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OpenPTrack / open_ptrack_v2

OPT v2 "Gnocchi" - adding object tracking and pose recognition
BSD 3-Clause "New" or "Revised" License
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Not able to run multicameracalibration #147

Closed tobiasonkes closed 2 years ago

tobiasonkes commented 2 years ago

Dear Sir and Madams,

for my Project Thesis I want to compare different Calibration-Methods to find out which have the best result for my specific environment. unfortunately I am stuck in the process. I would like to ask if you have any advice?

my ros_network.env looks as following.

ROS_IP=10.21.104.72
ROS_PC_NAME=PC1
ROS_KINECT_NAME=realsense

and my camera_network.yaml file as following.

enable_people_tracking: true
enable_pose: true
enable_object: true
# Camera network parameters
network:
  - pc: "PC1"
    sensors:
      - type: realsense
        id: "realsense01"
        people_detector: hog
      - type: realsense
        id: "realsense02"
        people_detector: hog

# Checkerboard parameters
checkerboard:
  rows: 6
  cols: 9
  cell_width: 0.21
  cell_height: 0.21

like it is shown in the usuallmanueall in https://github.com/OpenPTrack/open_ptrack_v2/wiki/Camera-Network-Calibration I try to run the calibration. First Connect every PC to the network and configure them.. I guess when I just use one PC the NTP is not that important. Create files for multi-sensor calibration. Seems to work perfectly. but when I try to run Perform multi-sensor calibration. I have some error message which I add enclose. Like I understood is that ros didn't recognize the secound camera and this is why the execute appears. For more in formation. I use one Realsense D435 & a Realsense D435I. When I use realsense-viewer ore type ls/dev/video* I can see that, the Cameras themself are recognize by the PC. Additionally the both Camera has a different RBG-resolution but like I understand this is not the main error. Many thanks in advance!

First I run roslaunch opt_calibration opt_calibration_master.launch and got this error message. 

[ERROR] [1656005996.414796924]: Error getting latest time from frame 'realsense01_infra1_frame' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.414897313]: Error getting latest time from frame 'realsense01_infra1_optical_frame' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.415010294]: Error getting latest time from frame 'realsense01_infra2_frame' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.415110957]: Error getting latest time from frame 'realsense01_infra2_optical_frame' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.415218027]: Error getting latest time from frame 'realsense01_link' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.415382253]: Error getting latest time from frame 'world' to frame 'world':  (Error code: 1)
[opt_calibration-4] killing on exit
[opt_calibration_status_plot-3] killing on exit
[rviz-2] killing on exit
[ERROR] [1656005996.444260151]: Error getting latest time from frame 'world' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.444347894]: Error getting latest time from frame 'world' to frame 'world':  (Error code: 1)
[ERROR] [1656005996.444466662]: Error getting latest time from frame 'realsense01_accel_frame' to frame 'world':  (Error code: 1)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

and then I run roslaunch opt_calibration sensor_realsense01.launch and roslaunch opt_calibration sensor_realsense02.launch Enclose are the rsult too. 

... logging to /root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/roslaunch-tobias-Latitude-5580-267.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.21.104.72:34127/

SUMMARY
========

PARAMETERS
 * /realsense01/realsense2_camera/accel_fps: 250
 * /realsense01/realsense2_camera/accel_frame_id: realsense01_accel...
 * /realsense01/realsense2_camera/accel_optical_frame_id: realsense01_accel...
 * /realsense01/realsense2_camera/align_depth: True
 * /realsense01/realsense2_camera/aligned_depth_to_color_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/aligned_depth_to_fisheye1_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/aligned_depth_to_fisheye2_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/aligned_depth_to_fisheye_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/aligned_depth_to_infra1_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/aligned_depth_to_infra2_frame_id: realsense01_align...
 * /realsense01/realsense2_camera/allow_no_texture_points: False
 * /realsense01/realsense2_camera/base_frame_id: realsense01_link
 * /realsense01/realsense2_camera/calib_odom_file: 
 * /realsense01/realsense2_camera/clip_distance: -1.0
 * /realsense01/realsense2_camera/color_fps: 30
 * /realsense01/realsense2_camera/color_frame_id: realsense01_color...
 * /realsense01/realsense2_camera/color_height: 480
 * /realsense01/realsense2_camera/color_optical_frame_id: realsense01_color...
 * /realsense01/realsense2_camera/color_width: 640
 * /realsense01/realsense2_camera/depth_fps: 30
 * /realsense01/realsense2_camera/depth_frame_id: realsense01_depth...
 * /realsense01/realsense2_camera/depth_height: 480
 * /realsense01/realsense2_camera/depth_optical_frame_id: realsense01_depth...
 * /realsense01/realsense2_camera/depth_width: 640
 * /realsense01/realsense2_camera/device_type: 
 * /realsense01/realsense2_camera/enable_accel: True
 * /realsense01/realsense2_camera/enable_color: True
 * /realsense01/realsense2_camera/enable_depth: True
 * /realsense01/realsense2_camera/enable_fisheye1: True
 * /realsense01/realsense2_camera/enable_fisheye2: True
 * /realsense01/realsense2_camera/enable_fisheye: True
 * /realsense01/realsense2_camera/enable_gyro: True
 * /realsense01/realsense2_camera/enable_infra1: True
 * /realsense01/realsense2_camera/enable_infra2: True
 * /realsense01/realsense2_camera/enable_pointcloud: False
 * /realsense01/realsense2_camera/enable_sync: True
 * /realsense01/realsense2_camera/filters: 
 * /realsense01/realsense2_camera/fisheye1_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye1_optical_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye2_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye2_optical_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye_fps: 30
 * /realsense01/realsense2_camera/fisheye_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye_height: 480
 * /realsense01/realsense2_camera/fisheye_optical_frame_id: realsense01_fishe...
 * /realsense01/realsense2_camera/fisheye_width: 640
 * /realsense01/realsense2_camera/gyro_fps: 400
 * /realsense01/realsense2_camera/gyro_frame_id: realsense01_gyro_...
 * /realsense01/realsense2_camera/gyro_optical_frame_id: realsense01_gyro_...
 * /realsense01/realsense2_camera/imu_optical_frame_id: realsense01_imu_o...
 * /realsense01/realsense2_camera/infra1_frame_id: realsense01_infra...
 * /realsense01/realsense2_camera/infra1_optical_frame_id: realsense01_infra...
 * /realsense01/realsense2_camera/infra2_frame_id: realsense01_infra...
 * /realsense01/realsense2_camera/infra2_optical_frame_id: realsense01_infra...
 * /realsense01/realsense2_camera/infra_fps: 30
 * /realsense01/realsense2_camera/infra_height: 480
 * /realsense01/realsense2_camera/infra_width: 640
 * /realsense01/realsense2_camera/initial_reset: False
 * /realsense01/realsense2_camera/json_file_path: 
 * /realsense01/realsense2_camera/linear_accel_cov: 0.01
 * /realsense01/realsense2_camera/odom_frame_id: realsense01_odom_...
 * /realsense01/realsense2_camera/pointcloud_texture_index: 0
 * /realsense01/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /realsense01/realsense2_camera/pose_frame_id: realsense01_pose_...
 * /realsense01/realsense2_camera/pose_optical_frame_id: realsense01_pose_...
 * /realsense01/realsense2_camera/publish_odom_tf: True
 * /realsense01/realsense2_camera/publish_tf: True
 * /realsense01/realsense2_camera/rosbag_filename: 
 * /realsense01/realsense2_camera/serial_no: 
 * /realsense01/realsense2_camera/tf_publish_rate: 0.0
 * /realsense01/realsense2_camera/topic_odom_in: realsense01/odom_in
 * /realsense01/realsense2_camera/unite_imu_method: none
 * /realsense01/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /realsense01/
    color_rectify_color (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://10.21.104.72:11311/

process[realsense01/realsense2_camera_manager-1]: started with pid [282]
[ INFO] [1656005963.022250347]: Initializing nodelet with 4 worker threads.
process[realsense01/realsense2_camera-2]: started with pid [283]
[ INFO] [1656005963.729500160]: RealSense ROS v2.2.12
[ INFO] [1656005963.729573666]: Running with LibRealSense v2.32.1
[ INFO] [1656005963.750733400]:  
[ INFO] [1656005963.911786750]: Device with serial number 042222071631 was found.

[ INFO] [1656005963.911900712]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video10 was found.
[ INFO] [1656005963.911979889]: Device with name Intel RealSense D435I was found.
[ INFO] [1656005963.912492707]: Device with port number 2-1 was found.
[ INFO] [1656005963.914315680]: getParameters...
[ INFO] [1656005963.953915137]: setupDevice...
[ INFO] [1656005963.954235368]: JSON file is not provided
[ INFO] [1656005963.954275391]: ROS Node Namespace: realsense01
[ INFO] [1656005963.954326820]: Device Name: Intel RealSense D435I
[ INFO] [1656005963.954360817]: Device Serial No: 042222071631
[ INFO] [1656005963.954396959]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video10
[ INFO] [1656005963.954445030]: Device FW version: 05.12.07.100
[ INFO] [1656005963.954492226]: Device Product ID: 0x0B3A
[ INFO] [1656005963.954556516]: Enable PointCloud: Off
[ INFO] [1656005963.954604751]: Align Depth: On
[ INFO] [1656005963.954646797]: Sync Mode: On
[ INFO] [1656005963.954712325]: Device Sensors: 
[ INFO] [1656005963.954763175]: Stereo Module was found.
[ INFO] [1656005963.954802533]: RGB Camera was found.
[ INFO] [1656005963.954837576]: Motion Module was found.
[ INFO] [1656005963.954917681]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005963.954952690]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005963.954986637]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005963.955022626]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005963.955065787]: num_filters: 0
[ INFO] [1656005963.955099789]: Setting Dynamic reconfig parameters.
process[realsense01/color_rectify_color-3]: started with pid [295]
[ INFO] [1656005964.055066796]: Done Setting Dynamic reconfig parameters.
[ INFO] [1656005964.057703562]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1656005964.057903916]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1656005964.058101969]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
 23/06 17:39:24,058 WARNING [139736215426816] (backend-v4l2.cpp:1208) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
[ INFO] [1656005964.063200915]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1656005964.066119901]: setupPublishers...
[ INFO] [1656005964.068344193]: Expected frequency for depth = 30.00000
[ INFO] [1656005964.085241137]: Expected frequency for infra1 = 30.00000
[ INFO] [1656005964.107667539]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1656005964.123447911]: Expected frequency for infra2 = 30.00000
[ INFO] [1656005964.139668167]: Expected frequency for color = 30.00000
[ INFO] [1656005964.156795710]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1656005964.180906716]: setupStreams...
[ INFO] [1656005964.181932356]: insert Depth to Stereo Module
[ INFO] [1656005964.181966080]: insert Color to RGB Camera
[ INFO] [1656005964.181993458]: insert Infrared to Stereo Module
[ INFO] [1656005964.182003438]: insert Infrared to Stereo Module
[ INFO] [1656005964.182012635]: insert Gyro to Motion Module
[ INFO] [1656005964.182021865]: insert Accel to Motion Module
 23/06 17:39:24,187 WARNING [139735903987456] (sensor.cpp:968) HID timestamp not found, switching to Host timestamps.
 23/06 17:39:24,194 WARNING [139735937558272] (backend-hid.cpp:681) HID set_power 1 failed for /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.5/0003:8086:0B3A.0008/HID-SENSOR-200076.3.auto/iio:device1/buffer/enable
 23/06 17:39:24,196 WARNING [139735920772864] (backend-hid.cpp:681) HID set_power 1 failed for /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.5/0003:8086:0B3A.0008/HID-SENSOR-200073.2.auto/iio:device0/buffer/enable
[ INFO] [1656005964.219391733]: SELECTED BASE:Depth, 0
[ INFO] [1656005964.249422839]: RealSense Node Is Up!
 23/06 17:39:24,366 WARNING [139735804045056] (ds5-timestamp.cpp:76) UVC metadata payloads not available. Please refer to the installation chapter for details.
process[realsense01/points_xyzrgb_hw_registered-4]: started with pid [322]
 23/06 17:46:14,273 ERROR [139735912380160] (ds5-options.cpp:86) Asic Temperature value is not valid!
^C[realsense01/points_xyzrgb_hw_registered-4] killing on exit
[realsense01/color_rectify_color-3] killing on exit
[ WARN] [1656006709.623477957]: Couldn't find service realsense2_camera_manager/unload_nodelet, perhaps the manager is already shut down
[realsense01/realsense2_camera-2] killing on exit
[realsense01/realsense2_camera_manager-1] killing on exit
[ WARN] [1656006709.627101748]: Couldn't find service realsense2_camera_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1656006709.628261689]: Couldn't find service realsense2_camera_manager/unload_nodelet, perhaps the manager is already shut down
terminate called without an active exception
shutting down processing monitor...
... shutting down processing monitor complete
Running a new open_ptrack_multi_camera container. 
Loading ROS network configuration
This machine is recognized as the master PC.
Starting open_ptrack_multi_camera container.
access control disabled, clients can connect from any host
root@tobias-Latitude-5580:~# roslaunch opt_calibration sensor_realsense02.launch    
... logging to /root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/roslaunch-tobias-Latitude-5580-352.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.21.104.72:36993/

SUMMARY
========

PARAMETERS
 * /realsense02/realsense2_camera/accel_fps: 250
 * /realsense02/realsense2_camera/accel_frame_id: realsense02_accel...
 * /realsense02/realsense2_camera/accel_optical_frame_id: realsense02_accel...
 * /realsense02/realsense2_camera/align_depth: True
 * /realsense02/realsense2_camera/aligned_depth_to_color_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/aligned_depth_to_fisheye1_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/aligned_depth_to_fisheye2_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/aligned_depth_to_fisheye_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/aligned_depth_to_infra1_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/aligned_depth_to_infra2_frame_id: realsense02_align...
 * /realsense02/realsense2_camera/allow_no_texture_points: False
 * /realsense02/realsense2_camera/base_frame_id: realsense02_link
 * /realsense02/realsense2_camera/calib_odom_file: 
 * /realsense02/realsense2_camera/clip_distance: -1.0
 * /realsense02/realsense2_camera/color_fps: 30
 * /realsense02/realsense2_camera/color_frame_id: realsense02_color...
 * /realsense02/realsense2_camera/color_height: 480
 * /realsense02/realsense2_camera/color_optical_frame_id: realsense02_color...
 * /realsense02/realsense2_camera/color_width: 640
 * /realsense02/realsense2_camera/depth_fps: 30
 * /realsense02/realsense2_camera/depth_frame_id: realsense02_depth...
 * /realsense02/realsense2_camera/depth_height: 480
 * /realsense02/realsense2_camera/depth_optical_frame_id: realsense02_depth...
 * /realsense02/realsense2_camera/depth_width: 640
 * /realsense02/realsense2_camera/device_type: 
 * /realsense02/realsense2_camera/enable_accel: True
 * /realsense02/realsense2_camera/enable_color: True
 * /realsense02/realsense2_camera/enable_depth: True
 * /realsense02/realsense2_camera/enable_fisheye1: True
 * /realsense02/realsense2_camera/enable_fisheye2: True
 * /realsense02/realsense2_camera/enable_fisheye: True
 * /realsense02/realsense2_camera/enable_gyro: True
 * /realsense02/realsense2_camera/enable_infra1: True
 * /realsense02/realsense2_camera/enable_infra2: True
 * /realsense02/realsense2_camera/enable_pointcloud: False
 * /realsense02/realsense2_camera/enable_sync: True
 * /realsense02/realsense2_camera/filters: 
 * /realsense02/realsense2_camera/fisheye1_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye1_optical_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye2_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye2_optical_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye_fps: 30
 * /realsense02/realsense2_camera/fisheye_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye_height: 480
 * /realsense02/realsense2_camera/fisheye_optical_frame_id: realsense02_fishe...
 * /realsense02/realsense2_camera/fisheye_width: 640
 * /realsense02/realsense2_camera/gyro_fps: 400
 * /realsense02/realsense2_camera/gyro_frame_id: realsense02_gyro_...
 * /realsense02/realsense2_camera/gyro_optical_frame_id: realsense02_gyro_...
 * /realsense02/realsense2_camera/imu_optical_frame_id: realsense02_imu_o...
 * /realsense02/realsense2_camera/infra1_frame_id: realsense02_infra...
 * /realsense02/realsense2_camera/infra1_optical_frame_id: realsense02_infra...
 * /realsense02/realsense2_camera/infra2_frame_id: realsense02_infra...
 * /realsense02/realsense2_camera/infra2_optical_frame_id: realsense02_infra...
 * /realsense02/realsense2_camera/infra_fps: 30
 * /realsense02/realsense2_camera/infra_height: 480
 * /realsense02/realsense2_camera/infra_width: 640
 * /realsense02/realsense2_camera/initial_reset: False
 * /realsense02/realsense2_camera/json_file_path: 
 * /realsense02/realsense2_camera/linear_accel_cov: 0.01
 * /realsense02/realsense2_camera/odom_frame_id: realsense02_odom_...
 * /realsense02/realsense2_camera/pointcloud_texture_index: 0
 * /realsense02/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /realsense02/realsense2_camera/pose_frame_id: realsense02_pose_...
 * /realsense02/realsense2_camera/pose_optical_frame_id: realsense02_pose_...
 * /realsense02/realsense2_camera/publish_odom_tf: True
 * /realsense02/realsense2_camera/publish_tf: True
 * /realsense02/realsense2_camera/rosbag_filename: 
 * /realsense02/realsense2_camera/serial_no: 
 * /realsense02/realsense2_camera/tf_publish_rate: 0.0
 * /realsense02/realsense2_camera/topic_odom_in: realsense02/odom_in
 * /realsense02/realsense2_camera/unite_imu_method: none
 * /realsense02/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /realsense02/
    color_rectify_color (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://10.21.104.72:11311/

process[realsense02/realsense2_camera_manager-1]: started with pid [367]
[ INFO] [1656005974.248382935]: Initializing nodelet with 4 worker threads.
process[realsense02/realsense2_camera-2]: started with pid [370]
[ INFO] [1656005974.818501140]: RealSense ROS v2.2.12
[ INFO] [1656005974.818564015]: Running with LibRealSense v2.32.1
[ INFO] [1656005974.846153599]:  
[ INFO] [1656005974.968412201]: Device with serial number 042222071631 was found.

[ INFO] [1656005974.970527554]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video10 was found.
[ INFO] [1656005974.971017548]: Device with name Intel RealSense D435I was found.
[ INFO] [1656005974.972162234]: Device with port number 2-1 was found.
[ INFO] [1656005974.987084527]: getParameters...
[ INFO] [1656005975.049020163]: setupDevice...
[ INFO] [1656005975.049064079]: JSON file is not provided
[ INFO] [1656005975.049171595]: ROS Node Namespace: realsense02
[ INFO] [1656005975.049325842]: Device Name: Intel RealSense D435I
[ INFO] [1656005975.049426376]: Device Serial No: 042222071631
[ INFO] [1656005975.049567258]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video10
[ INFO] [1656005975.049581239]: Device FW version: 05.12.07.100
[ INFO] [1656005975.049592893]: Device Product ID: 0x0B3A
[ INFO] [1656005975.049601414]: Enable PointCloud: Off
[ INFO] [1656005975.049609539]: Align Depth: On
[ INFO] [1656005975.049619717]: Sync Mode: On
[ INFO] [1656005975.049670027]: Device Sensors: 
[ INFO] [1656005975.049901421]: Stereo Module was found.
[ INFO] [1656005975.050025618]: RGB Camera was found.
[ INFO] [1656005975.050098595]: Motion Module was found.
[ INFO] [1656005975.050341423]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005975.050360172]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005975.050515274]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005975.050571026]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656005975.050595845]: num_filters: 0
[ INFO] [1656005975.050607300]: Setting Dynamic reconfig parameters.
[ INFO] [1656005975.090088983]: Done Setting Dynamic reconfig parameters.
[ INFO] [1656005975.105436049]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1656005975.105933731]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1656005975.106285113]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
 23/06 17:39:35,106 WARNING [140010975819520] (backend-v4l2.cpp:1208) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
[ INFO] [1656005975.111188022]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1656005975.114251390]: setupPublishers...
[ INFO] [1656005975.117143469]: Expected frequency for depth = 30.00000
[ INFO] [1656005975.148248208]: Expected frequency for infra1 = 30.00000
[ INFO] [1656005975.164391530]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1656005975.183113271]: Expected frequency for infra2 = 30.00000
[ INFO] [1656005975.208474555]: Expected frequency for color = 30.00000
process[realsense02/color_rectify_color-3]: started with pid [382]
[ INFO] [1656005975.225318951]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1656005975.282115250]: setupStreams...
[ INFO] [1656005975.282698524]: insert Depth to Stereo Module
[ INFO] [1656005975.282911392]: insert Color to RGB Camera
[ INFO] [1656005975.283014559]: insert Infrared to Stereo Module
[ INFO] [1656005975.283029079]: insert Infrared to Stereo Module
[ INFO] [1656005975.283059050]: insert Gyro to Motion Module
[ INFO] [1656005975.283091829]: insert Accel to Motion Module
 23/06 17:39:35,286 ERROR [140010975819520] (types.h:304) iio hid device is busy or not found! Last Error: Device or resource busy
[ERROR] [1656005975.286871193]: An exception has been thrown: iio hid device is busy or not found! Last Error: Device or resource busy
terminate called after throwing an instance of 'rs2::backend_error'
  what():  iio hid device is busy or not found! Last Error: Device or resource busy
[FATAL] [1656005975.417201255]: Failed to load nodelet '/realsense02/color_rectify_color` of type `image_proc/rectify` to manager `realsense2_camera_manager'
[realsense02/realsense2_camera_manager-1] process has died [pid 367, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/realsense02-realsense2_camera_manager-1.log].
log file: /root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/realsense02-realsense2_camera_manager-1*.log
[realsense02/color_rectify_color-3] process has died [pid 382, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load image_proc/rectify realsense2_camera_manager --no-bond image_mono:=color/image_raw image_rect:=color/image_rect_color __name:=color_rectify_color __log:=/root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/realsense02-color_rectify_color-3.log].
log file: /root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/realsense02-color_rectify_color-3*.log
process[realsense02/points_xyzrgb_hw_registered-4]: started with pid [409]
[realsense02/realsense2_camera-2] process has finished cleanly
log file: /root/.ros/log/465be508-f31b-11ec-8781-f894c28bcba3/realsense02-realsense2_camera-2*.log
^C[realsense02/points_xyzrgb_hw_registered-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
bsubbaraman commented 2 years ago

haven't used the system in a few years, so perhaps take my advice with a grain of salt 😆 but it looks like you're using two realsense imagers from the same machine. for e.g. the kinect, you need to supply the serial number to distinguish between the two (see the multi-camera calibration section of the wiki). I don't think I ever tried 2 realsense on the same machine, but this seems to match the device is busy error you get. You could try adding the serial numbers to the configuration file and see if that works-- or, if you have access to another machine, move to a 1 camera per machine setup!

tobiasonkes commented 2 years ago

Thank you. Yeah this solve the Problem :)