schmidtp1
commented
5 years ago Hi @AdriannaGmz, thank you for reporting this issue! I'm looking into it after I also observed at least one of the cameras crashing in ROS node frequently when using both cameras together. But I don't see issues (1) lsusb and (3) rs-enumerate in my setup, librealsense 2.21.0 on Ubuntu 16.04 with T265 and D435i (FW versions below). I tried un- and replugging multiple times and in different orders but can't reproduce. Didn't get to try on Ubuntu 18.04 (yet).
$ rs-enumerate-devices -s
Device Name Serial Number Firmware Version
Intel RealSense D435I 838212071360 05.11.00.09
255.255.255.255
Intel RealSense T265 845412110395 0.0.18.5502
Device info:
Name : Intel RealSense D435I
Serial Number : 838212071360
Firmware Version : 05.11.00.09
255.255.255.255
Recommended Firmware Version : 05.10.03.00
Physical Port : /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0B3A
Usb Type Descriptor : 3.2
Device info:
Name : Intel RealSense T265
Serial Number : 845412110395
Firmware Version : 0.0.18.5502
Physical Port : vid_8087 pid_0B37 bus_2 port_2
Product Id : 0B37
AdriannaGmz
manomitbal
Hello! I have a D415 and a T265 and need to access to their ros topics simultaneously. Currently working in Ubuntu 18, ROS melodic, although it seems to behave similarly in ubuntu 16 with ROS kinetic. So far I've compiled librealsense 2.21.0, 2.20 and 2.19 from source along with the ros wrapper 2.2.3 and here are the situations:
when entering
lsusb, both cameras are sometimes recognized, sometimes just the D415 and sometimes just the T265. What I do, is unplugging them and connecting them back, trying my luck. this works say 80% of the timeswhen I execute
realsense-viewer, both cameras are recognized and display info, so the viewer seems to work finewhen listing devices:
rs-ennumerate-devices | grep Serialmost of the times, only the D415 is recognized. Sometimes both cameras are listed, but that doesn't happen everytime, say 3/5 timesand finally, the most important:
roslaunch realsense2_camera rs_d400_and_t265.launch
rs_multiple_devices.launch
And here are the outcomes from their executions
roslaunch realsense2_camera rs_d400_and_t265.launch (setting the serial number inside the launch file)
and from the launch:
roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:=845412111230 serial_no_camera2:=806312060087
for completion purposes, I've allowed myself to add the following rosbag when launching
rs_multiple_devices2019-04-26-16-31-22.bag.zip
Could you please provide guidance on how to get both cameras working at the same time, publishing their respecting ROS topics?
Thanks in advanced