Open Kartikinator opened 6 days ago
MartyG-RealSense
commented
6 days ago Hi @Kartikinator The RealSense ROS2 wrapper uses different settings to the ROS1 wrapper for the unite_imu_method parameter. The linear interpolation mode is set with '2'.
unite_imu_method:=2
Kartikinator
commented
6 days ago Hi, thanks for the information but that did not fix the error.
MartyG-RealSense
commented
6 days ago Setting unite_imu_method:=2 should resolve the warning in your log about this parameter being set to an invalid value.
In regard to the Hardware Notification: Frames didn't arrived within 5 seconds error, please try launching withoutinitial_reset:=true as the camera reset command only needs to be tried if you have a problem with your launch. If the launch works correctly without the reset command then it is not required to be in the launch instruction.
Also please try reversing the insertion direction of the micro-sized end of the USB cable (USB-C cables are two-way insertion at the micro-sized end) to see whether the hardware error still occurs.
Kartikinator
commented
6 days ago I only added the initial_reset parameter after I got this issue, but I removed it and tried it again. Same issue. Here is the exact command I enetered
ros2 launch realsense2_camera rs_launch.py align_depth:=true unite_imu_method:=2 enable_gyro:=true enable_accel:=true
Here is the complete output
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [126926]
[realsense2_camera_node-1] [INFO] [1719600357.006563328] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719600357.006616757] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719600357.006622274] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719600357.015357927] [camera.camera]: Device with serial number 241122072357 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1719600357.015380215] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1719600357.015385059] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1719600357.015493084] [camera.camera]: Device with port number 3-2 was found.
[realsense2_camera_node-1] [INFO] [1719600357.015498347] [camera.camera]: Device USB type: 2.1
[realsense2_camera_node-1] [WARN] [1719600357.015502308] [camera.camera]: Device 241122072357 is connected using a 2.1 port. Reduced performance is expected.
[realsense2_camera_node-1] [INFO] [1719600357.015532023] [camera.camera]: getParameters...
[realsense2_camera_node-1] [WARN] [1719600357.015605114] [camera.camera]: For the 'unite_imu_method' param update to take effect, re-enable either gyro or accel stream.
[realsense2_camera_node-1] [INFO] [1719600357.015610635] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1719600357.015614667] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1719600357.015618660] [camera.camera]: Device Serial No: 241122072357
[realsense2_camera_node-1] [INFO] [1719600357.015622103] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1719600357.015625985] [camera.camera]: Device FW version: 5.15.0.2
[realsense2_camera_node-1] [INFO] [1719600357.015629256] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1719600357.015632341] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1719600357.142569264] [camera.camera]: Set ROS param depth_module.depth_profile to default: 640x480x15
[realsense2_camera_node-1] [INFO] [1719600357.143700149] [camera.camera]: Set ROS param depth_module.infra_profile to default: 640x480x15
[realsense2_camera_node-1] [INFO] [1719600357.148993833] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 640x480x15
[realsense2_camera_node-1] [INFO] [1719600357.149522447] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1719600357.149561170] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-1] [INFO] [1719600357.152426727] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719600357.152516065] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719600357.152535873] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1719600357.156302445] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719600357.170183399] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] [INFO] [1719600357.171035790] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719600357.173120874] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] 28/06 13:45:57,204 WARNING [131553506096704] (ds-calib-parsers.cpp:35) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[realsense2_camera_node-1] [INFO] [1719600357.206557101] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1719600357.210289064] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[realsense2_camera_node-1] [INFO] [1719600357.210345949] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-1] [INFO] [1719600357.212537609] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] 28/06 13:46:02,175 WARNING [131553271199296] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
[realsense2_camera_node-1] 28/06 13:46:02,175 WARNING [131553279592000] (backend-v4l2.cpp:1649) Frames didn't arrived within 5 seconds
[realsense2_camera_node-1] [WARN] [1719600362.175961292] [camera.camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.7196e+12,Warn,Frames Timeout
[realsense2_camera_node-1] [WARN] [1719600362.176055690] [camera.camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.7196e+12,Warn,Frames Timeout
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[realsense2_camera_node-1] [INFO] [1719600363.948201716] [rclcpp]: signal_handler(signum=2)
[realsense2_camera_node-1] [INFO] [1719600363.948874927] [camera.camera]: Stop Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1719600363.948919220] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1719600363.951005870] [camera.camera]: Close Sensor - Done.
[realsense2_camera_node-1] [INFO] [1719600363.951036569] [camera.camera]: Stop Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1719600363.951044737] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1719600363.952302961] [camera.camera]: Close Sensor - Done.
[realsense2_camera_node-1] [INFO] [1719600363.952315106] [camera.camera]: Stop Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1719600363.952672646] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1719600364.893210363] [camera.camera]: Close Sensor - Done.
[INFO] [realsense2_camera_node-1]: process has finished cleanly [pid 126926]As you are using librealsense 2.55.1, the camera firmware driver should be updated to 5.16.0.1. The 5.15.0.2 firmware stated in the log is designed for the earlier librealsense version 2.54.1.
Kartikinator
commented
6 days ago That's strange, I didn't notice that it was using 2.55.1. My ros2_ws folder has librealsense 2.54.1 and realsense-ros 4.54.1. Not sure why it is using librealsense 2.55.1.
Kartikinator
commented
6 days ago I found that there is an underlying librealsense package already installed. I uninstalled it and now I am now trying to install 2.54.1 but when I run
./scripts/setup_udev_rules.sh
I keep getting permission denied
00:03: Failed to write 'change' to '/sys/devices/pnp0/00:03/uevent': Permission denied
00:04: Failed to write 'change' to '/sys/devices/pnp0/00:04/uevent': Permission denied
00:05: Failed to write 'change' to '/sys/devices/pnp0/00:05/uevent': Permission denied
00:06: Failed to write 'change' to '/sys/devices/pnp0/00:06/uevent': Permission denied
power: Failed to write 'change' to '/sys/devices/power/uevent': Permission denied
software: Failed to write 'change' to '/sys/devices/software/uevent': Permission denied
broadcast: Failed to write 'change' to '/sys/devices/system/clockevents/broadcast/uevent': Permission denied
clockevent0: Failed to write 'change' to '/sys/devices/system/clockevents/clockevent0/uevent': Permission denied
clockevent1: Failed to write 'change' to '/sys/devices/system/clockevents/clockevent1/uevent': Permission deniedAny idea how to fix?
MartyG-RealSense
commented
6 days ago This issue has only previously been reported a couple of times and both of them involved installing on a Raspberry Pi board - please see https://github.com/IntelRealSense/librealsense/issues/11393
Which computer or computing board are you installing librealsense on, please?
Kartikinator
commented
6 days ago I am on an Acer Nitro AN517-55
MartyG-RealSense
commented
5 days ago The source code installation instructions for librealsense state that ./scripts/setup_udev_rules.sh should be run from the librealsense "root directory". This typically means the very first directory in a folder, but in the case of the librealsense source code folder that is extracted from a zip file, the root is the second directory in (librealsense > librealsense, the one containing folders and files).
If you are installing librealsense from a source code folder, can you confirm please if you input the udev script's launch command whilst in this directory, please?
If running the script from the librealsense > librealsense directory does not make a difference, have you tried uninstalling udev with the command below and then attempting to run the udev script again?
./scripts/setup_udev_rules.sh --uninstall
Kartikinator
commented
3 days ago I did run this command in the proper root directory. To double check, I tried to uninstall and reinstall, but when I run the uninstall command I get the permission denied messages once again.
LNXSYSTM:00: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/uevent': Permission denied
10251229:00: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/10251229:00/uevent': Permission denied
input23: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/10251229:00/input/input23/uevent': Permission denied
event9: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/10251229:00/input/input23/event9/uevent': Permission denied
INT3420:00: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/INT3420:00/uevent': Permission denied
LNXPOWER:07: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/LNXPOWER:07/uevent': Permission denied
LNXPWRBN:00: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/LNXPWRBN:00/uevent': Permission denied
input3: Failed to write 'change' to '/sys/devices/LNXSYSTM:00/LNXPWRBN:00/input/input3/uevent': Permission denied
...What method did you use to install the librealsense SDK and the RealSense ROS wrapper, please?
For example, you would only need to use the ./scripts/setup_udev_rules udev installation script if you were installing librealsense from source code using the instructions at the link below.
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
Kartikinator
commented
3 days ago When I was using that command, I tried the source method. I then realized it would be easier to use sudo apt and switched to that instead. I currently have librealsense 2.54.1 installed the latest ros wrapper installed. However, everytime I run a launch rs_launch.py command it says its building with librealsense 2.55.1
micah-cobot
commented
3 days ago @Kartikinator You should first uninstall every version of librealsense on your computer, ie try uninstalling with apt as well as deleting realsense or librealsense binaries from your /usr/ directory which may have been installed if you built from source.
Only after ensuring all versions are deleted from your system, you should re-build 2.54.1 from source, and make sure your ROS wrapper version is also the version compatible with SDK v2.54.1 (ROS wrapper version 4.54.1) and camera firmware version 5.15.0.2 Compatibility table is here: https://dev.intelrealsense.com/docs/firmware-releases-d400 and check the ROS wrapper tagged release notes for compatibility of the ROS wrapper
Issue Description
Whenever I run any command trying to launch rs_launch.py, I get the following error
Specifically, this is the command that I am running
ros2 launch realsense2_camera rs_launch.py initial_reset:=true align_depth:=true unite_imu_method:="linear_interpolation" enable_gyro:=true enable_accel:=trueI've changed my camera firmware to 5.15.0.2 as suggested in this issue https://github.com/IntelRealSense/realsense-ros/issues/3035#issuecomment-1980796849. However, I still get the same error.