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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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failed to send response to /camera/camera/set_parameters (timeout): client will not receive response #3191

Closed akupferb closed 2 months ago

akupferb commented 2 months ago
Required Info
Camera Model D435 }
Firmware Version 05.13.00.50
Operating System & Version Ubuntu 22
Kernel Version (Linux Only) 5.15.136-tegra
Platform NVIDIA Jetson Orin NX - Docker
Librealsense SDK Version v2.55.1
Segment Robot
ROS Distro Humble
RealSense ROS Wrapper Version v4.55.1

Issue Description

While in a Docker container, and running the following ROS2 commands from a command line script:

ros2 param set $CAMERA_NAME enable_infra1 false
ros2 param set $CAMERA_NAME enable_infra2 false

ros2 param set $CAMERA_NAME depth_module.infra_profile $RESOLUTION
ros2 param set $CAMERA_NAME enable_infra1 true
ros2 param set $CAMERA_NAME enable_infra2 true

I occasionally get the error response to one of the param set commands (not necessarily the first command, sometimes a couple work and then I get the error): [camera.camera.rclcpp]: failed to send response to /camera/camera/set_parameters (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314

Why is this error sometimes occurring during runtime, especially when previous calls to the set_parameters service via param set have worked?

MartyG-RealSense commented 2 months ago

Hi @akupferb Did you install the librealsense SDK from source code using the libuvc backend or RSUSB backend methods? If you did then a characteristic of this install method is that it checks for changes less often than a package installation of the SDK or a non-RSUSB source code build that has had a patch applied to its kernel (a build type known as the V4L or native backend). Because libuvc / RSUSB versions of librealsense check for changes less often, an option change request may sometimes fail and have to be re-tried.

akupferb commented 2 months ago

In this instance of the system the librealsense SDK has been installed via debian packages.

MartyG-RealSense commented 2 months ago

Have you tried commenting out depth_module.infra_profile $RESOLUTION to test whether it is this change instruction or the infra ones that are timing-out?

akupferb commented 2 months ago

It occurs inconsistently, sometimes on one of the 'set false' commands and sometimes on the resolution change. I just had a repeat occurrence of the error on the very first call.

MartyG-RealSense commented 2 months ago

Does stability improve if you add a sleep command before each instruction? For example, to wait for 1 second before initiating each command:

import time

time.sleep(1)
ros2 param set $CAMERA_NAME enable_infra1 false
time.sleep(1)
ros2 param set $CAMERA_NAME enable_infra2 false
time.sleep(1)
ros2 param set $CAMERA_NAME depth_module.infra_profile $RESOLUTION
time.sleep(1)
ros2 param set $CAMERA_NAME enable_infra1 true
time.sleep(1)
ros2 param set $CAMERA_NAME enable_infra2 true
MartyG-RealSense commented 2 months ago

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

MartyG-RealSense commented 2 months ago

Case closed due to no further comments received.