I [ INFO] [1691082744.051466466]: Device Serial No: 045322073426 [ INFO] [1691082744.051519829]: Device FW version: 05.13.00.50 [ INFO] [1691082744.051567663]: Device Product ID: 0x0B3A [ INFO] [1691082744.051621852]: Enable PointCloud: Off [ INFO] [1691082744.051690938]: Align Depth: On [ INFO] [1691082744.051745065]: Sync Mode: On [ INFO] [1691082744.052380771]: Device Sensors: [ INFO] [1691082744.052889705]: Stereo Module was found. [ INFO] [1691082744.053016189]: RGB Camera was found. [ INFO] [1691082744.053089980]: Motion Module was found. [ INFO] [1691082744.053199131]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053251868]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053298919]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1691082744.053358645]: Setting Dynamic reconfig parameters. [ INFO] [1691082744.649519361]: Done Setting Dynamic reconfig parameters. [ INFO] [1691082744.678148713]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.679099064]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.680121399]: infra2 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.703869389]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1691082744.706444189]: setupPublishers... [ INFO] [1691082744.711917740]: Expected frequency for depth = 30.00000 [ INFO] [1691082744.801287047]: Expected frequency for infra1 = 30.00000 [ INFO] [1691082744.886055864]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1691082744.973039816]: Expected frequency for infra2 = 30.00000 [ INFO] [1691082745.059484730]: Expected frequency for color = 30.00000 [ INFO] [1691082745.140040821]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1691082745.220511993]: setupStreams... [ INFO] [1691082745.233177625]: insert Depth to Stereo Module [ INFO] [1691082745.233703215]: insert Color to RGB Camera [ INFO] [1691082745.233870728]: insert Infrared to Stereo Module [ INFO] [1691082745.233987394]: insert Infrared to Stereo Module [ INFO] [1691082745.234124778]: insert Gyro to Motion Module [ INFO] [1691082745.234244162]: insert Accel to Motion Module 04/08 01:12:25,247 WARNING [139700304074496] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used. [ INFO] [1691082745.338291034]: num_filters: 0 [ INFO] [1691082745.338441380]: SELECTED BASE:Depth, 0 [ INFO] [1691082745.347373280]: RealSense Node Is Up! terminate called without an active exception [camera/realsense2_camera_manager-1] process has died [pid 28339, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera-2.log [camera/points_xyzrgb_hw_registered-4] process has finished cleanly log file: /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-points_xyzrgb_hw_registered-4*.log

OK, I'll try 'cmake …/ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=TRUE -DCMAKE_BUILD_TYPE=Release' on the other PC. And could you help me with this issue? Your help was very much appreciated!!!

MartyG-RealSense commented 1 year ago

In your log it states that the launch is using librealsense 2.45.0 and wrapper 2.2.7.

[ INFO] [1691082743.511562452]: RealSense ROS v2.2.7
[ INFO] [1691082743.511588232]: Running with LibRealSense v2.45.0

Wrapper 2.2.7 would not be compatible for use with librealsense 2.45.0 as it was designed for the much older librealsense 2.25.0. It is important to match the wrapper version as closely as possible with a specific librealsense version listed in that particular wrapper version's release notes. The correct ROS1 wrapper match for librealsense 2.45.0 is 2.3.0.

Also, if you have firmware 5.15.0.2 installed in your camera then it is not fully compatible with librealsense versions older than 2.54.1. The correct firmware match for 2.45.0 is 5.12.13.50. If you install this firmware in your camera though then you will not be able to use librealsense 2.54.1 / wrapper 4.51.1.

loubron23 commented 1 year ago

Oops. I may have accidentally made a mistake with the version of librealsense. I am using the correct version now, but the result is back to the beginning. Hahaha

... logging to /home/neousys/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-26820.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:46865/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [26829] process[camera/realsense2_camera-2]: started with pid [26831] [ INFO] [1691138053.612654856]: Initializing nodelet with 16 worker threads. [ INFO] [1691138053.811302565]: RealSense ROS v2.3.2 [ INFO] [1691138053.811379959]: Built with LibRealSense v2.51.1 [ INFO] [1691138053.811425165]: Running with LibRealSense v2.51.1 [ INFO] [1691138053.852030584]:
[ INFO] [1691138053.915464469]: Device with serial number 045322073426 was found.

[ INFO] [1691138053.915556766]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0 was found. [ INFO] [1691138053.915599092]: Device with name Intel RealSense D435I was found. [ INFO] [1691138053.916878958]: Device with port number 2-3 was found. [ INFO] [1691138053.916954419]: Device USB type: 3.2

[ INFO] [1691138054.328520622]: JSON file is not provided [ INFO] [1691138054.328558265]: ROS Node Namespace: camera [ INFO] [1691138054.328675627]: Device Name: Intel RealSense D435I [ INFO] [1691138054.328715810]: Device Serial No: 045322073426 [ INFO] [1691138054.328754526]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0 [ INFO] [1691138054.328811305]: Device FW version: 05.13.00.50 [ INFO] [1691138054.328861700]: Device Product ID: 0x0B3A [ INFO] [1691138054.328894101]: Enable PointCloud: Off [ INFO] [1691138054.328935026]: Align Depth: Off [ INFO] [1691138054.328985945]: Sync Mode: Off [ INFO] [1691138054.329184418]: Device Sensors: [ INFO] [1691138054.362899773]: Stereo Module was found. [ INFO] [1691138054.391386753]: RGB Camera was found. [ INFO] [1691138054.392041656]: Motion Module was found. [ INFO] [1691138054.392071833]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691138054.392091306]: num_filters: 0 [ INFO] [1691138054.392102892]: Setting Dynamic reconfig parameters. [ INFO] [1691138054.640133270]: Done Setting Dynamic reconfig parameters. [ INFO] [1691138054.642197326]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1691138054.645821705]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1691138054.656679732]: Expected frequency for depth = 30.00000 [ INFO] [1691138054.751930249]: Expected frequency for color = 30.00000

[ INFO] [1691138054.876542564]: SELECTED BASE:Depth, 0 [ INFO] [1691138054.920724885]: RealSense Node Is Up! [ WARN] [1691138054.997728425]: [camera/realsense2_camera-2] process has finished cleanly

MartyG-RealSense commented 1 year ago

There is not an obvious reason for why the process is finishing as the launch proceeds fine up until the point where the launch completes at RealSense Node is Up.

Perhaps it is an issue of insufficient power being provided to the camera by the Neousys computer's USB port and the launch is crashing as the streams are enabled and try to draw a greater amount of power from the port.

Do you have the option of trying the camera with a mains electricity powered USB 3 hub instead of plugging the camera directly into the computer or into a 'passive' USB hub (one that is powered by the computer instead of a mains plug socket).

loubron23 commented 1 year ago

There is not an obvious reason for why the process is finishing as the launch proceeds fine up until the point where the launch completes at RealSense Node is Up.

Perhaps it is an issue of insufficient power being provided to the camera by the Neousys computer's USB port and the launch is crashing as the streams are enabled and try to draw a greater amount of power from the port.

Do you have the option of trying the camera with a mains electricity powered USB 3 hub instead of plugging the camera directly into the computer or into a 'passive' USB hub (one that is powered by the computer instead of a mains plug socket).

I've tried. Unfortunately, It doesn't work. But the strange thing is that I tried it on my other PC with kernel 4.19 build with ' RSUSB backend = true ' and made a similar error(below). But I did have no problem trying on my classmate's PC. In summary, on the neousys PC, the Docker of the neousys PC, and on the PC of kernel 4.19, all have failed. But it worked on another PC of my classmates.

... logging to /home/HwHiAiUser/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/roslaunch-davinci-mini-9670.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://davinci-mini:45299/

SUMMARY

PARAMETERS

NODES /camera/senger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, nu realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [9691] [ INFO] [1691148035.550595552]: Initializing nodelet with 8 worker threads. process[camera/realsense2_camera-2]: started with pid [9692] [ INFO] [1691148036.243174567]: RealSense ROS v2.3.2 [ INFO] [1691148036.244084195]: Built with LibRealSense v2.51.1 [ INFO] [1691148036.244499244]: Running with LibRealSense v2.51.1 [ INFO] [1691148036.294856276]:
[ INFO] [1691148036.614445197]: Device with serial number 045322073426 was found.

[ INFO] [1691148036.614586185]: Device with physical ID 2-1-10 was found. [ INFO] [1691148036.614665872]: Device with name Intel RealSense D435I was found. [ INFO] [1691148036.616764396]: Device with port number 2-1 was found. [ INFO] [1691148036.616907572]: Device USB type: 3.2

[ INFO] [1691148036.848677167]: JSON file is not provided [ INFO] [1691148036.848737636]: ROS Node Namespace: camera [ INFO] [1691148036.848806281]: Device Name: Intel RealSense D435I [ INFO] [1691148036.848870291]: Device Serial No: 045322073426 [ INFO] [1691148036.848931957]: Device physical port: 2-1-10 [ INFO] [1691148036.848992373]: Device FW version: 05.13.00.50 [ INFO] [1691148036.851176886]: Device Product ID: 0x0B3A [ INFO] [1691148036.851263083]: Enable PointCloud: Off [ INFO] [1691148036.851319541]: Align Depth: Off [ INFO] [1691148036.851371364]: Sync Mode: Off [ INFO] [1691148036.851565685]: Device Sensors: [ INFO] [1691148036.946696826]: Stereo Module was found. [ INFO] [1691148036.992738737]: RGB Camera was found. [ INFO] [1691148036.994483671]: Motion Module was found. [ INFO] [1691148036.994800231]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691148036.995031479]: num_filters: 0 [ INFO] [1691148036.995206425]: Setting Dynamic reconfig parameters. [ INFO] [1691148040.901009458]: Done Setting Dynamic reconfig parameters. [ INFO] [1691148040.902871526]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1691148040.906111655]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1691148040.913883674]: Expected frequency for depth = 30.00000 [ INFO] [1691148041.016883240]: Expected frequency for color = 30.00000

04/08 11:20:41,300 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1691148041.351847555]: SELECTED BASE:Depth, 0 [ INFO] [1691148041.394620430]: RealSense Node Is Up! [ WARN] [1691148041.419597568]: 04/08 11:20:41,421 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/08 11:20:41,471 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/08 11:20:41,523 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/08 11:20:41,661 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/08 11:20:41,711 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 04/08 11:20:41,865 WARNING [281469784146304] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [camera/realsense2_camera-2] process has finished cleanly log file: /home/HwHiAiUser/.ros/log/3efbd18c-31be-11ee-93fe-003018050a5a/camera-realsense2_camera-2*.log

MartyG-RealSense commented 1 year ago

Does the same problem occur if you reset Ubuntu's udev device handling rules with the commands below?

sudo udevadm control --reload-rules
udevadm trigger
loubron23 commented 1 year ago

udevadm trigger

Yep, the same problem still occurs. lol

loubron23 commented 1 year ago

My current idea is: Is the problem because my kernel version is too old, but I am using too new versions of librealsense and ros wrapper? And my Linux version is 4.15.0-142-generic (buildd@lgw01-amd64-039) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12)).

loubron23 commented 1 year ago

I think I've found the problem!!! It's because I set up ROS multi machine communication. When I enable multi machine communication, the realsense node automatically shuts down for unknown reasons. When I turn off multi machine communication, the node can start normally and there will also be an empty warn, which means the warn is not related to the previous bug. So what's the problem with my multi machine communication? I wouldn't have this problem when using other packages such as the UR robotic arm control package.

MartyG-RealSense commented 1 year ago

It's great to hear that you have made significant progress.

There is not much information to refer to regarding multi machine communication with ROS1 and RealSense other than the guide at the link below.

https://github.com/IntelRealSense/realsense-ros/wiki/showcase-of-using-3-cameras-in-2-machines

In that guide, they recommend opening rosscore and setting a ROS_MASTER_URI for the ROS wrapper launch in two separate terminals. Are you using multiple terminals or a single one, please?

loubron23 commented 1 year ago

It's great to hear that you have made significant progress.

There is not much information to refer to regarding multi machine communication with ROS1 and RealSense other than the guide at the link below.

https://github.com/IntelRealSense/realsense-ros/wiki/showcase-of-using-3-cameras-in-2-machines

In that guide, they recommend opening rosscore and setting a ROS_MASTER_URI for the ROS wrapper launch in two separate terminals. Are you using multiple terminals or a single one, please?

I tried his method, but the result did not change. I don't think this error was caused by a problem with my ROS communication settings. Because when I use other ros packages, there will not be such automatic node shutdown errors.

And I find out the ros log, the end of it shows: [0m[ INFO] [1648798793.112451231]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] has not been advertised, waiting...[0m [0m[ INFO] [1648798793.181086281]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] is now available.[0m [0m[ INFO] [1648798807.262441338]: Bond broken, exiting[0m

loubron23 commented 1 year ago

OK! I know why the error of node automatic shutdown occurred, and it is still because of the IP setting issue in ROS multi machine communication. I am very sorry for taking up so much of your time to answer my question, but in fact, it was not due to issues with librealsense or ROS wrapper. I took the wrong direction But now I have a new problem, when I use 'roslaunch realsense2_camera rs_camera.launch initial_reset:=true’, the node will start and maintain normally. But when I open rviz and try to open /camera/color/image, the node will suddenly shut down and report an error. However, I am now able to use librealsense and ros wrapper normally in a docker, and this error occurs outside docker.

... logging to /home/neousys/.ros/log/91fbfa5a-367e-11ee-9547-003018050a5a/roslaunch-neousys-Nuvo-7000-Series-10550.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://neousys-Nuvo-7000-Series:36261/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://192.168.8.88:11311

process[camera/realsense2_camera_manager-1]: started with pid [10559] process[camera/realsense2_camera-2]: started with pid [10560] [ INFO] [1691562951.128361757]: Initializing nodelet with 16 worker threads. [ INFO] [1691562951.298660104]: RealSense ROS v2.3.2 [ INFO] [1691562951.298739611]: Built with LibRealSense v2.51.1 [ INFO] [1691562951.298785051]: Running with LibRealSense v2.51.1 [ INFO] [1691562951.347213535]:
[ INFO] [1691562951.423493469]: Device with serial number 045322073426 was found.

[ INFO] [1691562951.423512880]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. [ INFO] [1691562951.423519130]: Device with name Intel RealSense D435I was found. [ INFO] [1691562951.423801672]: Device with port number 2-1 was found. [ INFO] [1691562951.423819417]: Device USB type: 3.2 [ INFO] [1691562951.423832874]: Resetting device... [ INFO] [1691562957.456041084]:
[ INFO] [1691562957.611742545]: Device with serial number 045322073426 was found.

[ INFO] [1691562957.611766391]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. [ INFO] [1691562957.611773692]: Device with name Intel RealSense D435I was found. [ INFO] [1691562957.611996436]: Device with port number 2-1 was found. [ INFO] [1691562957.612007554]: Device USB type: 3.2

[ INFO] [1691562957.820201681]: JSON file is not provided [ INFO] [1691562957.820212207]: ROS Node Namespace: camera [ INFO] [1691562957.820230154]: Device Name: Intel RealSense D435I [ INFO] [1691562957.820242692]: Device Serial No: 045322073426 [ INFO] [1691562957.820257701]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 [ INFO] [1691562957.820272195]: Device FW version: 05.13.00.50 [ INFO] [1691562957.820280307]: Device Product ID: 0x0B3A [ INFO] [1691562957.820287443]: Enable PointCloud: Off [ INFO] [1691562957.820294124]: Align Depth: Off [ INFO] [1691562957.820300504]: Sync Mode: Off [ INFO] [1691562957.820363090]: Device Sensors: [ INFO] [1691562957.829710683]: Stereo Module was found. [ INFO] [1691562957.847993241]: RGB Camera was found. [ INFO] [1691562957.848571008]: Motion Module was found. [ INFO] [1691562957.848597437]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1691562957.848615170]: num_filters: 0 [ INFO] [1691562957.848626145]: Setting Dynamic reconfig parameters. [ INFO] [1691562958.109394061]: Done Setting Dynamic reconfig parameters. [ INFO] [1691562958.109909022]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1691562958.110663499]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1691562958.116631992]: Expected frequency for depth = 30.00000 [ INFO] [1691562958.184392477]: Expected frequency for color = 30.00000

[ INFO] [1691562958.306131376]: SELECTED BASE:Depth, 0 [ INFO] [1691562958.335438640]: RealSense Node Is Up! [ WARN] [1691562958.374316663]: 09/08 14:35:59,333 ERROR [140585192032000] (ds5-options.cpp:88) Asic Temperature value is not valid! 09/08 14:36:00,336 ERROR [140585192032000] (ds5-options.cpp:88) Asic Temperature value is not valid! 09/08 14:36:01,339 ERROR [140585192032000] (ds5-options.cpp:88) Asic Temperature value is not valid! Error in `/opt/ros/kinetic/lib/nodelet/nodelet': corrupted size vs. prev_size: 0x00007fdc78000b40 ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x777f5)[0x7fdcd6a027f5] /lib/x86_64-linux-gnu/libc.so.6(+0x7e9ec)[0x7fdcd6a099ec] /lib/x86_64-linux-gnu/libc.so.6(+0x81d0c)[0x7fdcd6a0cd0c] /lib/x86_64-linux-gnu/libc.so.6(libc_malloc+0x54)[0x7fdcd6a0f1d4] /usr/lib/x86_64-linux-gnu/libstdc++.so.6(_Znwm+0x18)[0x7fdcd6ff8e78] /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10(_ZNSt6vectorIhSaIhEE14_M_fill_insertEN9gnu_cxx17normal_iteratorIPhS1_EEmRKh+0xda)[0x7fdcd4ca7d4a] /home/neousys/catkin_workspace/install/lib/libcv_bridge.so(_ZNSt6vectorIhSaIhEE6insertEN9__gnu_cxx17normal_iteratorIPhS1_EEmRKh+0x30)[0x7fdccc0b0066] /home/neousys/catkin_workspace/install/lib/libcv_bridge.so(_ZNSt6vectorIhSaIhEE6resizeEmh+0x6b)[0x7fdccc0ae14d] /home/neousys/catkin_workspace/install/lib/libcv_bridge.so(_ZNK9cv_bridge7CvImage10toImageMsgERN11sensor_msgs6Image_ISaIvEEE+0xc1)[0x7fdccc0a676d] /home/neousys/catkin_workspace/install/lib/libcv_bridge.so(_ZNK9cv_bridge7CvImage10toImageMsgEv+0x4a)[0x7fdccc0a6670] /home/neousys/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera17BaseRealSenseNode12publishFrameEN3rs25frameERKN3ros4TimeERKSt4pairI10rs2_streamiERSt3mapIS9_N2cv3MatESt4lessIS9_ESaIS7_ISA_SE_EEERKSC_IS9_NS3_9PublisherESG_SaIS7_ISA_SL_EEERKSC_IS9_S7_IN15image_transport9PublisherESt10shared_ptrINS_20FrequencyDiagnosticsEEESG_SaIS7_ISA_SW_EEEbRSC_IS9_iSG_SaIS7_ISA_iEEERSC_IS9_N11sensor_msgs11CameraInfo_ISaIvEEESG_SaIS7_ISA_S19_EEERKSC_IS8_NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESF_IS8_ESaIS7_IKS8_S1J_EEEb+0x70b)[0x7fdcc4597d0b] /home/neousys/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera17BaseRealSenseNode14frame_callbackEN3rs25frameE+0x148f)[0x7fdcc459b47f] /home/neousys/catkin_ws/devel/lib//librealsense2_camera.so(+0xade98)[0x7fdcc459be98] /home/neousys/catkin_ws/devel/lib//librealsense2_camera.so(_ZN3rs214frame_callbackISt8functionIFvNS_5frameEEEE8on_frameEP9rs2_frame+0x1d)[0x7fdcc459e18d] /usr/local/lib/librealsense2.so.2.51(+0x17246df)[0x7fdcb6e3f6df] /usr/local/lib/librealsense2.so.2.51(+0x172c77a)[0x7fdcb6e4777a] /usr/local/lib/librealsense2.so.2.51(_ZNK12librealsense12frame_source15invoke_callbackENS_12frame_holderE+0xf0)[0x7fdcb6e82204] /usr/local/lib/librealsense2.so.2.51(_ZN12librealsense16synthetic_source11frame_readyENS_12frame_holderE+0x55)[0x7fdcb6b5e099] /usr/local/lib/librealsense2.so.2.51(rs2_synthetic_frame_ready+0x124)[0x7fdcb6dca496] /usr/local/lib/librealsense2.so.2.51(_ZNK3rs212frame_source11frame_readyENS_5frameE+0x4c)[0x7fdcb6b66bac] /usr/local/lib/librealsense2.so.2.51(+0x143fdab)[0x7fdcb6b5adab] /usr/local/lib/librealsense2.so.2.51(+0x144b16b)[0x7fdcb6b6616b] /usr/local/lib/librealsense2.so.2.51(_ZN12librealsense16processing_block6invokeENS_12frame_holderE+0xce)[0x7fdcb6b5a734] /usr/local/lib/librealsense2.so.2.51(+0x17248a7)[0x7fdcb6e3f8a7] /usr/local/lib/librealsense2.so.2.51(+0x172c6be)[0x7fdcb6e476be] /usr/local/lib/librealsense2.so.2.51(_ZNK12librealsense12frame_source15invoke_callbackENS_12frame_holderE+0xf0)[0x7fdcb6e82204] /usr/local/lib/librealsense2.so.2.51(+0x171782c)[0x7fdcb6e3282c] /usr/local/lib/librealsense2.so.2.51(+0x1726c10)[0x7fdcb6e41c10] /usr/local/lib/librealsense2.so.2.51(_ZNKSt8functionIFvN12librealsense8platform14stream_profileENS1_12frame_objectES_IFvvEEEEclES2_S3S5+0x7c)[0x7fdcb6b0499c] /usr/local/lib/librealsense2.so.2.51(_ZN12librealsense8platform14v4l_uvc_device4pollEv+0x1366)[0x7fdcb6cc8976] /usr/local/lib/librealsense2.so.2.51(_ZN12librealsense8platform14v4l_uvc_device12capture_loopEv+0x4e)[0x7fdcb6ccac86] /usr/local/lib/librealsense2.so.2.51(+0x15abb69)[0x7fdcb6cc6b69] /usr/local/lib/librealsense2.so.2.51(+0x15b90cc)[0x7fdcb6cd40cc] /usr/local/lib/librealsense2.so.2.51(+0x15b9022)[0x7fdcb6cd4022] /usr/local/lib/librealsense2.so.2.51(+0x15b8fb2)[0x7fdcb6cd3fb2] /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xb8c80)[0x7fdcd7023c80] /lib/x86_64-linux-gnu/libpthread.so.0(+0x76ba)[0x7fdcd5cee6ba] /lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7fdcd6a9251d] ======= Memory map: ======== 00400000-0040e000 r-xp 00000000 08:02 9442287 /opt/ros/kinetic/lib/nodelet/nodelet 0060d000-0060e000 r--p 0000d000 08:02 9442287 /opt/ros/kinetic/lib/nodelet/nodelet 0060e000-0060f000 rw-p 0000e000 08:02 9442287 /opt/ros/kinetic/lib/nodelet/nodelet 02245000-02960000 rw-p 00000000 00:00 0 [heap] 7fdc68000000-7fdc68021000 rw-p 00000000 00:00 0 7fdc68021000-7fdc6c000000 ---p 00000000 00:00 0 7fdc6c000000-7fdc6c021000 rw-p 00000000 00:00 0 7fdc6c021000-7fdc70000000 ---p 00000000 00:00 0 7fdc70000000-7fdc70021000 rw-p 00000000 00:00 0 7fdc70021000-7fdc74000000 ---p 00000000 00:00 0 7fdc74000000-7fdc74021000 rw-p 00000000 00:00 0 7fdc74021000-7fdc78000000 ---p 00000000 00:00 0 7fdc78000000-7fdc78021000 rw-p 00000000 00:00 0 7fdc78021000-7fdc7c000000 ---p 00000000 00:00 0 7fdc7c000000-7fdc7c021000 rw-p 00000000 00:00 0 7fdc7c021000-7fdc80000000 ---p 00000000 00:00 0 7fdc80000000-7fdc80021000 rw-p 00000000 00:00 0 7fdc80021000-7fdc84000000 ---p 00000000 00:00 0 7fdc84000000-7fdc84038000 rw-p 00000000 00:00 0 7fdc84038000-7fdc88000000 ---p 00000000 00:00 0 7fdc891b9000-7fdc89620000 rw-p 00000000 00:00 0 7fdc89620000-7fdc89621000 ---p 00000000 00:00 0 7fdc89621000-7fdc89e21000 rwxp 00000000 00:00 0 7fdc89e21000-7fdc89ee8000 rw-p 00000000 00:00 0 7fdc89ee8000-7fdc89ee9000 ---p 00000000 00:00 0 7fdc89ee9000-7fdc8a6e9000 rwxp 00000000 00:00 0 7fdc8a6e9000-7fdc8a6ea000 ---p 00000000 00:00 0 7fdc8a6ea000-7fdc8aeea000 rwxp 00000000 00:00 0 7fdc8aeea000-7fdc8aeeb000 ---p 00000000 00:00 0 7fdc8aeeb000-7fdc8b6eb000 rwxp 00000000 00:00 0 7fdc8b6eb000-7fdc8bdf7000 rw-p 00000000 00:00 0 7fdc8bdf7000-7fdc8bdfe000 r-xp 00000000 08:02 41951809 /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2 7fdc8bdfe000-7fdc8bffe000 ---p 00007000 08:02 41951809 /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2 7fdc8bffe000-7fdc8bfff000 r--p 00007000 08:02 41951809 /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2 7fdc8bfff000-7fdc8c000000 rw-p 00008000 08:02 41951809 /usr/lib/x86_64-linux-gnu/libogg.so.0.8.2 7fdc8c000000-7fdc8c021000 rw-p 00000000 00:00 0 7fdc8c021000-7fdc90000000 ---p 00000000 00:00 0 7fdc90000000-7fdc902d9000 rw-p 00000000 00:00 0 7fdc902d9000-7fdc94000000 ---p 00000000 00:00 0 7fdc940b3000-7fdc940cc000 r-xp 00000000 08:02 41952074 /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4 7fdc940cc000-7fdc942cb000 ---p 00019000 08:02 41952074 /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4 7fdc942cb000-7fdc942cc000 r--p 00018000 08:02 41952074 /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4 7fdc942cc000-7fdc942cd000 rw-p 00019000 08:02 41952074 /usr/lib/x86_64-linux-gnu/libtheoradec.so.1.1.4 7fdc942cd000-7fdc9430b000 r-xp 00000000 08:02 41952076 /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2 7fdc9430b000-7fdc9450a000 ---p 0003e000 08:02 41952076 /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2 7fdc9450a000-7fdc9450b000 r--p 0003d000 08:02 41952076 /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2 7fdc9450b000-7fdc9450c000 rw-p 0003e000 08:02 41952076 /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1.1.2 7fdc9450c000-7fdc9454e000 r-xp 00000000 08:02 9442583 /opt/ros/kinetic/lib/libtheora_image_transport.so 7fdc9454e000-7fdc9474d000 ---p 00042000 08:02 9442583 /opt/ros/kinetic/lib/libtheora_image_transport.so 7fdc9474d000-7fdc9474f000 r--p 00041000 08:02 9442583 /opt/ros/kinetic/lib/libtheora_image_transport.so 7fdc9474f000-7fdc94750000 rw-p 00043000 08:02 9442583 /opt/ros/kinetic/lib/libtheora_image_transport.so 7fdc94750000-7fdc94752000 rw-p 00000000 00:00 0 7fdc94752000-7fdc94773000 r-xp 00000000 08:02 9442041 /opt/ros/kinetic/lib/libimage_transport_plugins.so 7fdc94773000-7fdc94973000 ---p 00021000 08:02 9442041 /opt/ros/kinetic/lib/libimage_transport_plugins.so 7fdc94973000-7fdc94974000 r--p 00021000 08:02 9442041 /opt/ros/kinetic/lib/libimage_transport_plugins.so 7fdc94974000-7fdc94975000 rw-p 00022000 08:02 9442041 /opt/ros/kinetic/lib/libimage_transport_plugins.so 7fdc94975000-7fdc949b4000 r-xp 00000000 08:02 9442470 /opt/ros/kinetic/lib/libcompressed_image_transport.so 7fdc949b4000-7fdc94bb4000 ---p 0003f000 08:02 9442470 /opt/ros/kinetic/lib/libcompressed_image_transport.so 7fdc94bb4000-7fdc94bb6000 r--p 0003f000 08:02 9442470 /opt/ros/kinetic/lib/libcompressed_image_transport.so 7fdc94bb6000-7fdc94bb7000 rw-p 00041000 08:02 9442470 /opt/ros/kinetic/lib/libcompressed_image_transport.so 7fdc94bb7000-7fdc94bb8000 rw-p 00000000 00:00 0 7fdc94bb8000-7fdc94bbd000 r-xp 00000000 08:02 9442228 /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so 7fdc94bbd000-7fdc94dbc000 ---p 00005000 08:02 9442228 /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so 7fdc94dbc000-7fdc94dbd000 r--p 00004000 08:02 9442228 /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so 7fdc94dbd000-7fdc94dbe000 rw-p 00005000 08:02 9442228 /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so 7fdc94dbe000-7fdc94df6000 r-xp 00000000 08:02 9442469 /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so 7fdc94df6000-7fdc94ff6000 ---p 00038000 08:02 9442469 /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so 7fdc94ff6000-7fdc94ff8000 r--p 00038000 08:02 9442469 /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so 7fdc94ff8000-7fdc94ff9000 rw-p 0003a000 08:02 9442469 /opt/ros/kinetic/lib/libcompressed_depth_image_transport.so 7fdc94ff9000-7fdc94ffa000 rw-p 00000000 00:00 0 7fdc94ffa000-7fdc94ffb000 ---p 00000000 00:00 0 7fdc94ffb000-7fdc957fb000 rwxp 00000000 00:00 0 7fdc957fb000-7fdc957fc000 ---p 00000000 00:00 0 7fdc957fc000-7fdc95ffc000 rwxp 00000000 00:00 0 7fdc95ffc000-7fdc95ffd000 ---p 00000000 00:00 0 7fdc95ffd000-7fdc967fd000 rwxp 00000000 00:00 0 7fdc967fd000-7fdc967fe000 ---p 00000000 00:00 0 7fdc967fe000-7fdc96ffe000 rwxp 00000000 00:00 0 7fdc96ffe000-7fdc96fff000 ---p 00000000 00:00 0 7fdc96fff000-7fdc977ff000 rwxp 00000000 00:00 0 7fdc977ff000-7fdc97800000 ---p 00000000 00:00 0 7fdc97800000-7fdc98000000 rwxp 00000000 00:00 0 7fdc98000000-7fdc98021000 rw-p 00000000 00:00 0 7fdc98021000-7fdc9c000000 ---p 00000000 00:00 0 7fdc9c000000-7fdc9c021000 rw-p 00000000 00:00 0 7fdc9c021000-7fdca0000000 ---p 00000000 00:00 0 7fdca0000000-7fdca0021000 rw-p 00000000 00:00 0 7fdca0021000-7fdca4000000 ---p 00000000 00:00 0 7fdca4035000-7fdca42d9000 rw-p 00000000 00:00 0 7fdca42d9000-7fdca42da000 ---p 00000000 00:00 0 7fdca42da000-7fdca4ada000 rwxp 00000000 00:00 0 7fdca4ada000-7fdca4adb000 ---p 00000000 00:00 0 7fdca4adb000-7fdca52db000 rwxp 00000000 00:00 0 7fdca52db000-7fdca52dc000 ---p 00000000 00:00 0 7fdca52dc000-7fdca5adc000 rwxp 00000000 00:00 0 7fdca5adc000-7fdca5add000 ---p 00000000 00:00 0 7fdca5add000-7fdca62dd000 rwxp 00000000 00:00 0 7fdca62dd000-7fdca62de000 ---p 00000000 00:00 0 7fdca62de000-7fdca6ade000 rwxp 00000000 00:00 0 7fdca6ade000-7fdca6adf000 ---p 00000000 00:00 0 7fdca6adf000-7fdca72df000 rwxp 00000000 00:00 0 7fdca72df000-7fdca72e0000 ---p 00000000 00:00 0 7fdca72e0000-7fdca7ae0000 rwxp 00000000 00:00 0 7fdca7ae0000-7fdca7ae1000 ---p 00000000 00:00 0 7fdca7ae1000-7fdca82e1000 rwxp 00000000 00:00 0 7fdca82e1000-7fdca82ec000 r-xp 00000000 08:02 41951624 /usr/lib/x86_64-linux-gnu/libjbig.so.0 7fdca82ec000-7fdca84eb000 ---p 0000b000 08:02 41951624 /usr/lib/x86_64-linux-gnu/libjbig.so.0 7fdca84eb000-7fdca84ec000 r--p 0000a000 08:02 41951624 /usr/lib/x86_64-linux-gnu/libjbig.so.0 7fdca84ec000-7fdca84ef000 rw-p 0000b000 08:02 41951624 /usr/lib/x86_64-linux-gnu/libjbig.so.0 7fdca84ef000-7fdca8510000 r-xp 00000000 08:02 13374066 /lib/x86_64-linux-gnu/liblzma.so.5.0.0 7fdca8510000-7fdca870f000 ---p 00021000 08:02 13374066 /lib/x86_64-linux-gnu/liblzma.so.5.0.0 7fdca870f000-7fdca8710000 r--p 00020000 08:02 13374066 /lib/x86_64-linux-gnu/liblzma.so.5.0.0 7fdca8710000-7fdca8711000 rw-p 00021000 08:02 13374066 /lib/x86_64-linux-gnu/liblzma.so.5.0.0 7fdca8711000-7fdca875b000 r-xp 00000000 08:02 41949614 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 7fdca875b000-7fdca895b000 ---p 0004a000 08:02 41949614 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 7fdca895b000-7fdca895c000 r--p 0004a000 08:02 41949614 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 7fdca895c000-7fdca8960000 rw-p 0004b000 08:02 41949614 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 7fdca8960000-7fdca8967000 rw-p 00000000 00:00 0 7fdca8967000-7fdca89d8000 r-xp 00000000 08:02 41943940 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 7fdca89d8000-7fdca8bd8000 ---p 00071000 08:02 41943940 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 7fdca8bd8000-7fdca8bd9000 r--p 00071000 08:02 41943940 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 7fdca8bd9000-7fdca8bdc000 rw-p 00072000 08:02 41943940 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 7fdca8bdc000-7fdca8c00000 r-xp 00000000 08:02 13374140 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fdca8c00000-7fdca8dff000 ---p 00024000 08:02 13374140 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fdca8dff000-7fdca8e00000 r--p 00023000 08:02 13374140 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fdca8e00000-7fdca8e01000 rw-p 00024000 08:02 13374140 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fdca8e01000-7fdca8e5a000 r-xp 00000000 08:02 41952200 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4 7fdca8e5a000-7fdca905a000 ---p 00059000 08:02 41952200 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4 7fdca905a000-7fdca905b000 r--p 00059000 08:02 41952200 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4 7fdca905b000-7fdca905d000 rw-p 0005a000 08:02 41952200 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4 7fdca905d000-7fdca90b4000 r-xp 00000000 08:02 41945681 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 7fdca90b4000-7fdca92b4000 ---p 00057000 08:02 41945681 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 7fdca92b4000-7fdca92b5000 r--p 00057000 08:02 41945681 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 7fdca92b5000-7fdca92b6000 rw-p 00058000 08:02 41945681 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 7fdca92b6000-7fdca92e8000 r-xp 00000000 08:02 9442301 /opt/ros/kinetic/lib/libtf2.so 7fdca92e8000-7fdca94e7000 ---p 00032000 08:02 9442301 /opt/ros/kinetic/lib/libtf2.so 7fdca94e7000-7fdca94e9000 r--p 00031000 08:02 9442301 /opt/ros/kinetic/lib/libtf2.so 7fdca94e9000-7fdca94ea000 rw-p 00033000 08:02 9442301 /opt/ros/kinetic/lib/libtf2.so 7fdca94ea000-7fdca9508000 r-xp 00000000 08:02 9439780 /opt/ros/kinetic/lib/libactionlib.so 7fdca9508000-7fdca9707000 ---p 0001e000 08:02 9439780 /opt/ros/kinetic/lib/libactionlib.so 7fdca9707000-7fdca9709000 r--p 0001d000 08:02 9439780 /opt/ros/kinetic/lib/libactionlib.so 7fdca9709000-7fdca970a000 rw-p 0001f000 08:02 9439780 /opt/ros/kinetic/lib/libactionlib.so 7fdca970a000-7fdcabd29000 r-xp 00000000 08:02 9441885 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 7fdcabd29000-7fdcabf29000 ---p 0261f000 08:02 9441885 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 7fdcabf29000-7fdcabf3f000 r--p 0261f000 08:02 9441885 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 7fdcabf3f000-7fdcabf61000 rw-p 02635000 08:02 9441885 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 7fdcabf61000-7fdcac000000 rw-p 00000000 00:00 0 7fdcac000000-7fdcac021000 rw-p 00000000 00:00 0 7fdcac021000-7fdcb0000000 ---p 00000000 00:00 0 7fdcb0000000-7fdcb0021000 rw-p 00000000 00:00 0 7fdcb0021000-7fdcb4000000 ---p 00000000 00:00 0 7fdcb4025000-7fdcb41b3000 rw-p 00000000 00:00 0 7fdcb41b3000-7fdcb45d0000 r-xp 00000000 08:02 9441875 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 7fdcb45d0000-7fdcb47d0000 ---p 0041d000 08:02 9441875 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 7fdcb47d0000-7fdcb47d6000 r--p 0041d000 08:02 9441875 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 7fdcb47d6000-7fdcb47e1000 rw-p 00423000 08:02 9441875 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 7fdcb47e1000-7fdcb47e2000 rw-p 00000000 00:00 0 7fdcb47e2000-7fdcb54e5000 r-xp 00000000 08:02 9441876 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 7fdcb54e5000-7fdcb56e4000 ---p 00d03000 08:02 9441876 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 7fdcb56e4000-7fdcb56f0000 r--p 00d02000 08:02 9441876 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 7fdcb56f0000-7fdcb5716000 rw-p 00d0e000 08:02 9441876 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 7fdcb5716000-7fdcb571b000 rw-p 00000000 00:00 0 7fdcb571b000-7fdcb74c9000 r-xp 00000000 08:02 42477322 /usr/local/lib/librealsense2.so.2.51.1 7fdcb74c9000-7fdcb76c8000 ---p 01dae000 08:02 42477322 /usr/local/lib/librealsense2.so.2.51.1 7fdcb76c8000-7fdcb7769000 r--p 01dad000 08:02 42477322 /usr/local/lib/librealsense2.so.2.51.1 7fdcb7769000-7fdcb77e4000 rw-p 01e4e000 08:02 42477322 /usr/local/lib/librealsense2.so.2.51.1 7fdcb77e4000-7fdcb77ff000 rw-p 00000000 00:00 0 7fdcb77ff000-7fdcb7800000 ---p 00000000 00:00 0 7fdcb7800000-7fdcb8000000 rwxp 00000000 00:00 0 7fdcb8000000-7fdcb8021000 rw-p 00000000 00:00 0 7fdcb8021000-7fdcbc000000 ---p 00000000 00:00 0 7fdcbc069000-7fdcbc130000 rw-p 00000000 00:00 0 7fdcbc130000-7fdcbc134000 r-xp 00000000 08:02 9442008 /opt/ros/kinetic/lib/libmessage_filters.so 7fdcbc134000-7fdcbc333000 ---p 00004000 08:02 9442008 /opt/ros/kinetic/lib/libmessage_filters.so 7fdcbc333000-7fdcbc334000 r--p 00003000 08:02 9442008 /opt/ros/kinetic/lib/libmessage_filters.so 7fdcbc334000-7fdcbc335000 rw-p 00004000 08:02 9442008 /opt/ros/kinetic/lib/libmessage_filters.so 7fdcbc335000-7fdcbc34c000 r-xp 00000000 08:02 13374179 /lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0 7fdcbc34c000-7fdcbc54b000 ---p 00017000 08:02 13374179 /lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0 7fdcbc54b000-7fdcbc54c000 r--p 00016000 08:02 13374179 /lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0 7fdcbc54c000-7fdcbc54d000 rw-p 00017000 08:02 13374179 /lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0 7fdcbc54d000-7fdcbc5f3000 r-xp 00000000 08:02 9442306 /opt/ros/kinetic/lib/libtf2_ros.so 7fdcbc5f3000-7fdcbc7f3000 ---p 000a6000 08:02 9442306 /opt/ros/kinetic/lib/libtf2_ros.so 7fdcbc7f3000-7fdcbc7f7000 r--p 000a6000 08:02 9442306 /opt/ros/kinetic/lib/libtf2_ros.so 7fdcbc7f7000-7fdcbc7f9000 rw-p 000aa000 08:02 9442306 /opt/ros/kinetic/lib/libtf2_ros.so 7fdcbc7f9000-7fdcbc7fa000 ---p 00000000 00:00 0 7fdcbc7fa000-7fdcbcffa000 rwxp 00000000 00:00 0 7fdcbcffa000-7fdcbcffb000 ---p 00000000 00:00 0 7fdcbcffb000-7fdcbd7fb000 rwxp 00000000 00:00 0 7fdcbd7fb000-7fdcbd7fc000 ---p 00000000 00:00 0 7fdcbd7fc000-7fdcbdffc000 rwxp 00000000 00:00 0 7fdcbdffc000-7fdcbdffd000 ---p 00000000 00:00 0 7fdcbdffd000-7fdcbe7fd000 rwxp 00000000 00:00 0 7fdcbe7fd000-7fdcbe7fe000 ---p 00000000 00:00 0 7fdcbe7fe000-7fdcbeffe000 rwxp 00000000 00:00 0 7fdcbeffe000-7fdcbefff000 ---p 00000000 00:00 0 7fdcbefff000-7fdcbf7ff000 rwxp 00000000 00:00 0 7fdcbf7ff000-7fdcbf800000 ---p 00000000 00:00 0 7fdcbf800000-7fdcc0000000 rwxp 00000000 00:00 0 7fdcc0000000-7fdcc0021000 rw-p 00000000 00:00 0 7fdcc0021000-7fdcc4000000 ---p 00000000 00:00 0 7fdcc403c000-7fdcc406a000 r-xp 00000000 08:02 9442715 /opt/ros/kinetic/lib/libddynamic_reconfigure.so 7fdcc406a000-7fdcc426a000 ---p 0002e000 08:02 9442715 /opt/ros/kinetic/lib/libddynamic_reconfigure.so 7fdcc426a000-7fdcc426b000 r--p 0002e000 08:02 9442715 /opt/ros/kinetic/lib/libddynamic_reconfigure.so 7fdcc426b000-7fdcc426c000 rw-p 0002f000 08:02 9442715 /opt/ros/kinetic/lib/libddynamic_reconfigure.so 7fdcc426c000-7fdcc42eb000 r-xp 00000000 08:02 9442040 /opt/ros/kinetic/lib/libimage_transport.so 7fdcc42eb000-7fdcc44ea000 ---p 0007f000 08:02 9442040 /opt/ros/kinetic/lib/libimage_transport.so 7fdcc44ea000-7fdcc44ed000 r--p 0007e000 08:02 9442040 /opt/ros/kinetic/lib/libimage_transport.so 7fdcc44ed000-7fdcc44ee000 rw-p 00081000 08:02 9442040 /opt/ros/kinetic/lib/libimage_transport.so 7fdcc44ee000-7fdcc45ef000 r-xp 00000000 08:02 51515586 /home/neousys/catkin_ws/devel/lib/librealsense2_camera.so 7fdcc45ef000-7fdcc47ef000 ---p 00101000 08:02 51515586 /home/neousys/catkin_ws/devel/lib/librealsense2_camera.so 7fdcc47ef000-7fdcc47f4000 r--p 00101000 08:02 51515586 /home/neousys/catkin_ws/devel/lib/librealsense2_camera.so 7fdcc47f4000-7fdcc47f7000 rw-p 00106000 08:02 51515586 /home/neousys/catkin_ws/devel/lib/librealsense2_camera.so 7fdcc47f7000-7fdcc47f9000 rw-p 00000000 00:00 0 7fdcc47f9000-7fdcc47fa000 ---p 00000000 00:00 0 7fdcc47fa000-7fdcc4ffa000 rwxp 00000000 00:00 0 7fdcc4ffa000-7fdcc4ffb000 ---p 00000000 00:00 0 7fdcc4ffb000-7fdcc57fb000 rwxp 00000000 00:00 0 7fdcc57fb000-7fdcc57fc000 ---p 00000000 00:00 0 7fdcc57fc000-7fdcc5ffc000 rwxp 00000000 00:00 0 7fdcc5ffc000-7fdcc5ffd000 ---p 00000000 00:00 0 7fdcc5ffd000-7fdcc67fd000 rwxp 00000000 00:00 0 7fdcc67fd000-7fdcc67fe000 ---p 00000000 00:00 0 7fdcc67fe000-7fdcc6ffe000 rwxp 00000000 00:00 0 7fdcc6ffe000-7fdcc6fff000 ---p 00000000 00:00 0 7fdcc6fff000-7fdcc77ff000 rwxp 00000000 00:00 0 7fdcc77ff000-7fdcc7800000 ---p 00000000 00:00 0 7fdcc7800000-7fdcc8000000 rwxp 00000000 00:00 0 7fdcc8000000-7fdcc802a000 rw-p 00000000 00:00 0 7fdcc802a000-7fdccc000000 ---p 00000000 00:00 0 7fdccc07c000-7fdccc0c5000 r-xp 00000000 08:02 32510571 /home/neousys/catkin_workspace/install/lib/libcv_bridge.so 7fdccc0c5000-7fdccc2c4000 ---p 00049000 08:02 32510571 /home/neousys/catkin_workspace/install/lib/libcv_bridge.so 7fdccc2c4000-7fdccc2c6000 r--p 00048000 08:02 32510571 /home/neousys/catkin_workspace/install/lib/libcv_bridge.so 7fdccc2c6000-7fdccc2c8000 rw-p 0004a000 08:02 32510571 /home/neousys/catkin_workspace/install/lib/libcv_bridge.so 7fdccc2c8000-7fdccc2c9000 ---p 00000000 00:00 0 7fdccc2c9000-7fdcccac9000 rwxp 00000000 00:00 0 7fdcccac9000-7fdcccaca000 ---p 00000000 00:00 0 7fdcccaca000-7fdccd2ca000 rwxp 00000000 00:00 0 7fdccd2ca000-7fdccd2cb000 ---p 00000000 00:00 0 7fdccd2cb000-7fdccdacb000 rwxp 00000000 00:00 0 7fdccdacb000-7fdccdacc000 ---p 00000000 00:00 0 7fdccdacc000-7fdcce2cc000 rwxp 00000000 00:00 0 7fdcce2cc000-7fdcce2cd000 ---p 00000000 00:00 0 7fdcce2cd000-7fdcceacd000 rwxp 00000000 00:00 0 7fdcceacd000-7fdcceace000 ---p 00000000 00:00 0 7fdcceace000-7fdccf2ce000 rwxp 00000000 00:00 0 7fdccf2ce000-7fdccf2cf000 ---p 00000000 00:00 0 7fdccf2cf000-7fdccfacf000 rwxp 00000000 00:00 0 7fdccfacf000-7fdccfada000 r-xp 00000000 08:02 13371198 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7fdccfada000-7fdccfcd9000 ---p 0000b000 08:02 13371198 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7fdccfcd9000-7fdccfcda000 r--p 0000a000 08:02 13371198 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7fdccfcda000-7fdccfcdb000 rw-p 0000b000 08:02 13371198 /lib/x86_64-linux-gnu/libnss_files-2.23.so 7fdccfcdb000-7fdccfce1000 rw-p 00000000 00:00 0 7fdccfce1000-7fdccfcec000 r-xp 00000000 08:02 13374018 /lib/x86_64-linux-gnu/libnss_nis-2.23.so 7fdccfcec000-7fdccfeeb000 ---p 0000b000 08:02 13374018 /lib/x86_64-linux-gnu/libnss_nis-2.23.so 7fdccfeeb000-7fdccfeec000 r--p 0000a000 08:02 13374018 /lib/x86_64-linux-gnu/libnss_nis-2.23.so 7fdccfeec000-7fdccfeed000 rw-p 0000b000 08:02 13374018 /lib/x86_64-linux-gnu/libnss_nis-2.23.so 7fdccfeed000-7fdccff03000 r-xp 00000000 08:02 13374019 /lib/x86_64-linux-gnu/libnsl-2.23.so 7fdccff03000-7fdcd0102000 ---p 00016000 08:02 13374019 /lib/x86_64-linux-gnu/libnsl-2.23.so 7fdcd0102000-7fdcd0103000 r--p 00015000 08:02 13374019 /lib/x86_64-linux-gnu/libnsl-2.23.so 7fdcd0103000-7fdcd0104000 rw-p 00016000 08:02 13374019 /lib/x86_64-linux-gnu/libnsl-2.23.so 7fdcd0104000-7fdcd0106000 rw-p 00000000 00:00 0 7fdcd0106000-7fdcd010e000 r-xp 00000000 08:02 13374021 /lib/x86_64-linux-gnu/libnss_compat-2.23.so 7fdcd010e000-7fdcd030d000 ---p 00008000 08:02 13374021 /lib/x86_64-linux-gnu/libnss_compat-2.23.so 7fdcd030d000-7fdcd030e000 r--p 00007000 08:02 13374021 /lib/x86_64-linux-gnu/libnss_compat-2.23.so 7fdcd030e000-7fdcd030f000 rw-p 00008000 08:02 13374021 /lib/x86_64-linux-gnu/libnss_compat-2.23.so 7fdcd030f000-7fdcd0311000 r-xp 00000000 08:02 13369440 /lib/x86_64-linux-gnu/libutil-2.23.so 7fdcd0311000-7fdcd0510000 ---p 00002000 08:02 13369440 /lib/x86_64-linux-gnu/libutil-2.23.so 7fdcd0510000-7fdcd0511000 r--p 00001000 08:02 13369440 /lib/x86_64-linux-gnu/libutil-2.23.so 7fdcd0511000-7fdcd0512000 rw-p 00002000 08:02 13369440 /lib/x86_64-linux-gnu/libutil-2.23.so 7fdcd0512000-7fdcd1dc8000 r-xp 00000000 08:02 41944051 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7fdcd1dc8000-7fdcd1fc7000 ---p 018b6000 08:02 41944051 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7fdcd1fc7000-7fdcd1fc8000 r--p 018b5000 08:02 41944051 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7fdcd1fc8000-7fdcd1fc9000 rw-p 018b6000 08:02 41944051 /usr/lib/x86_64-linux-gnu/libicudata.so.55.1 7fdcd1fc9000-7fdcd1fef000 r-xp 00000000 08:02 13373980 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7fdcd1fef000-7fdcd21ef000 ---p 00026000 08:02 13373980 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7fdcd21ef000-7fdcd21f1000 r--p 00026000 08:02 13373980 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7fdcd21f1000-7fdcd21f2000 rw-p 00028000 08:02 13373980 /lib/x86_64-linux-gnu/libexpat.so.1.6.0 7fdcd21f2000-7fdcd21fb000 r-xp 00000000 08:02 13374017 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7fdcd21fb000-7fdcd23fa000 ---p 00009000 08:02 13374017 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7fdcd23fa000-7fdcd23fb000 r--p 00008000 08:02 13374017 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7fdcd23fb000-7fdcd23fc000 rw-p 00009000 08:02 13374017 /lib/x86_64-linux-gnu/libcrypt-2.23.so 7fdcd23fc000-7fdcd242a000 rw-p 00000000 00:00 0 7fdcd242a000-7fdcd271c000 r-xp 00000000 08:02 41943053 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7fdcd271c000-7fdcd291c000 ---p 002f2000 08:02 41943053 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7fdcd291c000-7fdcd291e000 r--p 002f2000 08:02 41943053 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7fdcd291e000-7fdcd2995000 rw-p 002f4000 08:02 41943053 /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 7fdcd2995000-7fdcd29b8000 rw-p 00000000 00:00 0 7fdcd29b8000-7fdcd2a32000 r-xp 00000000 08:02 41953521 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7fdcd2a32000-7fdcd2c32000 ---p 0007a000 08:02 41953521 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7fdcd2c32000-7fdcd2c35000 r--p 0007a000 08:02 41953521 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7fdcd2c35000-7fdcd2c36000 rw-p 0007d000 08:02 41953521 /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 7fdcd2c36000-7fdcd2c4a000 r-xp 00000000 08:02 41948228 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7fdcd2c4a000-7fdcd2e4a000 ---p 00014000 08:02 41948228 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7fdcd2e4a000-7fdcd2e4b000 r--p 00014000 08:02 41948228 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7fdcd2e4b000-7fdcd2e4c000 rw-p 00015000 08:02 41948228 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 7fdcd2e4c000-7fdcd2e4f000 r-xp 00000000 08:02 13371193 /lib/x86_64-linux-gnu/libdl-2.23.so 7fdcd2e4f000-7fdcd304e000 ---p 00003000 08:02 13371193 /lib/x86_64-linux-gnu/libdl-2.23.so 7fdcd304e000-7fdcd304f000 r--p 00002000 08:02 13371193 /lib/x86_64-linux-gnu/libdl-2.23.so 7fdcd304f000-7fdcd3050000 rw-p 00003000 08:02 13371193 /lib/x86_64-linux-gnu/libdl-2.23.so 7fdcd3050000-7fdcd3069000 r-xp 00000000 08:02 13373996 /lib/x86_64-linux-gnu/libz.so.1.2.8 7fdcd3069000-7fdcd3268000 ---p 00019000 08:02 13373996 /lib/x86_64-linux-gnu/libz.so.1.2.8 7fdcd3268000-7fdcd3269000 r--p 00018000 08:02 13373996 /lib/x86_64-linux-gnu/libz.so.1.2.8 7fdcd3269000-7fdcd326a000 rw-p 00019000 08:02 13373996 /lib/x86_64-linux-gnu/libz.so.1.2.8 7fdcd326a000-7fdcd32d8000 r-xp 00000000 08:02 13374128 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7fdcd32d8000-7fdcd34d8000 ---p 0006e000 08:02 13374128 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7fdcd34d8000-7fdcd34d9000 r--p 0006e000 08:02 13374128 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7fdcd34d9000-7fdcd34da000 rw-p 0006f000 08:02 13374128 /lib/x86_64-linux-gnu/libpcre.so.3.13.2 7fdcd34da000-7fdcd3659000 r-xp 00000000 08:02 41943563 /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1 7fdcd3659000-7fdcd3859000 ---p 0017f000 08:02 41943563 /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1 7fdcd3859000-7fdcd3869000 r--p 0017f000 08:02 41943563 /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1 7fdcd3869000-7fdcd386a000 rw-p 0018f000 08:02 41943563 /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1 7fdcd386a000-7fdcd386e000 rw-p 00000000 00:00 0 7fdcd386e000-7fdcd3ac0000 r-xp 00000000 08:02 41944031 /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1 7fdcd3ac0000-7fdcd3cc0000 ---p 00252000 08:02 41944031 /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1 7fdcd3cc0000-7fdcd3ccf000 r--p 00252000 08:02 41944031 /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1 7fdcd3ccf000-7fdcd3cd0000 rw-p 00261000 08:02 41944031 /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1 7fdcd3cd0000-7fdcd3cf6000 r-xp 00000000 08:02 41953870 /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4 7fdcd3cf6000-7fdcd3ef5000 ---p 00026000 08:02 41953870 /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4 7fdcd3ef5000-7fdcd3ef6000 r--p 00025000 08:02 41953870 /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4 7fdcd3ef6000-7fdcd3ef7000 rw-p 00026000 08:02 41953870 /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4 7fdcd3ef7000-7fdcd3f28000 r-xp 00000000 08:02 41953856 /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2 7fdcd3f28000-7fdcd4127000 ---p 00031000 08:02 41953856 /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2 7fdcd4127000-7fdcd4128000 r--p 00030000 08:02 41953856 /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2 7fdcd4128000-7fdcd4129000 rw-p 00031000 08:02 41953856 /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2 7fdcd4129000-7fdcd416a000 r-xp 00000000 08:02 9439142 /opt/ros/kinetic/lib/librospack.so 7fdcd416a000-7fdcd4369000 ---p 00041000 08:02 9439142 /opt/ros/kinetic/lib/librospack.so 7fdcd4369000-7fdcd436a000 r--p 00040000 08:02 9439142 /opt/ros/kinetic/lib/librospack.so 7fdcd436a000-7fdcd436b000 rw-p 00041000 08:02 9439142 /opt/ros/kinetic/lib/librospack.so 7fdcd436b000-7fdcd44ba000 r-xp 00000000 08:02 41954642 /usr/lib/libPocoFoundation.so.9 7fdcd44ba000-7fdcd46ba000 ---p 0014f000 08:02 41954642 /usr/lib/libPocoFoundation.so.9 7fdcd46ba000-7fdcd46c3000 r--p 0014f000 08:02 41954642 /usr/lib/libPocoFoundation.so.9 7fdcd46c3000-7fdcd46c6000 rw-p 00158000 08:02 41954642 /usr/lib/libPocoFoundation.so.9 7fdcd46c6000-7fdcd46c7000 rw-p 00000000 00:00 0 7fdcd46c7000-7fdcd46ce000 r-xp 00000000 08:02 13371197 /lib/x86_64-linux-gnu/librt-2.23.so 7fdcd46ce000-7fdcd48cd000 ---p 00007000 08:02 13371197 /lib/x86_64-linux-gnu/librt-2.23.so 7fdcd48cd000-7fdcd48ce000 r--p 00006000 08:02 13371197 /lib/x86_64-linux-gnu/librt-2.23.so 7fdcd48ce000-7fdcd48cf000 rw-p 00007000 08:02 13371197 /lib/x86_64-linux-gnu/librt-2.23.so 7fdcd48cf000-7fdcd49d2000 r-xp 00000000 08:02 41953522 /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 7fdcd49d2000-7fdcd4bd2000 ---p 00103000 08:02 41953522 /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 7fdcd4bd2000-7fdcd4bd6000 r--p 00103000 08:02 41953522 /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 7fdcd4bd6000-7fdcd4bd7000 rw-p 00107000 08:02 41953522 /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 7fdcd4bd7000-7fdcd4d86000 r-xp 00000000 08:02 41954602 /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0 7fdcd4d86000-7fdcd4f85000 ---p 001af000 08:02 41954602 /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0 7fdcd4f85000-7fdcd4fab000 r--p 001ae000 08:02 41954602 /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0 7fdcd4fab000-7fdcd4fac000 rw-p 001d4000 08:02 41954602 /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0 7fdcd4fac000-7fdcd4fae000 rw-p 00000000 00:00 0 7fdcd4fae000-7fdcd4faf000 r-xp 00000000 08:02 9438883 /opt/ros/kinetic/lib/librosconsole_backend_interface.so 7fdcd4faf000-7fdcd51ae000 ---p 00001000 08:02 9438883 /opt/ros/kinetic/lib/librosconsole_backend_interface.so 7fdcd51ae000-7fdcd51af000 r--p 00000000 08:02 9438883 /opt/ros/kinetic/lib/librosconsole_backend_interface.so 7fdcd51af000-7fdcd51b0000 rw-p 00001000 08:02 9438883 /opt/ros/kinetic/lib/librosconsole_backend_interface.so 7fdcd51b0000-7fdcd51c6000 r-xp 00000000 08:02 9438884 /opt/ros/kinetic/lib/librosconsole_log4cxx.so 7fdcd51c6000-7fdcd53c6000 ---p 00016000 08:02 9438884 /opt/ros/kinetic/lib/librosconsole_log4cxx.so 7fdcd53c6000-7fdcd53c8000 r--p 00016000 08:02 9438884 /opt/ros/kinetic/lib/librosconsole_log4cxx.so 7fdcd53c8000-7fdcd53c9000 rw-p 00018000 08:02 9438884 /opt/ros/kinetic/lib/librosconsole_log4cxx.so 7fdcd53c9000-7fdcd53cf000 r-xp 00000000 08:02 41953966 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 7fdcd53cf000-7fdcd55cf000 ---p 00006000 08:02 41953966 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 7fdcd55cf000-7fdcd55d0000 r--p 00006000 08:02 41953966 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 7fdcd55d0000-7fdcd55d1000 rw-p 00007000 08:02 41953966 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 7fdcd55d1000-7fdcd55d8000 r-xp 00000000 08:02 9438445 /opt/ros/kinetic/lib/libcpp_common.so 7fdcd55d8000-7fdcd57d7000 ---p 00007000 08:02 9438445 /opt/ros/kinetic/lib/libcpp_common.so 7fdcd57d7000-7fdcd57d8000 r--p 00006000 08:02 9438445 /opt/ros/kinetic/lib/libcpp_common.so 7fdcd57d8000-7fdcd57d9000 rw-p 00007000 08:02 9438445 /opt/ros/kinetic/lib/libcpp_common.so 7fdcd57d9000-7fdcd58e1000 r-xp 00000000 08:02 13373897 /lib/x86_64-linux-gnu/libm-2.23.so 7fdcd58e1000-7fdcd5ae0000 ---p 00108000 08:02 13373897 /lib/x86_64-linux-gnu/libm-2.23.so 7fdcd5ae0000-7fdcd5ae1000 r--p 00107000 08:02 13373897 /lib/x86_64-linux-gnu/libm-2.23.so 7fdcd5ae1000-7fdcd5ae2000 rw-p 00108000 08:02 13373897 /lib/x86_64-linux-gnu/libm-2.23.so 7fdcd5ae2000-7fdcd5ae6000 r-xp 00000000 08:02 41953681 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 7fdcd5ae6000-7fdcd5ce5000 ---p 00004000 08:02 41953681 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 7fdcd5ce5000-7fdcd5ce6000 r--p 00003000 08:02 41953681 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 7fdcd5ce6000-7fdcd5ce7000 rw-p 00004000 08:02 41953681 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 7fdcd5ce7000-7fdcd5cff000 r-xp 00000000 08:02 13369438 /lib/x86_64-linux-gnu/libpthread-2.23.so 7fdcd5cff000-7fdcd5efe000 ---p 00018000 08:02 13369438 /lib/x86_64-linux-gnu/libpthread-2.23.so 7fdcd5efe000-7fdcd5eff000 r--p 00017000 08:02 13369438 /lib/x86_64-linux-gnu/libpthread-2.23.so 7fdcd5eff000-7fdcd5f00000 rw-p 00018000 08:02 13369438 /lib/x86_64-linux-gnu/libpthread-2.23.so 7fdcd5f00000-7fdcd5f04000 rw-p 00000000 00:00 0 7fdcd5f04000-7fdcd5f28000 r-xp 00000000 08:02 41953523 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7fdcd5f28000-7fdcd6127000 ---p 00024000 08:02 41953523 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7fdcd6127000-7fdcd6129000 r--p 00023000 08:02 41953523 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7fdcd6129000-7fdcd612a000 rw-p 00025000 08:02 41953523 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 7fdcd612a000-7fdcd6141000 r-xp 00000000 08:02 41951026 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 7fdcd6141000-7fdcd6340000 ---p 00017000 08:02 41951026 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 7fdcd6340000-7fdcd6341000 r--p 00016000 08:02 41951026 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 7fdcd6341000-7fdcd6342000 rw-p 00017000 08:02 41951026 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 7fdcd6342000-7fdcd6352000 r-xp 00000000 08:02 9439160 /opt/ros/kinetic/lib/libroslib.so 7fdcd6352000-7fdcd6552000 ---p 00010000 08:02 9439160 /opt/ros/kinetic/lib/libroslib.so 7fdcd6552000-7fdcd6553000 r--p 00010000 08:02 9439160 /opt/ros/kinetic/lib/libroslib.so 7fdcd6553000-7fdcd6554000 rw-p 00011000 08:02 9439160 /opt/ros/kinetic/lib/libroslib.so 7fdcd6554000-7fdcd6576000 r-xp 00000000 08:02 9440047 /opt/ros/kinetic/lib/libclass_loader.so 7fdcd6576000-7fdcd6776000 ---p 00022000 08:02 9440047 /opt/ros/kinetic/lib/libclass_loader.so 7fdcd6776000-7fdcd6777000 r--p 00022000 08:02 9440047 /opt/ros/kinetic/lib/libclass_loader.so 7fdcd6777000-7fdcd6778000 rw-p 00023000 08:02 9440047 /opt/ros/kinetic/lib/libclass_loader.so 7fdcd6778000-7fdcd6789000 r-xp 00000000 08:02 41953698 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7fdcd6789000-7fdcd6989000 ---p 00011000 08:02 41953698 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7fdcd6989000-7fdcd698a000 r--p 00011000 08:02 41953698 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7fdcd698a000-7fdcd698b000 rw-p 00012000 08:02 41953698 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 7fdcd698b000-7fdcd6b4b000 r-xp 00000000 08:02 13374020 /lib/x86_64-linux-gnu/libc-2.23.so 7fdcd6b4b000-7fdcd6d4b000 ---p 001c0000 08:02 13374020 /lib/x86_64-linux-gnu/libc-2.23.so 7fdcd6d4b000-7fdcd6d4f000 r--p 001c0000 08:02 13374020 /lib/x86_64-linux-gnu/libc-2.23.so 7fdcd6d4f000-7fdcd6d51000 rw-p 001c4000 08:02 13374020 /lib/x86_64-linux-gnu/libc-2.23.so 7fdcd6d51000-7fdcd6d55000 rw-p 00000000 00:00 0 7fdcd6d55000-7fdcd6d6b000 r-xp 00000000 08:02 13374037 /lib/x86_64-linux-gnu/libgcc_s.so.1 7fdcd6d6b000-7fdcd6f6a000 ---p 00016000 08:02 13374037 /lib/x86_64-linux-gnu/libgcc_s.so.1 7fdcd6f6a000-7fdcd6f6b000 rw-p 00015000 08:02 13374037 /lib/x86_64-linux-gnu/libgcc_s.so.1 7fdcd6f6b000-7fdcd70dd000 r-xp 00000000 08:02 41945223 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 7fdcd70dd000-7fdcd72dd000 ---p 00172000 08:02 41945223 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 7fdcd72dd000-7fdcd72e7000 r--p 00172000 08:02 41945223 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 7fdcd72e7000-7fdcd72e9000 rw-p 0017c000 08:02 41945223 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 7fdcd72e9000-7fdcd72ed000 rw-p 00000000 00:00 0 7fdcd72ed000-7fdcd72f0000 r-xp 00000000 08:02 41951028 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 7fdcd72f0000-7fdcd74ef000 ---p 00003000 08:02 41951028 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 7fdcd74ef000-7fdcd74f0000 r--p 00002000 08:02 41951028 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 7fdcd74f0000-7fdcd74f1000 rw-p 00003000 08:02 41951028 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 7fdcd74f1000-7fdcd751c000 r-xp 00000000 08:02 9438462 /opt/ros/kinetic/lib/librostime.so 7fdcd751c000-7fdcd771b000 ---p 0002b000 08:02 9438462 /opt/ros/kinetic/lib/librostime.so 7fdcd771b000-7fdcd771d000 r--p 0002a000 08:02 9438462 /opt/ros/kinetic/lib/librostime.so 7fdcd771d000-7fdcd771e000 rw-p 0002c000 08:02 9438462 /opt/ros/kinetic/lib/librostime.so 7fdcd771e000-7fdcd7720000 r-xp 00000000 08:02 9438487 /opt/ros/kinetic/lib/libroscpp_serialization.so 7fdcd7720000-7fdcd791f000 ---p 00002000 08:02 9438487 /opt/ros/kinetic/lib/libroscpp_serialization.so 7fdcd791f000-7fdcd7920000 r--p 00001000 08:02 9438487 /opt/ros/kinetic/lib/libroscpp_serialization.so 7fdcd7920000-7fdcd7921000 rw-p 00002000 08:02 9438487 /opt/ros/kinetic/lib/libroscpp_serialization.so 7fdcd7921000-7fdcd793f000 r-xp 00000000 08:02 9438971 /opt/ros/kinetic/lib/libxmlrpcpp.so 7fdcd793f000-7fdcd7b3e000 ---p 0001e000 08:02 9438971 /opt/ros/kinetic/lib/libxmlrpcpp.so 7fdcd7b3e000-7fdcd7b3f000 r--p 0001d000 08:02 9438971 /opt/ros/kinetic/lib/libxmlrpcpp.so 7fdcd7b3f000-7fdcd7b40000 rw-p 0001e000 08:02 9438971 /opt/ros/kinetic/lib/libxmlrpcpp.so 7fdcd7b40000-7fdcd7b6f000 r-xp 00000000 08:02 9438882 /opt/ros/kinetic/lib/librosconsole.so 7fdcd7b6f000-7fdcd7d6f000 ---p 0002f000 08:02 9438882 /opt/ros/kinetic/lib/librosconsole.so 7fdcd7d6f000-7fdcd7d71000 r--p 0002f000 08:02 9438882 /opt/ros/kinetic/lib/librosconsole.so 7fdcd7d71000-7fdcd7d72000 rw-p 00031000 08:02 9438882 /opt/ros/kinetic/lib/librosconsole.so 7fdcd7d72000-7fdcd7efb000 r-xp 00000000 08:02 9438973 /opt/ros/kinetic/lib/libroscpp.so 7fdcd7efb000-7fdcd80fa000 ---p 00189000 08:02 9438973 /opt/ros/kinetic/lib/libroscpp.so 7fdcd80fa000-7fdcd8100000 r--p 00188000 08:02 9438973 /opt/ros/kinetic/lib/libroscpp.so 7fdcd8100000-7fdcd8104000 rw-p 0018e000 08:02 9438973 /opt/ros/kinetic/lib/libroscpp.so 7fdcd8104000-7fdcd8131000 r-xp 00000000 08:02 9442284 /opt/ros/kinetic/lib/libbondcpp.so 7fdcd8131000-7fdcd8331000 ---p 0002d000 08:02 9442284 /opt/ros/kinetic/lib/libbondcpp.so 7fdcd8331000-7fdcd8333000 r--p 0002d000 08:02 9442284 /opt/ros/kinetic/lib/libbondcpp.so 7fdcd8333000-7fdcd8334000 rw-p 0002f000 08:02 9442284 /opt/ros/kinetic/lib/libbondcpp.so 7fdcd8334000-7fdcd8338000 r-xp 00000000 08:02 13370049 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7fdcd8338000-7fdcd8537000 ---p 00004000 08:02 13370049 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7fdcd8537000-7fdcd8538000 r--p 00003000 08:02 13370049 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7fdcd8538000-7fdcd8539000 rw-p 00004000 08:02 13370049 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 7fdcd8539000-7fdcd859d000 r-xp 00000000 08:02 9442291 /opt/ros/kinetic/lib/libnodeletlib.so 7fdcd859d000-7fdcd879c000 ---p 00064000 08:02 9442291 /opt/ros/kinetic/lib/libnodeletlib.so 7fdcd879c000-7fdcd879f000 r--p 00063000 08:02 9442291 /opt/ros/kinetic/lib/libnodeletlib.so 7fdcd879f000-7fdcd87a0000 rw-p 00066000 08:02 9442291 /opt/ros/kinetic/lib/libnodeletlib.so 7fdcd87a0000-7fdcd87c6000 r-xp 00000000 08:02 13371200 /lib/x86_64-linux-gnu/ld-2.23.so 7fdcd87d6000-7fdcd8980000 rw-p 00000000 00:00 0 7fdcd8991000-7fdcd8992000 rw-p 00000000 00:00 0 7fdcd8992000-7fdcd89b0000 r-xp 00000000 08:02 13370047 /lib/x86_64-linux-gnu/libudev.so.1.6.4 7fdcd89b0000-7fdcd89b1000 r--p 0001d000 08:02 13370047 /lib/x86_64-linux-gnu/libudev.so.1.6.4 7fdcd89b1000-7fdcd89b2000 rw-p 0001e000 08:02 13370047 /lib/x86_64-linux-gnu/libudev.so.1.6.4 7fdcd89b2000-7fdcd89c5000 rw-p 00000000 00:00 0 7fdcd89c5000-7fdcd89c6000 r--p 00025000 08:02 13371200 /lib/x86_64-linux-gnu/ld-2.23.so 7fdcd89c6000-7fdcd89c7000 rw-p 00026000 08:02 13371200 /lib/x86_64-linux-gnu/ld-2.23.so 7fdcd89c7000-7fdcd89c8000 rw-p 00000000 00:00 0 7ffdcef37000-7ffdcef56000 rwxp 00000000 00:00 0 [stack] 7ffdcef56000-7ffdcef59000 rw-p 00000000 00:00 0 7ffdcef6f000-7ffdcef72000 r--p 00000000 00:00 0 [vvar] 7ffdcef72000-7ffdcef74000 r-xp 00000000 00:00 0 [vdso] ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall] [camera/realsense2_camera_manager-1] process has died [pid 10559, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/neousys/.ros/log/91fbfa5a-367e-11ee-9547-003018050a5a/camera-realsense2_camera_manager-1.log]. log file: /home/neousys/.ros/log/91fbfa5a-367e-11ee-9547-003018050a5a/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/neousys/.ros/log/91fbfa5a-367e-11ee-9547-003018050a5a/camera-realsense2_camera-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

MartyG-RealSense commented 1 year ago

There has only been one past reported RealSense ROS case of the corrupted size vs. prev_size error at https://github.com/IntelRealSense/realsense-ros/issues/934 which was also on Kinetic and Ubuntu 16.04.

In that case, it was thought that it was also related to temperature, with one RealSense user commenting that their camera's ASIC temperature (the internal temperature inside the camera) was in the high 40's and the camera casing was hot when touched.

Does your own camera feel hot to the touch?

loubron23 commented 1 year ago

My camera doesn't feel hot to the touch. And in a short period of time, it is OK within the docker, while such errors will occur outside the docker。

MartyG-RealSense commented 1 year ago

Thank you. After the error occurs and the launch exits, is the camera able to launch if you repeat the roslaunch instruction?

loubron23 commented 1 year ago

Yes, the camera can be launched. But it will still occur errors if I use rviz to show the image.

MartyG-RealSense commented 1 year ago

I cannot find a reason why the crash would be occurring only outside Docker but not within it.

Is it practical for your project to launch from within Docker, since you do not experience the errors when using Docker?

loubron23 commented 1 year ago

It's not a big problem. Next, I plan to use it in Docker. Thank you very much for your patient and friendly help!

MartyG-RealSense commented 1 year ago

You are very welcome. :)

MartyG-RealSense commented 1 year ago

Hi @loubron23 Do you require further assistance with this case, please? Thanks!

MartyG-RealSense commented 1 year ago

Case closed due to no further comments received.