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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
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Realsense D435 and D435i detected with lower firmware but not working #835

Closed AnthonyKyung11 closed 4 years ago

AnthonyKyung11 commented 5 years ago

Hi, I didn't see any other issue with the same problem I'm having so I'm making one. I'm using librealsense2 , build 2.22.0 in ubuntu 16.04 in the Intel Aero, with realsense-ros 2.2.6. The problem I have is with the realsense cameras D435 and D435i whit firmware 5.10.3 to 5.11.6.250. If I connect the cameras (individually) with the Firmware 5.11.6.250 the D435i does not gets recognized with rs-enumerate-devices and the D435 gets recognized but it gives me the following error when running roslaunch realsense2_camera rs_aligned_depth.launch:

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master [master]: started with pid [1118] ROS_MASTER_URI=http://192.168.7.125:11311/ /run_id to cd5efbda-9d1f-11e9-99e1-00c2c6d30b21 [rosout-1]: started with pid [1133] started core service [/rosout] [camera/realsense2_camera_manager-2]: started with pid [1150] [camera/realsense2_camera-3]: started with pid [1151]

[ INFO] [1562109554.099123862]: Initializing nodelet with 4 worker threads. [ INFO] [1562109554.261802048]: RealSense ROS v2.2.6 [ INFO] [1562109554.261869751]: Running with LibRealSense v2.22.0

ERROR [140256834295552] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory

terminate called after throwing an instance of 'rs2::backend_error' what(): get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory [camera/realsense2_camera_manager-2] process has died [pid 1150, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/aero/.ros/log/cd5efbda-9d1f-11e9-99e1-00c2c6d30b21/camera-realsense2_camera_manager-2.log]. log file: /home/aero/.ros/log/cd5efbda-9d1f-11e9-99e1-00c2c6d30b21/camera-realsense2_camera_manager-2*.log

[camera/realsense2_camera-3] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

If I connect the cameras (individually) with the Firmware 5.10.3 both cameras get recognized with rs-enumerate-devices and both give me the following error when running roslaunch realsense2_camera rs_aligned_depth.launch:

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master [master]: started with pid [1583] ROS_MASTER_URI=http://192.168.7.125:11311/ /run_id to 211b26fe-9d20-11e9-99e1-00c2c6d30b21 [rosout-1]: started with pid [1603] started core service [/rosout] [camera/realsense2_camera_manager-2]: started with pid [1635] [camera/realsense2_camera-3]: started with pid [1644]

[ INFO] [1562109694.466043136]: Initializing nodelet with 4 worker threads. [ INFO] [1562109694.612773620]: RealSense ROS v2.2.6 [ INFO] [1562109694.612838847]: Running with LibRealSense v2.22.0 [ WARN] [1562109694.971239799]: No RealSense devices were found!

[ INFO] [1562109702.032613417]: JSON file is loaded! (/home/aero/sandbox_ws/src/realsense2_camera/launch/presets/MidResHighDensityPreset.json) [ INFO] [1562109702.032894777]: ROS Node Namespace: camera [ INFO] [1562109702.033080270]: Device Name: Intel RealSense D435 [ INFO] [1562109702.033250664]: Device Serial No: 727212070269 [ INFO] [1562109702.033476746]: Device FW version: 05.10.03.00 [ INFO] [1562109702.033645652]: Device Product ID: 0x0B07 [ INFO] [1562109702.033775781]: Enable PointCloud: Off [ INFO] [1562109702.033900198]: Align Depth: On [ INFO] [1562109702.034020402]: Sync Mode: On [ INFO] [1562109702.035712134]: Device Sensors: [ INFO] [1562109702.037420955]: Stereo Module was found. [ INFO] [1562109702.037736490]: RGB Camera was found. [ INFO] [1562109702.037998162]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1562109702.038127754]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1562109702.038254133]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1562109702.038410526]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1562109702.038533005]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1562109702.038647459]: (Pose, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1562109702.061850593]: Expected frequency for depth = 30.00000 [ INFO] [1562109702.355267448]: Expected frequency for infra1 = 30.00000 [ INFO] [1562109702.457223931]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1562109702.558571219]: Expected frequency for infra2 = 30.00000 [ INFO] [1562109702.648828857]: Expected frequency for color = 30.00000 [ INFO] [1562109702.746483033]: Expected frequency for aligned_depth_to_color = 30.00000

02/07 18:21:42,879 WARNING [140004415559424] (sensor.cpp:365) Unregistered Media formats : [ UYVY ]; Supported: [ GREY UYVY Y12I Y8I Z16 ] [ INFO] [1562109702.890027697]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1562109702.891296065]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1562109702.892338050]: infra2 stream is enabled - width: 640, height: 480, fps: 30 02/07 18:21:42,893 WARNING [140004415559424] (backend-v4l2.cpp:1143) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! 02/07 18:21:42,894 WARNING [140004415559424] (sensor.cpp:365) Unregistered Media formats : [ RW16 ]; Supported: [ RW16 YUYV ] [ INFO] [1562109702.901786294]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1562109702.909755251]: insert Depth to Stereo Module [ INFO] [1562109702.910314545]: insert Color to RGB Camera [ INFO] [1562109702.910512427]: insert Infrared to Stereo Module [ INFO] [1562109702.910622806]: insert Infrared to Stereo Module [ INFO] [1562109702.977695260]: num_filters: 0 [ INFO] [1562109702.977966894]: SELECTED BASE:Depth, 0 [ INFO] [1562109702.987011275]: RealSense Node Is Up! [ INFO] [1562109702.987143442]: Setting Dynamic reconfig parameters. 02/07 18:21:43,047 WARNING [140004240119552] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ WARN] [1562109703.056251478]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 02/07 18:21:43,355 WARNING [140004248512256] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ INFO] [1562109703.846991567]: Done Setting Dynamic reconfig parameters. [ WARN] [1562109705.041660208]: Hardware Notification:Depth stream start failure,1.56211e+12,Error,Hardware Error 02/07 18:21:46,130 ERROR [140003984758528] (types.h:243) xioctl(VIDIOC_DQBUF) failed for fd: 29 Last Error: No such device 02/07 18:21:46,131 ERROR [140003984758528] (backend-v4l2.cpp:1230) xioctl(VIDIOC_DQBUF) failed for fd: 29 Last Error: No such device 02/07 18:21:46,131 ERROR [140004248512256] (types.h:243) xioctl(VIDIOC_DQBUF) failed for fd: 11 Last Error: No such device 02/07 18:21:46,132 ERROR [140004248512256] (backend-v4l2.cpp:1230) xioctl(VIDIOC_DQBUF) failed for fd: 11 Last Error: No such device [ WARN] [1562109706.132248031]: Hardware Notification:xioctl(VIDIOC_DQBUF) failed for fd: 29 Last Error: No such device,1.56211e+12,Error,Unknown Error [ WARN] [1562109706.132839314]: Hardware Notification:xioctl(VIDIOC_DQBUF) failed for fd: 11 Last Error: No such device,1.56211e+12,Error,Unknown Error 02/07 18:21:46,133 ERROR [140004240119552] (types.h:243) xioctl(VIDIOC_DQBUF) failed for fd: 20 Last Error: No such device 02/07 18:21:46,133 ERROR [140004240119552] (backend-v4l2.cpp:1230) xioctl(VIDIOC_DQBUF) failed for fd: 20 Last Error: No such device [ WARN] [1562109706.134186697]: Hardware Notification:xioctl(VIDIOC_DQBUF) failed for fd: 20 Last Error: No such device,1.56211e+12,Error,Unknown Error 02/07 18:21:46,149 ERROR [140004214941440] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:46,150 ERROR [140004214941440] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:46,159 ERROR [140004231726848] (types.h:243) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:46,159 ERROR [140004231726848] (global_timestamp_reader.cpp:152) Error during time_diff_keeper polling: set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:47,150 ERROR [140004214941440] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:47,151 ERROR [140004214941440] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:47,160 ERROR [140004231726848] (types.h:243) Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:47,161 ERROR [140004231726848] (global_timestamp_reader.cpp:152) Error during time_diff_keeper polling: Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:48,151 ERROR [140004214941440] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:48,152 ERROR [140004214941440] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:48,162 ERROR [140004231726848] (types.h:243) Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:48,162 ERROR [140004231726848] (global_timestamp_reader.cpp:152) Error during time_diff_keeper polling: Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:49,152 ERROR [140004214941440] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:49,153 ERROR [140004214941440] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:49,163 ERROR [140004231726848] (types.h:243) Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:49,164 ERROR [140004231726848] (global_timestamp_reader.cpp:152) Error during time_diff_keeper polling: Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:50,153 ERROR [140004214941440] (types.h:243) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:50,153 ERROR [140004214941440] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device 02/07 18:21:50,165 ERROR [140004231726848] (types.h:243) Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:50,166 ERROR [140004231726848] (global_timestamp_reader.cpp:152) Error during time_diff_keeper polling: Cannot open '/dev/video0 Last Error: No such file or directory 02/07 18:21:51,036 ERROR [140004423952128] (sensor.cpp:260) An error has occurred while stop_streaming()! 02/07 18:21:51,037 ERROR [140004423952128] (types.h:243) xioctl(VIDIOC_STREAMOFF) failed for buf_type=1 Last Error: No such device 02/07 18:21:51,037 ERROR [140004423952128] (sensor.cpp:260) An error has occurred while stop_streaming()! 02/07 18:21:51,222 WARNING [140005024999296] (types.cpp:48) stop_streaming() failed. UVC device is not streaming!

[camera/realsense2_camera-3] killing on exit [camera/realsense2_camera_manager-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

I tried the following firmwares for both cameras, but the only one that detects the cameras is the 5.10.3: -5.10.6 -5.10.13 -5.11.1 -5.11.4 -5.11.6.250

Do you have any idea what could be causing this problem for both cameras?

forwardkth commented 5 years ago

I have the same issue. The only working firmware with Jetson TX2 is 5.10.3. The D435I can not be detected if using other firmwares.

RealSenseCustomerSupport commented 4 years ago

Is this issue still happening? I can confirm firmware latest 5.11.15 with RealSense SDK build 2.29 work on D435/D435i. Please let us know if you have further question question on this topic. Thank you.