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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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fails to build from sources #3139

Open alonsnir opened 4 days ago

alonsnir commented 4 days ago
Required Info
Camera Model D435
Firmware Version 5.14.0
Operating System & Version Linux (Ubuntu 22)
Kernel Version (Linux Only) 5.15.0-112-generic
Platform PC
Librealsense SDK Version 2.2
Language python
Segment Robot
ROS Distro Humble
RealSense ROS Wrapper Version built from source the ros2-development branch

Issue Description

failed to build

colcon build
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [0.34s]                     
Starting >>> realsense2_camera
Starting >>> realsense2_description
Finished <<< realsense2_description [0.06s]
--- stderr: realsense2_camera                         
CMake Warning at CMakeLists.txt:121 (find_package):
  Could not find a configuration file for package "realsense2" that is
  compatible with requested version "2.56.0".

  The following configuration files were considered but not accepted:

    /usr/local/lib/cmake/realsense2/realsense2Config.cmake, version: 2.55.1

CMake Error at CMakeLists.txt:126 (message):

   Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases

---
Failed   <<< realsense2_camera [0.76s, exited with code 1]

Summary: 2 packages finished [1.23s]
  1 package failed: realsense2_camera
  1 package had stderr output: realsense2_camera

I have opted to build the SDK as here

MartyG-RealSense commented 4 days ago

Hi @alonsnir The 4.51.1 wrapper installation is requiring the development branch of librealsense (2.56) rather than the latest master branch.

https://github.com/IntelRealSense/librealsense/tree/development

If you do not wish to build the develoment branch of librealsense then a workaround is to try building an earlier version of the ROS wrapper for 2.55 from source using the git checkout command below. 

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd realsense-ros/
git checkout d1684b4e53111f5eb3237f76299e83a864ce929d
cd ~/ros2_ws
colcon build

Alternatively, you can use the latest realsense2_camera released (4.55.1) from ROS apts so that you don't need to colcon the source code.

sudo apt install sudo apt install ros-humble-realsense2-camera

Another approach to the issue is to edit the CMakeLists.txt file of the ROS wrapper in the way described at https://github.com/IntelRealSense/realsense-ros/issues/3131#issuecomment-2178280500

alonsnir commented 3 days ago

Hi @MartyG-RealSense

I did as suggested:

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd realsense-ros/
git checkout d1684b4e53111f5eb3237f76299e83a864ce929d
cd ~/ros2_ws
colcon build

and managed to build.

This doesn't work:

sudo apt install sudo apt install ros-humble-realsense2-camera
E: unable to locate package

I'm facing a new issue however, it refuses to set desired resolution and setting camera and depth profiles to default:

ros2 launch realsense2_camera rs_launch.py depth_module.profile:=1280x720x15 rgb_module.profile:=1280x720x15
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-25-11-35-43-756185-louis-11422
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [11423]
[realsense2_camera_node-1] [INFO] [1719304543.835111612] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719304543.835174540] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719304543.835182171] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719304543.842386060] [camera.camera]: Device with serial number 829212070545 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1719304543.842407069] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719304543.842411800] [camera.camera]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1719304543.842499465] [camera.camera]: Device with port number 4-3 was found.
[realsense2_camera_node-1] [INFO] [1719304543.842504402] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1719304543.842534939] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1719304543.842619386] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1719304543.842624996] [camera.camera]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1719304543.842629007] [camera.camera]: Device Serial No: 829212070545
[realsense2_camera_node-1] [INFO] [1719304543.842632761] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719304543.842636817] [camera.camera]: Device FW version: 5.14.0
[realsense2_camera_node-1] [INFO] [1719304543.842640517] [camera.camera]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1719304543.842643938] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1719304543.923448776] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1719304543.923671812] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1719304543.926590019] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 640x480x30
[realsense2_camera_node-1] [INFO] [1719304543.927953430] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719304543.928070108] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719304543.930294470] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719304543.931685316] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719304543.945862277] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719304543.950642758] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719304543.951402933] [camera.camera]: RealSense Node Is Up!

Attempts to run with launch file and configure the profile there ended with same result. I'm attaching the launch and the log with debug level on. common_params.yaml.txt realsense2_camera_node_10780_1719303447430.tar.gz louis_prod_launch.py.txt camera-settings.json

MartyG-RealSense commented 3 days ago

It appears from the log that depth and RGB are being set to the camera's ROS wrapper defaults (848x480 depth at 30 FPS and 640x480 RGB at 30 FPS).

Set ROS param depth_module.depth_profile to default: 848x480x30
Set ROS param depth_module.infra_profile to default: 848x480x30
Set ROS param rgb_camera.color_profile to default: 640x480x30

Starting Sensor: Depth Module
Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
Starting Sensor: RGB Camera
Open profile: stream_type: Color(0), Format: RGB8, Width: 640,

Did you want to set different resolutions to these, please?

You can set custom resolutions for the launch by adding profile commands to the rs_launch.py launch instruction. For example:

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 rgb_camera.color_profile:=1280x720x30 depth_module.infra_profile:=1280x720x30

alonsnir commented 3 days ago

@MartyG-RealSense Thanks for the prompt reply. Yes, I'm willing to run both rgb and depth at 1280x720x15

Changed as suggested and it took the settings but now fails with hardware error:

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 rgb_camera.color_profile:=1280x720x30 depth_module.infra_profile:=1280x720x30
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-25-12-46-37-469353-louis-3352
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [3353]
[realsense2_camera_node-1] [INFO] [1719308797.765893022] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719308797.765980413] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719308797.765986618] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719308797.774770406] [camera.camera]: Device with serial number 829212070545 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1719308797.774790895] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719308797.774795487] [camera.camera]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1719308797.774882929] [camera.camera]: Device with port number 4-3 was found.
[realsense2_camera_node-1] [INFO] [1719308797.774887701] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1719308797.775180034] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1719308797.775314872] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1719308797.775321061] [camera.camera]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1719308797.775325430] [camera.camera]: Device Serial No: 829212070545
[realsense2_camera_node-1] [INFO] [1719308797.775329204] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719308797.775333386] [camera.camera]: Device FW version: 5.14.0
[realsense2_camera_node-1] [INFO] [1719308797.775337209] [camera.camera]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1719308797.775340796] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1719308797.877176770] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1719308797.877383349] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1719308797.880519738] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1719308797.881876643] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719308797.881928627] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719308797.888343078] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719308797.890446987] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1719308797.912175441] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719308797.913907834] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1719308797.915708641] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1719308799.889457166] [camera.camera]: XXX Hardware Notification:Depth stream start failure,1.71931e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1719308799.889534187] [camera.camera]: Hardware Notification:Depth stream start failure,1.71931e+12,Error,Hardware Error
MartyG-RealSense commented 3 days ago

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

alonsnir commented 3 days ago

Sorry, my mistake, I was running it with x30. Restarted with x15 and it worked. Thank you very much

MartyG-RealSense commented 3 days ago

You are very welcome. I'm pleased to hear that you succeeded!

alonsnir commented 3 days ago

Hi @MartyG-RealSense I have to reopen

tested ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x15 rgb_camera.color_profile:=1280x720x15 align_depth.enable:=True and it works fine, but when I run it with following settings, getting hardware error:

launch file:

from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python import get_package_share_path

import os
import sys

# Add the directory containing launch_common_config.py to the Python path
sys.path.append(os.path.dirname(os.path.realpath(__file__)))
camera_settings_path='/home/louis/realsense_launch/camera-settings.json'
common_config_path='/home/louis/realsense_launch/common_params.yaml'

def generate_launch_description():
    return LaunchDescription([ 
        Node(
            name='realsense',
            package='realsense2_camera',
            executable='realsense2_camera_node',
            respawn=True,
            parameters=[
                {"json_file_path": camera_settings_path},
                common_config_path,
            ],
        ),
    ])

camera-settings.json:

cat ./camera-settings.json 
{
  "aux-param-autoexposure-setpoint": "1536",
  "aux-param-colorcorrection1": "0.298828",
  "aux-param-colorcorrection10": "-0",
  "aux-param-colorcorrection11": "-0",
  "aux-param-colorcorrection12": "-0",
  "aux-param-colorcorrection2": "0.293945",
  "aux-param-colorcorrection3": "0.293945",
  "aux-param-colorcorrection4": "0.114258",
  "aux-param-colorcorrection5": "-0",
  "aux-param-colorcorrection6": "-0",
  "aux-param-colorcorrection7": "-0",
  "aux-param-colorcorrection8": "-0",
  "aux-param-colorcorrection9": "-0",
  "aux-param-depthclampmax": "65536",
  "aux-param-depthclampmin": "0",
  "aux-param-disparityshift": "0",
  "controls-autoexposure-auto": "True",
  "controls-autoexposure-manual": "8500",
  "controls-color-autoexposure-auto": "True",
  "controls-color-autoexposure-manual": "166",
  "controls-color-backlight-compensation": "0",
  "controls-color-brightness": "0",
  "controls-color-contrast": "50",
  "controls-color-gain": "64",
  "controls-color-gamma": "300",
  "controls-color-hue": "0",
  "controls-color-power-line-frequency": "3",
  "controls-color-saturation": "64",
  "controls-color-sharpness": "50",
  "controls-color-white-balance-auto": "True",
  "controls-color-white-balance-manual": "4600",
  "controls-depth-gain": "16",
  "controls-laserpower": "150",
  "controls-laserstate": "on",
  "ignoreSAD": "0",
  "param-amplitude-factor": "0",
  "param-autoexposure-setpoint": "1536",
  "param-censusenablereg-udiameter": "9",
  "param-censusenablereg-vdiameter": "9",
  "param-censususize": "9",
  "param-censusvsize": "9",
  "param-depthclampmax": "65536",
  "param-depthclampmin": "0",
  "param-depthunits": "1000",
  "param-disableraucolor": "0",
  "param-disablesadcolor": "0",
  "param-disablesadnormalize": "0",
  "param-disablesloleftcolor": "0",
  "param-disableslorightcolor": "1",
  "param-disparitymode": "0",
  "param-disparityshift": "0",
  "param-lambdaad": "751",
  "param-lambdacensus": "6",
  "param-leftrightthreshold": "10",
  "param-maxscorethreshb": "2893",
  "param-medianthreshold": "796",
  "param-minscorethresha": "4",
  "param-neighborthresh": "108",
  "param-raumine": "6",
  "param-rauminn": "3",
  "param-rauminnssum": "7",
  "param-raumins": "2",
  "param-rauminw": "2",
  "param-rauminwesum": "12",
  "param-regioncolorthresholdb": "0.785714",
  "param-regioncolorthresholdg": "0.565558",
  "param-regioncolorthresholdr": "0.985323",
  "param-regionshrinku": "3",
  "param-regionshrinkv": "0",
  "param-robbinsmonrodecrement": "25",
  "param-robbinsmonroincrement": "2",
  "param-rsmdiffthreshold": "1.65625",
  "param-rsmrauslodiffthreshold": "0.78125",
  "param-rsmremovethreshold": "0",
  "param-scanlineedgetaub": "13",
  "param-scanlineedgetaug": "15",
  "param-scanlineedgetaur": "30",
  "param-scanlinep1": "155",
  "param-scanlinep1onediscon": "160",
  "param-scanlinep1twodiscon": "59",
  "param-scanlinep2": "190",
  "param-scanlinep2onediscon": "507",
  "param-scanlinep2twodiscon": "493",
  "param-secondpeakdelta": "647",
  "param-texturecountthresh": "0",
  "param-texturedifferencethresh": "1722",
  "param-usersm": "1",
  "param-zunits": "1000"

realsense:

cat common_params.yaml
# Default parameters for all nodes

# Realsense camera parameters
# Note, due to a difference between the realsense installation from ubuntu packages and built from source the name of the node differs
# as a workaround, the parameters are set for both nodes
camera/realsense:
  ros__parameters:
    rgb_camera.color_profile: 1280x720x15
    depth_module.depth_profile: 1280x720x15
    align_depth.enable: True
    diagnostics_period: 1.0
# end of realsense

ros2 launch ./louis_prod_launch.py
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-25-17-12-40-214174-louis-4991
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [4992]
[realsense2_camera_node-1] [INFO] [1719324760.383415172] [camera.realsense]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719324760.383504124] [camera.realsense]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719324760.383510755] [camera.realsense]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719324760.391346543] [camera.realsense]: Device with serial number 830112070132 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1719324760.391368588] [camera.realsense]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719324760.391373359] [camera.realsense]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1719324760.391474598] [camera.realsense]: Device with port number 4-3 was found.
[realsense2_camera_node-1] [INFO] [1719324760.391479314] [camera.realsense]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1719324760.391509190] [camera.realsense]: getParameters...
[realsense2_camera_node-1] [INFO] [1719324760.391622089] [camera.realsense]: Publish diagnostics every 1 seconds.
[realsense2_camera_node-1] [INFO] [1719324760.697312156] [camera.realsense]: JSON file is loaded! (/home/louis/realsense_launch/camera-settings.json)
[realsense2_camera_node-1] [INFO] [1719324760.697364321] [camera.realsense]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1719324760.697368325] [camera.realsense]: Device Serial No: 830112070132
[realsense2_camera_node-1] [INFO] [1719324760.697371815] [camera.realsense]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719324760.697374881] [camera.realsense]: Device FW version: 5.15.0.2
[realsense2_camera_node-1] [INFO] [1719324760.697378612] [camera.realsense]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1719324760.697381286] [camera.realsense]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1719324760.789791743] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1719324760.793563887] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1719324760.794913899] [camera.realsense]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719324760.794956525] [camera.realsense]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719324760.808407689] [camera.realsense]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719324760.814531456] [camera.realsense]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719324760.814552463] [camera.realsense]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719324760.814557314] [camera.realsense]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719324760.839412592] [camera.realsense]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719324760.841300456] [camera.realsense]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719324760.842116886] [camera.realsense]: RealSense Node Is Up!

[realsense2_camera_node-1] [WARN] [1719324765.833770602] [camera.realsense]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.71932e+12,Warn,Frames Timeout
MartyG-RealSense commented 3 days ago

I note that your listed firmware version in the log is 5.15.0.2. The firmware that should be used with librealsense 2.55.1 is 5.16.0.1. Please update your camera's firmware.

alonsnir commented 3 days ago

upgraded

ros2 launch ./louis_prod_launch.py
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-25-18-09-22-399746-louis-5527
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [5528]
[realsense2_camera_node-1] [INFO] [1719328162.563005386] [camera.realsense]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719328162.563095158] [camera.realsense]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719328162.563101661] [camera.realsense]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719328162.570268701] [camera.realsense]: Device with serial number 829212070545 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1719328162.570289755] [camera.realsense]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719328162.570294400] [camera.realsense]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1719328162.570417996] [camera.realsense]: Device with port number 4-3 was found.
[realsense2_camera_node-1] [INFO] [1719328162.570422913] [camera.realsense]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1719328162.570454388] [camera.realsense]: getParameters...
[realsense2_camera_node-1] [INFO] [1719328162.570578498] [camera.realsense]: Publish diagnostics every 1 seconds.
[realsense2_camera_node-1] [INFO] [1719328162.871230288] [camera.realsense]: JSON file is loaded! (/home/louis/realsense_launch/camera-settings.json)
[realsense2_camera_node-1] [INFO] [1719328162.871308012] [camera.realsense]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1719328162.871313337] [camera.realsense]: Device Serial No: 829212070545
[realsense2_camera_node-1] [INFO] [1719328162.871317263] [camera.realsense]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719328162.871322036] [camera.realsense]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1719328162.871325676] [camera.realsense]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1719328162.871329115] [camera.realsense]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1719328162.963051350] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1719328162.966554886] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1719328162.967828731] [camera.realsense]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719328162.967874173] [camera.realsense]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719328162.981340640] [camera.realsense]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719328162.987785991] [camera.realsense]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719328162.987805391] [camera.realsense]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719328162.987809287] [camera.realsense]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719328163.040712332] [camera.realsense]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719328163.043162439] [camera.realsense]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719328163.044221771] [camera.realsense]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1719328168.016242038] [camera.realsense]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.71933e+12,Warn,Frames Timeout
[realsense2_camera_node-1] [WARN] [1719328173.020211874] [camera.realsense]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.71933e+12,Warn,Frames Timeout
MartyG-RealSense commented 3 days ago

Have you tried adding initial_reset:=true to reset the camera at launch, please?

Have you also tried not importing the json file?

alonsnir commented 3 days ago

after reset and without the json

ros2 launch ./louis_prod_launch.py
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-25-18-38-18-287301-louis-5715
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [5716]
[realsense2_camera_node-1] [INFO] [1719329898.451056923] [camera.realsense]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719329898.451167738] [camera.realsense]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719329898.451174265] [camera.realsense]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719329898.457416324] [camera.realsense]: Device with serial number 829212070545 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1719329898.457435310] [camera.realsense]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719329898.457439519] [camera.realsense]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1719329898.457556993] [camera.realsense]: Device with port number 4-3 was found.
[realsense2_camera_node-1] [INFO] [1719329898.457561743] [camera.realsense]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1719329898.457589599] [camera.realsense]: getParameters...
[realsense2_camera_node-1] [INFO] [1719329898.457692091] [camera.realsense]: Publish diagnostics every 1 seconds.
[realsense2_camera_node-1] [INFO] [1719329898.458323050] [camera.realsense]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1719329898.458338595] [camera.realsense]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1719329898.458343310] [camera.realsense]: Device Serial No: 829212070545
[realsense2_camera_node-1] [INFO] [1719329898.458347051] [camera.realsense]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719329898.458350896] [camera.realsense]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1719329898.458354896] [camera.realsense]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1719329898.458358169] [camera.realsense]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1719329898.539651031] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1719329898.543110556] [camera.realsense]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1719329898.544374708] [camera.realsense]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719329898.544418705] [camera.realsense]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719329898.557843851] [camera.realsense]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719329898.563834068] [camera.realsense]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719329898.563865219] [camera.realsense]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1719329898.563882806] [camera.realsense]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719329898.588748254] [camera.realsense]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719329898.591442105] [camera.realsense]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1719329898.592763343] [camera.realsense]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1719329903.579994698] [camera.realsense]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.71933e+12,Warn,Frames Timeout
[realsense2_camera_node-1] [WARN] [1719329908.583896345] [camera.realsense]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.71933e+12,Warn,Frames Timeout
MartyG-RealSense commented 3 days ago

Have you checked whether the streams are being published correctly in RViz despite the Hardware Notification warning messages?

Does it make a difference if you unplug the micro-sized end of the USB cable from the side of the camera, turn the connector around the other way and re-insert it (USB-C cables are two-way insertion at the micro-sized end).

alonsnir commented 3 days ago

@MartyG-RealSense at at time I was forced to build from sources and downgrade the kernel as color/depth alignment didn't work. Should I give a try now with Option 1: Install librealsense2 debian package from Intel servers?

could it be installation instructions here are outdated? It refers to v2.53.1 as latest Intel® RealSense™ SDK 2.0 and that version doesn't support kernels 6.*, while the latest version supports it v2.55.1

alonsnir commented 3 days ago

Have you checked whether the streams are being published correctly in RViz despite the Hardware Notification warning messages?

Does it make a difference if you unplug the micro-sized end of the USB cable from the side of the camera, turn the connector around the other way and re-insert it (USB-C cables are two-way insertion at the micro-sized end).

color stream been published but not the depth the re-connect of the micro usb had no affect

ros2 topic echo /camera/realsense/depth/image_rect_raw
A message was lost!!!
    total count change:1
    total count: 41---
A message was lost!!!
    total count change:1
    total count: 42---
header:
  stamp:
    sec: 1719330971
    nanosec: 888674561
  frame_id: camera_depth_optical_frame
height: 720
width: 1280
encoding: 16UC1
is_bigendian: 0
step: 2560
data:
alonsnir commented 2 days ago

@MartyG-RealSense if both infra been disabled, then the error goes away. Could it affect depth accuracy in any way?

MartyG-RealSense commented 2 days ago

Having the infrared streams disabled will not affect depth accuracy. The IR emitter of the camera that aids depth analysis is a separate component from the two IR sensors and can function when the IR streams are disabled.

alonsnir commented 2 days ago

@MartyG-RealSense Very strange behavior observed. After system restart it doesn't see the camera:

note it's on another system i build kernel 6.5 Ubuntu 22.04.4 wrapper installed by method sudo apt install ros-humble-librealsense2 sudo apt-get install ros-humble-realsense2-camera all worked (with the infra disabled)

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x15 rgb_camera.color_profile:=1280x720x15 align_depth.enable:=True
[INFO] [launch]: All log files can be found below /home/louis/.ros/log/2024-06-26-15-49-56-787839-louis-2291
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [2292]
[realsense2_camera_node-1] [INFO] [1719406196.860501551] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719406196.860556548] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719406196.860562884] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video0 Last Error: Permission denied
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video1 Last Error: Permission denied
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video2 Last Error: Permission denied
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video3 Last Error: Permission denied
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video4 Last Error: Permission denied
[realsense2_camera_node-1]  26/06 15:49:56,862 ERROR [125903677945408] (librealsense-exception.h:52) get_dev_capabilities: Cannot open '/dev/video5 Last Error: Permission denied
[realsense2_camera_node-1] [WARN] [1719406196.862834249] [camera.camera]: No RealSense devices were found!
MartyG-RealSense commented 2 days ago

On some computers the camera may not be detected after a restart of the computer (not a shutdown). A solution for this can be to shut the computer down completely and then boot the computer by pressing the power button.

alonsnir commented 2 days ago

same error after complete shutdown and start

MartyG-RealSense commented 2 days ago

On this other system you may need to repeat the git clone installation procedure that you described earlier at https://github.com/IntelRealSense/realsense-ros/issues/3139#issuecomment-2188351723 instead of using apt install, bearing in mind the problems with using librealsense 2.55.1 with the master branch of the SDK.