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JetsonHacksNano / installLibrealsense

Build and install Intel's librealsense for the NVIDIA Jetson Nano Developer Kit
MIT License
152 stars 68 forks source link

D435i ros-wrapper unstable and crash base on jetson nano, #33

Open lightsalt2011 opened 4 years ago

lightsalt2011 commented 4 years ago

[ INFO] [1587093001.067961095]: Initializing nodelet with 4 worker threads. [ INFO] [1587093001.352782130]: RealSense ROS v2.2.11 [ INFO] [1587093001.352886622]: Running with LibRealSense v2.31.0 [ INFO] [1587093001.725060607]:
17/04 11:10:02,277 WARNING [547561193856] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21). [ INFO] [1587093002.330385056]: Device with serial number 947122070521 was found.

[ INFO] [1587093002.330522365]: Device with physical ID 2-1.3-6 was found. [ INFO] [1587093002.330628056]: Device with name Intel RealSense D435I was found. [ WARN] [1587093002.337918928]: Error extracting usb port from device with physical ID: 2-1.3-6 Please report on github issue at https://github.com/IntelRealSense/realsense-ros

[ INFO] [1587093002.444127247]: JSON file is not provided [ INFO] [1587093002.444185640]: ROS Node Namespace: camera [ INFO] [1587093002.444246377]: Device Name: Intel RealSense D435I [ INFO] [1587093002.444293258]: Device Serial No: 947122070521 [ INFO] [1587093002.444337690]: Device physical port: 2-1.3-6 [ INFO] [1587093002.444391447]: Device FW version: 05.11.01.100 [ INFO] [1587093002.444437130]: Device Product ID: 0x0B3A [ INFO] [1587093002.444501096]: Enable PointCloud: Off [ INFO] [1587093002.444548915]: Align Depth: Off [ INFO] [1587093002.444594962]: Sync Mode: Off [ INFO] [1587093002.445238117]: Device Sensors: [ INFO] [1587093002.445754693]: Stereo Module was found. [ INFO] [1587093002.445914609]: RGB Camera was found. [ INFO] [1587093002.446011861]: Motion Module was found. [ INFO] [1587093002.446139065]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1587093002.446203396]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1587093002.446253298]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1587093002.446310336]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1587093002.446775656]: num_filters: 0 [ INFO] [1587093002.446836080]: Setting Dynamic reconfig parameters. [ INFO] [1587093007.733984162]: Done Setting Dynamic reconfig parameters. [ INFO] [1587093007.788406136]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1587093007.789139975]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1587093007.789736193]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ INFO] [1587093007.841915916]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1587093007.848657568]: Expected frequency for depth = 30.00000 [ INFO] [1587093007.857428216]: Expected frequency for infra1 = 30.00000 [ INFO] [1587093007.861933659]: Expected frequency for infra2 = 30.00000 [ INFO] [1587093007.866169903]: Expected frequency for color = 30.00000

[ INFO] [1587093007.930999026]: insert Depth to Stereo Module [ INFO] [1587093007.931538988]: insert Color to RGB Camera [ INFO] [1587093007.931698903]: insert Infrared to Stereo Module [ INFO] [1587093007.931797404]: insert Infrared to Stereo Module [ INFO] [1587093007.931870538]: insert Gyro to Motion Module [ INFO] [1587093007.931975811]: insert Accel to Motion Module 17/04 11:10:08,048 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1587093008.276969922]: SELECTED BASE:Depth, 0 [ INFO] [1587093008.317713629]: RealSense Node Is Up! 17/04 11:10:08,400 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:08,460 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:08,542 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:08,681 ERROR [547113386368] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 17/04 11:10:08,724 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:08,905 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:08,986 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:09,050 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 17/04 11:10:09,488 WARNING [547432145280] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 23, [ WARN] [1587093009.755832530]: Hardware Notification:IR stream start failure,1.58709e+12,Error,Hardware Error [ERROR] [1587093009.756025314]: Hardware Reset is needed. use option: initial_reset:=true 17/04 11:10:09,760 WARNING [547440537984] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 9, 17/04 11:10:10,290 WARNING [547138564480] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 134 error: No such device, number: 19 17/04 11:10:10,290 ERROR [547138564480] (hid-device.cpp:153) failed to submit UVC request 17/04 11:10:10,290 WARNING [547432145280] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19 17/04 11:10:10,291 WARNING [547113386368] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 17/04 11:10:10,291 ERROR [547113386368] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,291 WARNING [547113386368] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19 17/04 11:10:10,291 ERROR [547113386368] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,291 WARNING [546225090944] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19 17/04 11:10:10,291 ERROR [546225090944] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,291 WARNING [547088208256] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19 17/04 11:10:10,291 ERROR [547088208256] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,291 WARNING [547088208256] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19 17/04 11:10:10,291 ERROR [547088208256] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,291 WARNING [546225090944] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19 17/04 11:10:10,291 ERROR [546225090944] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13 17/04 11:10:10,680 ERROR [547113386368] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 17/04 11:10:10,680 WARNING [547113386368] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 17/04 11:10:10,766 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 17/04 11:10:10,776 ERROR [547331498368] (error-handling.cpp:68) Error during polling error handler: usb device disconnected 17/04 11:10:10,867 ERROR [547088208256] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130 17/04 11:10:10,867 WARNING [547088208256] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19 ^C 17/04 11:10:11,122 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19 17/04 11:10:11,133 ERROR [547448930688] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: usb device disconnected [camera/realsense2_camera-3] killing on exit[camera/realsense2_camera_manager-2] killing on exit

^C 17/04 11:10:11,416 WARNING [547088208256] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19 17/04 11:10:11,422 WARNING [547088208256] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19 17/04 11:10:11,422 WARNING [547088208256] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19 17/04 11:10:11,432 WARNING [546225090944] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19 17/04 11:10:11,434 WARNING [546225090944] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19 17/04 11:10:11,434 WARNING [546225090944] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 131, error: No such device, number: 19 17/04 11:10:11,466 WARNING [547432145280] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 135 error: No such device, number: 19 17/04 11:10:11,497 WARNING [547113386368] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19 17/04 11:10:11,497 WARNING [547113386368] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19 17/04 11:10:11,502 WARNING [547113386368] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19 17/04 11:10:11,556 WARNING [547138564480] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 134 error: No such device, number: 19 17/04 11:10:11,579 ERROR [548118739440] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICEL4T 32.3.1 JetPack 4.3 Requires librealsense v2.31.0 Installs RealSense ROS Version = 2.2.11 17/04 11:10:11,579 ERROR [548118739440] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE

is there someone give some suggestion ?

Cristian-wp commented 3 years ago

Hi, I have your same problem...did you find any solution?

Edu4444 commented 2 years ago

I had thath problem, there is more info in this thread: https://github.com/IntelRealSense/realsense-ros/issues/2176 It seems the problem is building from source when OpenCV is compiled with CUDA. You have 2 options: 1- You can compile the code using an OpenCV installation without CUDA. 2- Install realsense wrapper using sudo apt-get install ros-melodic-realsense2-camera and sudo apt-get install ros-melodic-realsense2-description with a OpenCV CUDA installation but without access to Realsense SDK CUDA capabilities.

Tested on Jetson Nano, Jetpack 4.4.1, librealsense v2.50.0, librealsense wrapper 2.3.2.