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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
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"Device is already streaming!" and no more frames after that #3250

Open edgarcamilocamacho opened 1 week ago

edgarcamilocamacho commented 1 week ago
Required Info
Camera Model D435 / D435i
Firmware Version 5.16.0.1
Operating System & Version Ubuntu 20.04.6 LTS
Kernel Version (Linux Only) 5.10.104-tegra
Platform NVIDIA Jetson AGX
Librealsense SDK Version 2.56.1
ROS Distro Humble
RealSense ROS Wrapper Version 4.56.1

Issue Description

When I try to enable all color, depth and pointcloud using the ROS parameters, sometimes (really random, I can't not have a way to control the replication) the node shows:


[INFO] [1731361496.428292897]: Stopping Sensor: RGB Camera
[INFO] [1731361496.438579189]: Starting Sensor: RGB Camera
[INFO] [1731361496.457483599]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15
[WARN] [1731361497.014352851]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[INFO] [1731361497.430367000]: Stopping Sensor: Depth Module
[INFO] [1731361497.438439322]: Starting Sensor: Depth Module
11/11 21:45:00,473 ERROR [281471772231984] (rs.cpp:255) [rs2_open_multiple( sensor:0xffff44738c60, profiles:0xffff447eb650, count:1 ) Invalid Value]
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361500.473344938]: /robot/additional_ros_packages/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:494:An exception has been thrown:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361500.473530380]: /robot/additional_ros_packages/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:376:An exception has been thrown:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361500.473603756]: Error updating the sensors:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[INFO] [1731361501.832015361]: Stopping Sensor: Depth Module
[INFO] [1731361501.847421727]: Starting Sensor: Depth Module
11/11 21:45:04,482 ERROR [281471772231984] (rs.cpp:255) [rs2_open_multiple( sensor:0xffff44738c60, profiles:0xffff447eb650, count:1 ) Invalid Value]
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361504.482235307]: /robot/additional_ros_packages/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:494:An exception has been thrown:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361504.482449453]: /robot/additional_ros_packages/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:376:An exception has been thrown:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[ERROR] [1731361504.482594702]: Error updating the sensors:
Failed to resolve the request:
Format: Z16, width: 848, height: 480
Into:
Device is already streaming!
[INFO] [1731361504.482739887]: Stopping Sensor: Depth Module
11/11 21:46:56,897 WARNING [281471604476208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

You know it's going to fail if you see frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically..

After those prints, the node never responds anymore the parameters update requests, and does not publish frames anymore. But the linux process itseld keeps alive.

Here my node's logs to understand times of setting parameters:

[INFO ] [1731361496.427011158]: Enabling camera!
[INFO ] [1731361496.427159799]: Setting Realsense Camera: color=true
[INFO ] [1731361496.432001023]: Parameter update request sent successfully
[INFO ] [1731361497.428737963]: Setting Realsense Camera: depth=true
[INFO ] [1731361497.441062895]: Parameter update request sent successfully
[INFO ] [1731361498.428722673]: Setting Realsense Camera: pointcloud=true
[INFO ] [1731361498.435508073]: Parameter update request sent successfully
[INFO ] [1731361498.435908396]: Waiting for frames...
[INFO ] [1731361500.547826753]: No depth frames received, trying again...
[INFO ] [1731361501.830840760]: Setting Realsense Camera: depth=true
[INFO ] [1731361501.834371221]: Parameter update request sent successfully
[INFO ] [1731361501.835908574]: Waiting for frames...
[INFO ] [1731361502.218599604]: No depth frames received, trying again...
[INFO ] [1731361502.378495026]: Setting Realsense Camera: depth=true
[INFO ] [1731361502.468394856]: Parameter update request sent successfully
[INFO ] [1731361502.673894957]: Waiting for frames...
[INFO ] [1731361503.436133466]: No depth frames received, trying again...
[INFO ] [1731361504.330695978]: Setting Realsense Camera: depth=true
[INFO ] [1731361504.485619206]: Parameter update request sent successfully
[ERROR] [1731361504.930669032]: Timeout!
MartyG-RealSense commented 1 week ago

Hi @edgarcamilocamacho Does it make a difference to whether the busy state ('already streaming') occurs if the camera is reset during launch by adding initial_reset:=true, as resetting the camera should disconnect and then reconnect it.

edgarcamilocamacho commented 1 week ago

It already was in true at the moment of the testing

MartyG-RealSense commented 1 week ago

Looking at your mention of knowing it will always fail if the message 'frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically' is received, does it make a difference if you disable a timestamping feature called 'Global Time' (which is enabled by default) by adding global_time_enabled:=false to your launch instruction?