Closed Muhammadjunaidmalik1 closed 5 months ago
MartyG-RealSense
commented
6 months ago Hi @Muhammadjunaidmalik1 Using camera firmware driver 5.15.1.0 with librealsense SDK version 2.50.0 can cause errors. The recommended firmware for 2.50.0 is 5.13.0.50.
Muhammadjunaidmalik1
commented
6 months ago Thanks for your reply. How can I move back to previous version ?
MartyG-RealSense
commented
6 months ago If you have access to the realsense-viewer tool then you can use it to downgrade to an older firmware with its the Update Firmware option.
https://dev.intelrealsense.com/docs/firmware-releases#d400-series-firmware-downloads
Go to the More option of realsense-viewer near the top of its options side-panel and select the option Update Firmware from its drop-down menu.
When a file selector box pops up, navigate to the location on your computer that you downloaded the 5.13.0.50 firmware .bin file to and select it. The firmware downgrade process should then commence.
suptimq
commented
6 months ago Hi I am running into the same error An error occurred while calling sensor for: depth_module.auto_exposure_limit: hwmon command 0x80 ... on Jetson AGX Xavier.
I am using RealSense-Ros 4.51.1 on Ubuntu 20.04 and SDK version 2.54.2 which recommends firmware 5.15.1.0. I realized if I have to downgrade it to 5.13.0.5 then the SDK version has to be downgraded to 2.51.1. Since I assumed the only way to install SDK 2.51.1 is through build from source that could be painful, I wondered if I could use SDK 2.54.2 and only downgrade the firmware to 5.13.0.5.
Muhammadjunaidmalik1
commented
6 months ago If you have access to the realsense-viewer tool then you can use it to downgrade to an older firmware with its the Update Firmware option.
1. Visit the RealSense firmware releases page and download a **.bin** file for the 5.13.0.50 firmware.https://dev.intelrealsense.com/docs/firmware-releases#d400-series-firmware-downloads
2. Go to the **More** option of realsense-viewer near the top of its options side-panel and select the option **Update Firmware** from its drop-down menu. 3. When a file selector box pops up, navigate to the location on your computer that you downloaded the 5.13.0.50 firmware .bin file to and select it. The firmware downgrade process should then commence.
thanks Marty for the guidance. That solved the major issue and the node is now working also the imu is also working for 435i in realsense viewer. But now there is another issue, I am getting this error :
01/03 08:53:54,598 WARNING [281472359461232] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
When i did dpkg -l | grep "realsense" , i got :
ii librealsense2:arm64 2.54.2-0~realsense.2181 arm64 Intel(R) RealSense(tm) Cross Platform API - runtime
ii librealsense2-dev:arm64 2.54.2-0~realsense.2181 arm64 Intel(R) RealSense(tm) Camera Capture API - development files
ii librealsense2-gl:arm64 2.54.2-0~realsense.2181 arm64 Intel(R) RealSense(tm) - GLSL-enabled extensions
ii librealsense2-udev-rules:arm64 2.54.2-0~realsense.2181 arm64 Intel(R) RealSense(tm) Camera Capture API - udev rules
ii librealsense2-utils:arm64 2.54.2-0~realsense.2181 arm64 Intel(R) RealSense(tm) Camera Capture API - utils and demos
ii ros-noetic-librealsense2 2.50.0-1focal.20211115.135230 arm64 Library for capturing data from the Intel(R) RealSense(TM) SR300, D400, L500 Depth cameras and T2xx Tracking devices.
ii ros-noetic-realsense2-camera 2.3.2-1focal.20240111.191354 arm64 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras
ii ros-noetic-realsense2-description 2.3.2-1focal.20240125.205152 arm64 RealSense Camera description package for Intel 3D D400 camerasIf the node is working normally and performance does not appear to be negatively impacted by the control_transfer returned warning then it can be safely ignored.
Muhammadjunaidmalik1
commented
6 months ago There is an issue that its not publishing the colored point cloud :
when i run roslaunch realsense2_camera rs_camera.launch initial_reset:=true enable_pointcloud:=true
when i try to see that using pointcloud2 in rviz i am geting this :
[ INFO] [1709280813.817536825]: publishing unordered pointcloud.
[ WARN] [1709280814.300572867]: No stream match for pointcloud chosen texture Process - ColorThe warning No stream match for pointcloud chosen texture Process - Color typically means that there are frame drops occurring on the color stream.
Are you able to achieve a textured pointcloud if you add the command below to your roslaunch instruction to texture the cloud with the infrared stream instead of color?
pointcloud_texture_stream:=RS2_STREAM_INFRARED
MartyG-RealSense
commented
6 months ago You could also try obtaining a textured pointcloud by using the rs_rgbd launch file instead of rs_camera.
Before using this launch file, support for an RGBD launch must first be installed with the instruction below. Please use the one that corresponds to the ROS1 branch that you are using.
Kinetic sudo apt-get install ros-kinetic-rgbd-launch
Melodic sudo apt-get install ros-melodic-rgbd-launch
Noetic sudo apt-get install ros-noetic-rgbd-launch
Once RGBD support has been installed then run the launch command.
roslaunch realsense2_camera rs_rgbd.launch
You do not need to enable the pointcloud filter with this launch file as it is already enabled by default. The pointcloud should be published to /depth_image_proc
Muhammadjunaidmalik1
commented
6 months ago MartyG-RealSense
commented
6 months ago You are very welcome. I'm pleased to hear that you were successful!
Muhammadjunaidmalik1
commented
6 months ago I am sorry for the trouble but the issue is not solved yet. I have done some tests with the camera, i have the same versions of ROS and SDK installed on my laptop and Jetson AGX Xavior. There are several issues that i am facing :) :
roslaunch realsense2_camera rs_camera.launch initial_reset:=true enable_gyro:=true enable_accel:=true
i am getting a hardware error :
[ WARN] [1709287804.113420968]:
[ WARN] [1709287804.113695159]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[ WARN] [1709287804.356530016]: Hardware Notification:Motion Module failure,1.70929e+12,Error,Hardware Errorbut it works perfectly fine for my laptop with the same versions.
2. I have tried this method to see the point clouds :
`roslaunch realsense2_camera rs_camera.launch initial_reset:=true enable_pointcloud:=true`
it also work fine for my laptop ,but when it comes to my Jetson AGX xavior, i have to use the other launch file.
3. third issue i tried running ir cam with 2 methods:
**method 1:**
For the infrared sensor , when I run:
`roslaunch realsense2_camera rs_camera.launch initial_reset:=true enable_infra:=true infra_rgb:=true`
I am getting an error :
` [ INFO] [1709292156.226581520]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...`
on both laptop and jetson
**method 2:**
when i run :
`roslaunch realsense2_camera rs_camera.launch enable_infra:=true enable_infra1:=true enable_infra2:=true`
i am getting an error :
"[ WARN] [1709292408.415422023]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 1, Width: 848, Height: 480, FPS: 30, Format: RGB8 [ WARN] [1709292408.416083531]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Width: 848, Height: 480, FPS: 30, Format: RGB8"
in this case also infrared camera is not working for both. Also in jetsonAGX xaior , sometimes even RGBD camera stream in rviz is also stopping.
MartyG-RealSense
commented
6 months ago It's no problem at all. :)
Does the motion module work if you exit out of the launch with Ctrl-C and perform the launch again?
Jetson boards can sometimes have problems with generating a pointcloud with the ROS1 wrapper's rs_camera launch file. An rs_rgbd launch usually works instead on Jetson.
The confidence message is not something to be concerned about. The D435i camera model does not support the confidence stream and so the launch cannot provide it. Most RealSense users receive this message in their log.
Please check in the log whether your D435i is being detected as being on a USB 2.1 or USB 3.2 connection. The USB type is provided on the Device USB type line of the log. If the camera is being detected as being in USB 2.1 mode then the Infrared 2 stream will be unavailable (as it is only available on USB 3) and 840x480 may not be supported (640x480 should work).
Muhammadjunaidmalik1
commented
6 months ago 1. i have tried various times and still the same issue. It is able to find the motion module ,
[ INFO] [1709298290.884287470]: Motion Module was found.
but it fails a bit later , here is a bit detailed version:
[ INFO] [1709298290.784937731]: Stereo Module was found.
[ INFO] [1709298290.881337873]: RGB Camera was found.
[ INFO] [1709298290.884287470]: Motion Module was found.
[ INFO] [1709298290.885208415]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1709298290.886039211]: num_filters: 0
[ INFO] [1709298290.886566343]: Setting Dynamic reconfig parameters.
[ INFO] [1709298295.857978944]: Done Setting Dynamic reconfig parameters.
[ INFO] [1709298295.862473039]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1709298295.875854136]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1709298295.877721691]: gyro stream is enabled - fps: 200
[ INFO] [1709298295.879020032]: accel stream is enabled - fps: 100
[ INFO] [1709298295.880304613]: setupPublishers...
[ INFO] [1709298295.899642955]: Expected frequency for depth = 30.00000
[ INFO] [1709298296.130871205]: Expected frequency for color = 30.00000
[ INFO] [1709298296.282082618]: setupStreams...
01/03 14:04:56,494 WARNING [281472518713712] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ WARN] [1709298296.625555311]:
[ WARN] [1709298296.626195441]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[ WARN] [1709298296.870837654]: Hardware Notification:Motion Module failure,1.7093e+12,Error,Hardware Error
01/03 14:04:57,015 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1709298297.067127884]: SELECTED BASE:Depth, 0
[ INFO] [1709298297.151696900]: RealSense Node Is Up!
01/03 14:04:57,151 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
01/03 14:04:57,203 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
01/03 14:04:57,254 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
01/03 14:04:57,306 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
01/03 14:05:55,429 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
01/03 14:05:55,480 WARNING [281472074240368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...3,4 As it turns out not enabling infra-rgb to true makes it to work perfectly fine with all the resolutions in image:
roslaunch realsense2_camera rs_camera.launch enable_infra1:=true enable_infra2:=true
using enable_infra:=true still gives the same error :
[ INFO] [1709298678.294063001]: (Infrared, 0) sensor isn't supported by current device! -- Skipping...
but still infrared camera works.
MartyG-RealSense
commented
6 months ago 3,4. Yes, do not set infra_rgb to true when using the infrared streams. Also, I suggest using enable_infra1:=true instead of enable_infra so that only the Infra1 stream enables, otherwise it may try to enable Infra2 too and fail if the USB connection type is being detected as 2.1.
Muhammadjunaidmalik1
commented
6 months ago
- If the Motion Module is being erratic in a ROS launch then there is not much that can be done other than to cancel and re-try launch, unfortunately.
3,4. Yes, do not set infra_rgb to true when using the infrared streams. Also, I suggest using enable_infra1:=true instead of enable_infra so that only the Infra1 stream enables, otherwise it may try to enable Infra2 too and fail if the USB connection type is being detected as 2.1.
MartyG-RealSense
commented
6 months ago Is the Motion Module more reliable on an RGBD launch on your Jetson?
roslaunch realsense2_camera rs_rgbd.launch enable_accel:=true enable_gyro:=true
Muhammadjunaidmalik1
commented
6 months ago Also getting the same error :
[ WARN] [1709636969.011481285]: Hardware Notification:Motion Module failure,1.70964e+12,Error,Hardware Error
MartyG-RealSense
commented
6 months ago When you first reported the motion module problem at https://github.com/IntelRealSense/realsense-ros/issues/3026#issuecomment-1973030293 the warning frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically. was displayed. So does the motion module failure still occur if you set global_time_enabled to true?
roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation global_time_enabled:=true
Muhammadjunaidmalik1
commented
6 months ago Hi Marty !
sorry for the delay in my response. I did not have access to my camera. Setting it to true doesn't seem to solve the issue.
MartyG-RealSense
commented
6 months ago Is the motion module failure still present if you have both global time and sync set to true?
roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation global_time_enabled:=true enable_sync:=true
Muhammadjunaidmalik1
commented
5 months ago Altough i am getting the same error as before :
[ WARN] [1710429591.474782756]:
[ WARN] [1710429591.475415054]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[ WARN] [1710429591.544402176]: Hardware Notification:Motion Module failure,1.71043e+12,Error,Hardware Errorits not publishing the accelerometer and gyroscope data but It is publishing a topic /camera/imu which gives a synchronized information accelarometer and gyroscope together.
MartyG-RealSense
commented
5 months ago Another four RealSense ROS users reported this motion module failure with Jetson in particular at https://github.com/IntelRealSense/realsense-ros/issues/2213 and https://github.com/IntelRealSense/librealsense/issues/10749#issuecomment-1206406678 so it is not just an issue with your Jetson alone.
One of those users reported at https://github.com/IntelRealSense/librealsense/issues/10749#issuecomment-1206406678 that an uninstall and reinstall of the ROS wrapper resolved their motion module failure.
Muhammadjunaidmalik1
commented
5 months ago Got it. Before closing this issue i am facing another problem as well. , I am using the camera for detection of aruco markers. But the problem is that the when I run the camera it starts giving an error:
[camera/aruco_detector_node-1] process has died [pid 91790, exit code -11
and the camera node gives an error :
15/03 09:13:04,002 WARNING [281472745329008] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
the common thing between both errors is error code number 11. What do you suggest the issue is in this case ?
MartyG-RealSense
commented
5 months ago The two messages are not related despite both having the number 11. The control_transfer returned message indicates that there is a communication problem between the camera and the computing device, most likely a USB related issue. If the warning only generates a small number of times and then stops, or only appears a couple of times a minute after launch, then it is safe to ignore it.
The aruco problem sounds like a case of the same exit code -11 with a RealSense camera at https://github.com/UbiquityRobotics/fiducials/issues/144
Muhammadjunaidmalik1
commented
5 months ago I understand. But the weird thing about this is that the node doesn't give any error when i run it without the camera, but as soon as i run the camera it gives this error. Also, when I run the camera node it keeps on throwing this error when the call the topic related to the aruco marker.
If the camera node is call seperately, it continuously publishes this error.
Otherwise, There is no issue with the code for aruco maker as I have tested it on my laptop before and didnot get an issues while running.
MartyG-RealSense
commented
5 months ago I am not familiar with this aruco detection tool. I note from the case that I linked to that the aruco launch file seems to try to access RealSense topics. For some tools, the RealSense ROS wrapper has to be launched first before the other tool that you want to use (such as your aruco detector) is then launched secondly after the RealSense launch has completed and published its topics.
As you are using ROS1 Noetic, the wrapper launch instruction would be:
roslaunch realsense2_camera rs_camera.launch
Muhammadjunaidmalik1
commented
5 months ago Yes, I have tried that as well and that case the Aruco node dies immediately with the same error. I have consulted a senior engineer as well and according to him this error is camera related issue.
MartyG-RealSense
commented
5 months ago So your main suspect of the problem cause is that the realsense2_camera ROS wrapper node is continuously generating the control_transfer returned warning?
Muhammadjunaidmalik1
commented
5 months ago Yea i suppose.
MartyG-RealSense
commented
5 months ago You mentioned earlier at https://github.com/IntelRealSense/realsense-ros/issues/3026#issuecomment-1972992248 that roslaunch realsense2_camera rs_rgbd.launch was working well. Is the aruco detector able to run if you use rs_rgbd instead of rs_camera?
Muhammadjunaidmalik1
commented
5 months ago I have tried it but unfortunately, It didn't solve the issue. The error :
WARNING [281471730303344] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
is actually creating the problem. Can you please help me solve this ?
MartyG-RealSense
commented
5 months ago When control_transfer returned warnings occur, it is rare that they can be eliminated. The best that can be hoped for is that the streams are published successfully in RViz despite the warnings, and that the rate at which the warnings are being generated in the log is reduced.
Does your Xavier have a different USB port that the camera could be tried in if you have not done so already?
MartyG-RealSense
commented
5 months ago Hi @Muhammadjunaidmalik1 Do you require further assistance with this case, please? Thanks!
Muhammadjunaidmalik1
commented
5 months ago Hi !
I just need to ask a question,
Actually I need it for pose estimation of the aruco markers , I found that realsense-viewer does not have the calibration parameters of the RGBD camera. Is there any way as well to self-calibrate it ? I have tried using the intrinsic parameters in the /camera_info node but those parameters are not giving very realistic results.
MartyG-RealSense
commented
5 months ago The RGB sensor can be calibrated with the RealSense Dynamic Calibration software tool. It can be installed on Ubuntu using the instructions on page 14 onwards of the tool's user guide at the link below.
Muhammadjunaidmalik1
commented
5 months ago As i understand , on page 12 it says : "Intrinsic parameters, such as distortion, field of view, principal point, are not dynamically calibrated." .
MartyG-RealSense
commented
5 months ago The tool does calibrate both the depth and RGB sensors, but only calibrates extrinsics. Calibrating intrinsics as well requires a special OEM version of the Dynamic Calibration software supplied with the $1500 USD Calibration Target Board product.
https://store.intelrealsense.com/buy-intel-realsense-d400-cameras-calibration-target.html
Muhammadjunaidmalik1
commented
5 months ago Got it thanks alot for the guidance.
Issue Description
<Describe your issue / question / feature request / etc..>
Hi !
I just have installed Librealsense and ROS wrapper.
realsense-vieweris working perfectly fine and also SDK examples work just fine. For Jetson I have followed these intsructions for installing librealsense.After installation of the ros wrapper , when I run :
roslaunch realsense2_camera rs_camera.launchI am getting this weird error. here is the detailed terminal output :