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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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realsense d435i: given stream configuration is not unsupported by the device! #3201

Closed MingHe98 closed 2 months ago

MingHe98 commented 2 months ago
Required Info
Camera Model {D435i}
Firmware Version (5.16.0.1)
Operating System & Version { Ubuntu 20.04}
Kernel Version (Linux Only) (5.10)
Platform NVIDIA Jetson
Librealsense SDK Version { 2.55.1 }
ROS Distro {foxy}

Issue Description

I enabled infra1 and infra2, and also manually added enable_infra (tested without adding enable_infra as well), but the topics that are related to either infra1 or infra2 could not be published. The error says it's not supported by the device. I saw another thread saying setting infra-rgb to be false solved problem, but it did not work for my case. Screenshot from 2024-09-09 17-01-05

Screenshot from 2024-09-09 16-59-56

Screenshot from 2024-09-09 17-01-50

Screenshot from 2024-09-09 17-02-32

MartyG-RealSense commented 2 months ago

Hi @MingHe98 If enable_infra1 and enable_infra2 are true then enable_infra and infra_rgb should both be set to false in order to stream the infra1 and infra2 topics.

However, the legacy ROS2 wrapper version 3.2.3 is very old and is obsolete. It should be used with librealsense version 2.50.0 and camera firmware version 5.13.0.50. Are you using legacy wrapper 3.2.3 because of its support for Foxy, please?

MingHe98 commented 2 months ago

Yes, I manually set enable_infra and infra_rgb to be false. I believe I tested with librealsense version 2.51 with camera firmware version 5.13.0.50 but it did not work either. I upgraded to librealsense 2.55 because I could just download, install, and check via apt-get instead of more stuff to deal with source code folder. Yes, I am using legacy wrapper 3.2.3 because of its support for Foxy, and Jetson AGX Orin, but I'm having a hard time to have all the data published so that I could do VINS

MartyG-RealSense commented 2 months ago

The current 4-series of ROS2 wrappers also supported Foxy up until version 4.54.1, which was designed for use with librealsense 2.54.1. The link below is a "forked" version of the 4.54.1 wrapper that a RealSense ROS user created shortly before Foxy support was removed, so it should work for Foxy if you build it from source code.

https://github.com/MichaelKerley/realsense-ros

MartyG-RealSense commented 2 months ago

With the 3.2.3 wrapper, are you using the original unmodified rs_launch.py launch file of that wrapper, please?

https://github.com/IntelRealSense/realsense-ros/blob/ros2-legacy/realsense2_camera/launch/rs_launch.py

In that legacy launch file, you do not need to enable infra1 and infra2 as they are already enabled by default in the launch file. This was before the infra topics were set to false by default in the later 4.x wrapper versions.

Let's try setting a custom stream configuration with the original rs_launch.py file. This legacy wrapper used a different configuration method to the current one, where you have to provide three factors for each stream type (width, height, FPS) or the custom configuration is rejected and the default stream profile for that particular RealSense camera model is applied by the launch instead.

ros2 launch realsense2_camera rs_launch.py depth_width:=1280 depth_height:=720 depth_fps:=30 infra_width:=1280 infra_height:=720 infra_fps:=30 color_width:=640 color_height:=480 color_fps:=30

MingHe98 commented 2 months ago

It still did not publish the topics that are related to infra1 and infra2. Instead, I updated the wrapper and the librealsense SDK. I built the source from "Use the RSUSB backend without the kernel patching". Now, there are new errors.

`xtechlab@xtechlab-desktop:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py [INFO] [launch]: All log files can be found below /home/xtechlab/.ros/log/2024-09-10-13-54-38-591566-xtechlab-desktop-204953 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]: process started with pid [204960] [realsense2_camera_node-1] [INFO] [1725990878.933919410] [camera.camera]: RealSense ROS v4.55.1 [realsense2_camera_node-1] [INFO] [1725990878.934122419] [camera.camera]: Built with LibRealSense v2.55.1 [realsense2_camera_node-1] [INFO] [1725990878.934158963] [camera.camera]: Running with LibRealSense v2.55.1 [realsense2_camera_node-1] [INFO] [1725990879.617780702] [camera.camera]: Device with serial number 317222074967 was found. [realsense2_camera_node-1] [realsense2_camera_node-1] [INFO] [1725990879.617978336] [camera.camera]: Device with physical ID 2-3.4-12 was found. [realsense2_camera_node-1] [INFO] [1725990879.618032160] [camera.camera]: Device with name Intel RealSense D435I was found. [realsense2_camera_node-1] [INFO] [1725990879.619004550] [camera.camera]: Device with port number 2-3.4 was found. [realsense2_camera_node-1] [INFO] [1725990879.619079207] [camera.camera]: Device USB type: 3.2

[realsense2_camera_node-1] [INFO] [1725990879.620458096] [camera.camera]: JSON file is not provided [realsense2_camera_node-1] [INFO] [1725990879.620511120] [camera.camera]: Device Name: Intel RealSense D435I [realsense2_camera_node-1] [INFO] [1725990879.620539440] [camera.camera]: Device Serial No: 317222074967 [realsense2_camera_node-1] [INFO] [1725990879.620558192] [camera.camera]: Device physical port: 2-3.4-12 [realsense2_camera_node-1] [INFO] [1725990879.620574352] [camera.camera]: Device FW version: 5.16.0.1 [realsense2_camera_node-1] [INFO] [1725990879.620591440] [camera.camera]: Device Product ID: 0x0B3A [realsense2_camera_node-1] [INFO] [1725990879.620606609] [camera.camera]: Sync Mode: Off [realsense2_camera_node-1] [INFO] [1725990883.710355171] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30 [realsense2_camera_node-1] [INFO] [1725990883.711540202] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30 [realsense2_camera_node-1] [INFO] [1725990884.358863210] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30 [realsense2_camera_node-1] [INFO] [1725990884.360058961] [camera.camera]: Set ROS param gyro_fps to default: 200 [realsense2_camera_node-1] [INFO] [1725990884.360185106] [camera.camera]: Set ROS param accel_fps to default: 100 [realsense2_camera_node-1] [INFO] [1725990884.364119212] [camera.camera]: Stopping Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1725990884.364318573] [camera.camera]: Stopping Sensor: RGB Camera [realsense2_camera_node-1] [INFO] [1725990884.457641577] [camera.camera]: Starting Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1725990884.531862570] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30 [realsense2_camera_node-1] 10/09 13:54:44,533 WARNING [281472544000416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [realsense2_camera_node-1] [INFO] [1725990884.534131192] [camera.camera]: Starting Sensor: RGB Camera [realsense2_camera_node-1] 10/09 13:54:44,544 WARNING [281472544000416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [realsense2_camera_node-1] [INFO] [1725990884.557233518] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30 [realsense2_camera_node-1] [INFO] [1725990884.559562973] [camera.camera]: RealSense Node Is Up! [realsense2_camera_node-1] 10/09 13:54:44,860 WARNING [281472544000416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [realsense2_camera_node-1] 10/09 13:54:44,871 WARNING [281472544000416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [realsense2_camera_node-1] 10/09 13:54:44,882 WARNING [281472544000416] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0`

If I added the configuration when launching the file, then there would be so many errors repeating to pop out.

`xtechlab@xtechlab-desktop:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=2 [INFO] [launch]: All log files can be found below /home/xtechlab/.ros/log/2024-09-10-14-01-44-026063-xtechlab-desktop-205729 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]: process started with pid [205731] [realsense2_camera_node-1] [INFO] [1725991304.707901399] [camera.camera]: RealSense ROS v4.55.1 [realsense2_camera_node-1] [INFO] [1725991304.708117560] [camera.camera]: Built with LibRealSense v2.55.1 [realsense2_camera_node-1] [INFO] [1725991304.708153464] [camera.camera]: Running with LibRealSense v2.55.1 [realsense2_camera_node-1] [INFO] [1725991305.325733020] [camera.camera]: Device with serial number 317222074967 was found. [realsense2_camera_node-1] [realsense2_camera_node-1] [INFO] [1725991305.325897661] [camera.camera]: Device with physical ID 2-3.4-12 was found. [realsense2_camera_node-1] [INFO] [1725991305.325924957] [camera.camera]: Device with name Intel RealSense D435I was found. [realsense2_camera_node-1] [INFO] [1725991305.326445472] [camera.camera]: Device with port number 2-3.4 was found. [realsense2_camera_node-1] [INFO] [1725991305.326485504] [camera.camera]: Device USB type: 3.2

[realsense2_camera_node-1] [WARN] [1725991305.327214595] [camera.camera]: For the 'unite_imu_method' param update to take effect, re-enable either gyro or accel stream. [realsense2_camera_node-1] [INFO] [1725991305.327268451] [camera.camera]: JSON file is not provided [realsense2_camera_node-1] [INFO] [1725991305.327299076] [camera.camera]: Device Name: Intel RealSense D435I [realsense2_camera_node-1] [INFO] [1725991305.327320548] [camera.camera]: Device Serial No: 317222074967 [realsense2_camera_node-1] [INFO] [1725991305.327338788] [camera.camera]: Device physical port: 2-3.4-12 [realsense2_camera_node-1] [INFO] [1725991305.327355300] [camera.camera]: Device FW version: 5.16.0.1 [realsense2_camera_node-1] [INFO] [1725991305.327370852] [camera.camera]: Device Product ID: 0x0B3A [realsense2_camera_node-1] [INFO] [1725991305.327387044] [camera.camera]: Sync Mode: Off [realsense2_camera_node-1] [INFO] [1725991309.510824066] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30 [realsense2_camera_node-1] [INFO] [1725991309.512822507] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30 [realsense2_camera_node-1] [INFO] [1725991310.161347046] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30 [realsense2_camera_node-1] [INFO] [1725991310.162560652] [camera.camera]: Set ROS param gyro_fps to default: 200 [realsense2_camera_node-1] [INFO] [1725991310.162665996] [camera.camera]: Set ROS param accel_fps to default: 100 [realsense2_camera_node-1] [INFO] [1725991310.166632126] [camera.camera]: Stopping Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1725991310.166807743] [camera.camera]: Stopping Sensor: RGB Camera [realsense2_camera_node-1] [INFO] [1725991310.166866816] [camera.camera]: Stopping Sensor: Motion Module [realsense2_camera_node-1] [INFO] [1725991310.282835795] [camera.camera]: Starting Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1725991310.378351977] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30 [realsense2_camera_node-1] 10/09 14:01:50,379 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] [INFO] [1725991310.380655059] [camera.camera]: Starting Sensor: RGB Camera [realsense2_camera_node-1] 10/09 14:01:50,391 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] [INFO] [1725991310.404663553] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30 [realsense2_camera_node-1] 10/09 14:01:50,407 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] [INFO] [1725991310.420300489] [camera.camera]: Starting Sensor: Motion Module [realsense2_camera_node-1] [INFO] [1725991310.435582735] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100 [realsense2_camera_node-1] [INFO] [1725991310.435734288] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200 [realsense2_camera_node-1] [INFO] [1725991310.439152319] [camera.camera]: RealSense Node Is Up! [realsense2_camera_node-1] 10/09 14:01:50,505 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,518 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,530 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,543 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,555 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,567 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,580 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,592 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,605 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,617 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,630 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,642 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,655 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,667 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,680 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,692 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,705 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,717 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,730 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,742 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,755 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,767 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,780 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,792 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,805 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,817 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,830 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,842 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,855 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,867 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,880 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,892 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,905 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,917 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,930 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,943 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,955 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,967 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,980 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:50,993 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,005 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,018 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,030 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,043 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,055 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,068 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,080 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,093 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,105 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,118 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,130 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,143 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,156 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,168 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,181 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,193 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,206 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,218 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,231 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,243 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,256 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,268 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,281 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,284 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,292 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,296 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,305 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,308 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,316 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,320 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,329 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,332 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,340 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,345 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,353 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,357 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,365 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,369 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,377 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,382 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,389 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,394 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,401 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,406 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,413 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,418 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,424 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,430 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,437 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,442 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,449 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,454 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,460 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,466 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,473 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,478 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,484 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,490 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,497 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,502 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,508 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,514 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,521 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,526 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,533 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,538 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,544 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,550 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,557 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,562 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,568 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,574 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,581 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,586 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,593 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,598 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,605 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,610 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,617 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,622 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,628 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,634 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,641 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,646 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,652 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,658 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,665 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,670 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,676 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,682 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,689 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,694 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,700 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,706 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,713 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,718 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,724 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,730 WARNING [281472594323872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [realsense2_camera_node-1] 10/09 14:01:51,735 ERROR [281472611109280] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(ctrl=1) failed! Last Error: Success`

And since there is error, even though the topic /camera/camera/imu appears but echo nothing.

MartyG-RealSense commented 2 months ago

And adding initial_reset:=true to the launch command to reset the camera at launch makes no difference?