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Realsensel D453i in roslaunch realsense2_camera not working ! #1359

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tt2cloud opened this issue Aug 29, 2020 · 12 comments
Closed

Realsensel D453i in roslaunch realsense2_camera not working ! #1359

tt2cloud opened this issue Aug 29, 2020 · 12 comments
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@tt2cloud
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Hello,everyone, I used Ubuntu16.04 LTS on PC, ROS kinetic and the device is Intel RealSense D435i.
I followed these installation guide (https://github.com/IntelRealSense/realsense-ros)

realsense-viewer is working.
2020-08-29 20-43-04屏幕截图
But if I launch
roslaunch realsense2_camera rs_camera.launch
the terminal shows like this.
yun@yun-HP-EliteDesk-800-G4-TWR:~$ roslaunch realsense2_camera rs_camera.launch
... logging to /home/yun/.ros/log/68af5518-e9cc-11ea-8cce-1cbfce291082/roslaunch-yun-HP-EliteDesk-800-G4-TWR-9077.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://yun-HP-EliteDesk-800-G4-TWR:40675/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -2.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: True
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/filters:
  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
  • /camera/realsense2_camera/infra_fps: 30
  • /camera/realsense2_camera/infra_height: 480
  • /camera/realsense2_camera/infra_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame
  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
  • /camera/realsense2_camera/publish_odom_tf: True
  • /camera/realsense2_camera/publish_tf: True
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: odom_in
  • /camera/realsense2_camera/unite_imu_method:
  • /camera/realsense2_camera/usb_port_id:
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

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

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [9094]
process[camera/realsense2_camera-2]: started with pid [9095]
[ INFO] [1598691414.934331288]: Initializing nodelet with 12 worker threads.
[ INFO] [1598691414.989395046]: RealSense ROS v2.2.11
[ INFO] [1598691414.989423503]: Running with LibRealSense v2.37.0
[ INFO] [1598691415.005053347]:
[ INFO] [1598691415.462507780]: Device with serial number 909512070635 was found.

[ INFO] [1598691415.462606380]: Device with physical ID 2-6-5 was found.
[ INFO] [1598691415.462665991]: Device with name Intel RealSense D435I was found.
[ WARN] [1598691415.466826342]: Error extracting usb port from device with physical ID: 2-6-5
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1598691415.481888950]: getParameters...
[ INFO] [1598691415.625338248]: setupDevice...
[ INFO] [1598691415.625370942]: JSON file is not provided
[ INFO] [1598691415.625387543]: ROS Node Namespace: camera
[ INFO] [1598691415.625414594]: Device Name: Intel RealSense D435I
[ INFO] [1598691415.625433836]: Device Serial No: 909512070635
[ INFO] [1598691415.625451557]: Device physical port: 2-6-5
[ INFO] [1598691415.625479144]: Device FW version: 05.11.15.00
[ INFO] [1598691415.625504746]: Device Product ID: 0x0B3A
[ INFO] [1598691415.625521760]: Enable PointCloud: Off
[ INFO] [1598691415.625535875]: Align Depth: Off
[ INFO] [1598691415.625550728]: Sync Mode: Off
[ INFO] [1598691415.625751997]: Device Sensors:
[ INFO] [1598691415.625928487]: Stereo Module was found.
[ INFO] [1598691415.625974864]: RGB Camera was found.
[ INFO] [1598691415.626000107]: Motion Module was found.
[ INFO] [1598691415.626041536]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1598691415.626064452]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1598691415.626082923]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1598691415.626103195]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1598691415.626268000]: num_filters: 0
[ INFO] [1598691415.626288628]: Setting Dynamic reconfig parameters.
*** Error in `/opt/ros/kinetic/lib/nodelet/nodelet': malloc(): memory corruption: 0x00007f6440042cc0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777f5)[0x7f64747147f5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8215e)[0x7f647471f15e]
/lib/x86_64-linux-gnu/libc.so.6(__libc_malloc+0x54)[0x7f64747211d4]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_Znwm+0x18)[0x7f6474d0ae78]
/opt/ros/kinetic/lib/libroscpp.so(ZN5boost11make_sharedIN3ros12TimerManagerINS1_4TimeENS1_8DurationENS1_10TimerEventEE9TimerInfoEIEEENS_6detail15sp_if_not_arrayIT_E4typeEDpOT0+0x27)[0x7f6475b45a67]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros12TimerManagerINS_4TimeENS_8DurationENS_10TimerEventEE3addERKS2_RKN5boost8functionIFvRKS3_EEEPNS_22CallbackQueueInterfaceERKNS7_10shared_ptrIKvEEb+0x57)[0x7f6475b46a97]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros5Timer4Impl5startEv+0x7c)[0x7f6475b4422c]
/opt/ros/kinetic/lib/libroscpp.so(_ZNK3ros10NodeHandle11createTimerERNS_12TimerOptionsE+0x38)[0x7f6475b7c7b8]
/opt/ros/kinetic/lib/libroscpp.so(_ZNK3ros10NodeHandle11createTimerENS_8DurationERKN5boost8functionIFvRKNS_10TimerEventEEEEbb+0x1d3)[0x7f6475b7c9d3]
/home/yun/catkin_ws/devel/lib/libddynamic_reconfigure.so(_ZN20ddynamic_reconfigure19DDynamicReconfigureC2ERKN3ros10NodeHandleE+0x200)[0x7f645918bf70]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZN9__gnu_cxx13new_allocatorIN20ddynamic_reconfigure19DDynamicReconfigureEE9constructIS2_JRN3ros10NodeHandleEEEEvPT_DpOT0+0x4c)[0x7f646c521fd8]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZNSt16allocator_traitsISaIN20ddynamic_reconfigure19DDynamicReconfigureEEE9constructIS1_IRN3ros10NodeHandleEEEEvRS2_PT_DpOT0+0x36)[0x7f646c51d8ac]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZNSt23_Sp_counted_ptr_inplaceIN20ddynamic_reconfigure19DDynamicReconfigureESaIS1_ELN9__gnu_cxx12_Lock_policyE2EEC1IJRN3ros10NodeHandleEEEES2_DpOT+0x99)[0x7f646c517cdf]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZNSt14__shared_countILN9__gnu_cxx12_Lock_policyE2EEC1IN20ddynamic_reconfigure19DDynamicReconfigureESaIS5_EIRN3ros10NodeHandleEEEESt19_Sp_make_shared_tagPT_RKT0_DpOT1+0xb8)[0x7f646c510666]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZNSt12__shared_ptrIN20ddynamic_reconfigure19DDynamicReconfigureELN9__gnu_cxx12_Lock_policyE2EEC2ISaIS1_EIRN3ros10NodeHandleEEEESt19_Sp_make_shared_tagRKT_DpOT0+0x50)[0x7f646c505188]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZNSt10shared_ptrIN20ddynamic_reconfigure19DDynamicReconfigureEEC2ISaIS1_EJRN3ros10NodeHandleEEEESt19_Sp_make_shared_tagRKT_DpOT0+0x3c)[0x7f646c4f46c2]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZSt15allocate_sharedIN20ddynamic_reconfigure19DDynamicReconfigureESaIS1_EIRN3ros10NodeHandleEEESt10shared_ptrIT_ERKT0_DpOT1+0x3c)[0x7f646c4e6041]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(ZSt11make_sharedIN20ddynamic_reconfigure19DDynamicReconfigureEIRN3ros10NodeHandleEEESt10shared_ptrIT_EDpOT0+0x42)[0x7f646c4d4777]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera17BaseRealSenseNode21registerDynamicOptionERN3ros10NodeHandleEN3rs27optionsERNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE+0x74)[0x7f646c49ea4e]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera17BaseRealSenseNode25registerDynamicReconfigCbERN3ros10NodeHandleE+0x3fb)[0x7f646c4a00c3]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera17BaseRealSenseNode13publishTopicsEv+0x7d)[0x7f646c49c7d7]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(_ZN17realsense2_camera20RealSenseNodeFactory11StartDeviceEv+0x4c0)[0x7f646c461e2a]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(+0x22e93b)[0x7f646c46093b]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(+0x2335be)[0x7f646c4655be]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(+0x233527)[0x7f646c465527]
/home/yun/catkin_ws/devel/lib//librealsense2_camera.so(+0x2334c6)[0x7f646c4654c6]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xb8c80)[0x7f6474d35c80]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x76ba)[0x7f6473a006ba]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7f64747a44dd]
======= Memory map: ========
00400000-0040e000 r-xp 00000000 08:14 659075 /opt/ros/kinetic/lib/nodelet/nodelet
0060d000-0060e000 r--p 0000d000 08:14 659075 /opt/ros/kinetic/lib/nodelet/nodelet
0060e000-0060f000 rw-p 0000e000 08:14 659075 /opt/ros/kinetic/lib/nodelet/nodelet
00952000-00e30000 rw-p 00000000 00:00 0 [heap]
7f64337ff000-7f6433800000 ---p 00000000 00:00 0
7f6433800000-7f6434000000 rwxp 00000000 00:00 0
7f6434000000-7f6434021000 rw-p 00000000 00:00 0
7f6434021000-7f6438000000 ---p 00000000 00:00 0
7f6438000000-7f6438021000 rw-p 00000000 00:00 0
7f6438021000-7f643c000000 ---p 00000000 00:00 0
7f643c7f9000-7f643c7fa000 ---p 00000000 00:00 0
7f643c7fa000-7f643cffa000 rwxp 00000000 00:00 0
7f643cffa000-7f643cffb000 ---p 00000000 00:00 0
7f643cffb000-7f643d7fb000 rwxp 00000000 00:00 0
7f643d7fb000-7f643d7fc000 ---p 00000000 00:00 0
7f643d7fc000-7f643dffc000 rwxp 00000000 00:00 0
7f643dffc000-7f643dffd000 ---p 00000000 00:00 0
7f643dffd000-7f643e7fd000 rwxp 00000000 00:00 0
7f643e7fd000-7f643e7fe000 ---p 00000000 00:00 0
7f643e7fe000-7f643effe000 rwxp 00000000 00:00 0
7f643effe000-7f643efff000 ---p 00000000 00:00 0
7f643efff000-7f643f7ff000 rwxp 00000000 00:00 0
7f643f7ff000-7f643f800000 ---p 00000000 00:00 0
7f643f800000-7f6440000000 rwxp 00000000 00:00 0
7f6440000000-7f64400b7000 rw-p 00000000 00:00 0
7f64400b7000-7f6444000000 ---p 00000000 00:00 0
7f64447f9000-7f64447fa000 ---p 00000000 00:00 0
7f64447fa000-7f6444ffa000 rwxp 00000000 00:00 0
7f6444ffa000-7f6444ffb000 ---p 00000000 00:00 0
7f6444ffb000-7f64457fb000 rwxp 00000000 00:00 0
7f64457fb000-7f64457fc000 ---p 00000000 00:00 0
7f64457fc000-7f6445ffc000 rwxp 00000000 00:00 0
7f6445ffc000-7f6445ffd000 ---p 00000000 00:00 0
7f6445ffd000-7f64467fd000 rwxp 00000000 00:00 0
7f64467fd000-7f64467fe000 ---p 00000000 00:00 0
7f64467fe000-7f6446ffe000 rwxp 00000000 00:00 0
7f6446ffe000-7f6446fff000 ---p 00000000 00:00 0
7f6446fff000-7f64477ff000 rwxp 00000000 00:00 0
7f64477ff000-7f6447800000 ---p 00000000 00:00 0
7f6447800000-7f6448000000 rwxp 00000000 00:00 0
7f6448000000-7f6448021000 rw-p 00000000 00:00 0
7f6448021000-7f644c000000 ---p 00000000 00:00 0
7f644c18e000-7f644c18f000 ---p 00000000 00:00 0
7f644c18f000-7f644c98f000 rwxp 00000000 00:00 0
7f644c98f000-7f644c99a000 r-xp 00000000 08:14 1976242 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f644c99a000-7f644cb99000 ---p 0000b000 08:14 1976242 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f644cb99000-7f644cb9a000 r--p 0000a000 08:14 1976242 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f644cb9a000-7f644cb9d000 rw-p 0000b000 08:14 1976242 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7f644cb9d000-7f644cbbe000 r-xp 00000000 08:14 1184903 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f644cbbe000-7f644cdbd000 ---p 00021000 08:14 1184903 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f644cdbd000-7f644cdbe000 r--p 00020000 08:14 1184903 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f644cdbe000-7f644cdbf000 rw-p 00021000 08:14 1184903 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7f644cdbf000-7f644ce09000 r-xp 00000000 08:14 1976239 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f644ce09000-7f644d008000 ---p 0004a000 08:14 1976239 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f644d008000-7f644d009000 r--p 00049000 08:14 1976239 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f644d009000-7f644d00d000 rw-p 0004a000 08:14 1976239 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0
7f644d00d000-7f644d014000 rw-p 00000000 00:00 0
7f644d014000-7f644d085000 r-xp 00000000 08:14 1968296 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f644d085000-7f644d285000 ---p 00071000 08:14 1968296 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f644d285000-7f644d286000 r--p 00071000 08:14 1968296 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f644d286000-7f644d289000 rw-p 00072000 08:14 1968296 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4
7f644d289000-7f644d2ad000 r-xp 00000000 08:14 1184977 /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f644d2ad000-7f644d4ac000 ---p 00024000 08:14 1184977 /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f644d4ac000-7f644d4ad000 r--p 00023000 08:14 1184977 /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f644d4ad000-7f644d4ae000 rw-p 00024000 08:14 1184977 /lib/x86_64-linux-gnu/libpng12.so.0.54.0
7f644d4ae000-7f644d507000 r-xp 00000000 08:14 1976818 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f644d507000-7f644d707000 ---p 00059000 08:14 1976818 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f644d707000-7f644d708000 r--p 00059000 08:14 1976818 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f644d708000-7f644d70a000 rw-p 0005a000 08:14 1976818 /usr/lib/x86_64-linux-gnu/libwebp.so.5.0.4
7f644d70a000-7f644fd29000 r-xp 00000000 08:14 656989 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1
7f644fd29000-7f644ff29000 ---p 0261f000 08:14 656989 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1
7f644ff29000-7f644ff3f000 r--p 0261f000 08:14 656989 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1
7f644ff3f000-7f644ff61000 rw-p 02635000 08:14 656989 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1
7f644ff61000-7f6450000000 rw-p 00000000 00:00 0
7f6450000000-7f6450021000 rw-p 00000000 00:00 0
7f6450021000-7f6454000000 ---p 00000000 00:00 0
7f6454000000-7f6454021000 rw-p 00000000 00:00 0
7f6454021000-7f6458000000 ---p 00000000 00:00 0
7f6458200000-7f6458257000 r-xp 00000000 08:14 1986575 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f6458257000-7f6458457000 ---p 00057000 08:14 1986575 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f6458457000-7f6458458000 r--p 00057000 08:14 1986575 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
7f6458458000-7f6458459000 rw-p 00058000 08:14 1986575 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2
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7f6472cbd000-7f6472cbe000 rw-p 001d4000 08:14 1986848 /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f6472cbe000-7f6472cc0000 rw-p 00000000 00:00 0
7f6472cc0000-7f6472cc1000 r-xp 00000000 08:14 657690 /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f6472cc1000-7f6472ec0000 ---p 00001000 08:14 657690 /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f6472ec0000-7f6472ec1000 r--p 00000000 08:14 657690 /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f6472ec1000-7f6472ec2000 rw-p 00001000 08:14 657690 /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f6472ec2000-7f6472ed8000 r-xp 00000000 08:14 657691 /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f6472ed8000-7f64730d8000 ---p 00016000 08:14 657691 /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f64730d8000-7f64730da000 r--p 00016000 08:14 657691 /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f64730da000-7f64730db000 rw-p 00018000 08:14 657691 /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f64730db000-7f64730e1000 r-xp 00000000 08:14 1985518 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f64730e1000-7f64732e1000 ---p 00006000 08:14 1985518 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f64732e1000-7f64732e2000 r--p 00006000 08:14 1985518 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f64732e2000-7f64732e3000 rw-p 00007000 08:14 1985518 /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f64732e3000-7f64732ea000 r-xp 00000000 08:14 655551 /opt/ros/kinetic/lib/libcpp_common.so
7f64732ea000-7f64734e9000 ---p 00007000 08:14 655551 /opt/ros/kinetic/lib/libcpp_common.so
7f64734e9000-7f64734ea000 r--p 00006000 08:14 655551 /opt/ros/kinetic/lib/libcpp_common.so
7f64734ea000-7f64734eb000 rw-p 00007000 08:14 655551 /opt/ros/kinetic/lib/libcpp_common.so
7f64734eb000-7f64735f3000 r-xp 00000000 08:14 1179837 /lib/x86_64-linux-gnu/libm-2.23.so
7f64735f3000-7f64737f2000 ---p 00108000 08:14 1179837 /lib/x86_64-linux-gnu/libm-2.23.so
7f64737f2000-7f64737f3000 r--p 00107000 08:14 1179837 /lib/x86_64-linux-gnu/libm-2.23.so
7f64737f3000-7f64737f4000 rw-p 00108000 08:14 1179837 /lib/x86_64-linux-gnu/libm-2.23.so
7f64737f4000-7f64737f8000 r-xp 00000000 08:14 1979776 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f64737f8000-7f64739f7000 ---p 00004000 08:14 1979776 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f64739f7000-7f64739f8000 r--p 00003000 08:14 1979776 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f64739f8000-7f64739f9000 rw-p 00004000 08:14 1979776 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f64739f9000-7f6473a11000 r-xp 00000000 08:14 1179834 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f6473a11000-7f6473c10000 ---p 00018000 08:14 1179834 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f6473c10000-7f6473c11000 r--p 00017000 08:14 1179834 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f6473c11000-7f6473c12000 rw-p 00018000 08:14 1179834 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f6473c12000-7f6473c16000 rw-p 00000000 00:00 0
7f6473c16000-7f6473c3a000 r-xp 00000000 08:14 1979573 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f6473c3a000-7f6473e39000 ---p 00024000 08:14 1979573 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f6473e39000-7f6473e3b000 r--p 00023000 08:14 1979573 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f6473e3b000-7f6473e3c000 rw-p 00025000 08:14 1979573 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f6473e3c000-7f6473e53000 r-xp 00000000 08:14 1975642 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f6473e53000-7f6474052000 ---p 00017000 08:14 1975642 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f6474052000-7f6474053000 r--p 00016000 08:14 1975642 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f6474053000-7f6474054000 rw-p 00017000 08:14 1975642 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f6474054000-7f6474064000 r-xp 00000000 08:14 658034 /opt/ros/kinetic/lib/libroslib.so
7f6474064000-7f6474264000 ---p 00010000 08:14 658034 /opt/ros/kinetic/lib/libroslib.so
7f6474264000-7f6474265000 r--p 00010000 08:14 658034 /opt/ros/kinetic/lib/libroslib.so
7f6474265000-7f6474266000 rw-p 00011000 08:14 658034 /opt/ros/kinetic/lib/libroslib.so
7f6474266000-7f6474288000 r-xp 00000000 08:14 657980 /opt/ros/kinetic/lib/libclass_loader.so
7f6474288000-7f6474488000 ---p 00022000 08:14 657980 /opt/ros/kinetic/lib/libclass_loader.so
7f6474488000-7f6474489000 r--p 00022000 08:14 657980 /opt/ros/kinetic/lib/libclass_loader.so
7f6474489000-7f647448a000 rw-p 00023000 08:14 657980 /opt/ros/kinetic/lib/libclass_loader.so
7f647448a000-7f647449b000 r-xp 00000000 08:14 1979793 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
7f647449b000-7f647469b000 ---p 00011000 08:14 1979793 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
7f647469b000-7f647469c000 r--p 00011000 08:14 1979793 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
7f647469c000-7f647469d000 rw-p 00012000 08:14 1979793 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
7f647469d000-7f647485d000 r-xp 00000000 08:14 1179833 /lib/x86_64-linux-gnu/libc-2.23.so
7f647485d000-7f6474a5d000 ---p 001c0000 08:14 1179833 /lib/x86_64-linux-gnu/libc-2.23.so
7f6474a5d000-7f6474a61000 r--p 001c0000 08:14 1179833 /lib/x86_64-linux-gnu/libc-2.23.so
7f6474a61000-7f6474a63000 rw-p 001c4000 08:14 1179833 /lib/x86_64-linux-gnu/libc-2.23.so
7f6474a63000-7f6474a67000 rw-p 00000000 00:00 0
7f6474a67000-7f6474a7d000 r-xp 00000000 08:14 1184874 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f6474a7d000-7f6474c7c000 ---p 00016000 08:14 1184874 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f6474c7c000-7f6474c7d000 rw-p 00015000 08:14 1184874 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f6474c7d000-7f6474def000 r-xp 00000000 08:14 1968270 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f6474def000-7f6474fef000 ---p 00172000 08:14 1968270 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f6474fef000-7f6474ff9000 r--p 00172000 08:14 1968270 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f6474ff9000-7f6474ffb000 rw-p 0017c000 08:14 1968270 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f6474ffb000-7f6474fff000 rw-p 00000000 00:00 0
7f6474fff000-7f6475002000 r-xp 00000000 08:14 1975644 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f6475002000-7f6475201000 ---p 00003000 08:14 1975644 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f6475201000-7f6475202000 r--p 00002000 08:14 1975644 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f6475202000-7f6475203000 rw-p 00003000 08:14 1975644 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f6475203000-7f647522e000 r-xp 00000000 08:14 655638 /opt/ros/kinetic/lib/librostime.so
7f647522e000-7f647542d000 ---p 0002b000 08:14 655638 /opt/ros/kinetic/lib/librostime.so
7f647542d000-7f647542f000 r--p 0002a000 08:14 655638 /opt/ros/kinetic/lib/librostime.so
7f647542f000-7f6475430000 rw-p 0002c000 08:14 655638 /opt/ros/kinetic/lib/librostime.so
7f6475430000-7f6475432000 r-xp 00000000 08:14 655663 /opt/ros/kinetic/lib/libroscpp_serialization.so
7f6475432000-7f6475631000 ---p 00002000 08:14 655663 /opt/ros/kinetic/lib/libroscpp_serialization.so
7f6475631000-7f6475632000 r--p 00001000 08:14 655663 /opt/ros/kinetic/lib/libroscpp_serialization.so
7f6475632000-7f6475633000 rw-p 00002000 08:14 655663 /opt/ros/kinetic/lib/libroscpp_serialization.so
7f6475633000-7f6475651000 r-xp 00000000 08:14 657760 /opt/ros/kinetic/lib/libxmlrpcpp.so
7f6475651000-7f6475850000 ---p 0001e000 08:14 657760 /opt/ros/kinetic/lib/libxmlrpcpp.so
7f6475850000-7f6475851000 r--p 0001d000 08:14 657760 /opt/ros/kinetic/lib/libxmlrpcpp.so
7f6475851000-7f6475852000 rw-p 0001e000 08:14 657760 /opt/ros/kinetic/lib/libxmlrpcpp.so
7f6475852000-7f6475881000 r-xp 00000000 08:14 657693 /opt/ros/kinetic/lib/librosconsole.so
7f6475881000-7f6475a81000 ---p 0002f000 08:14 657693 /opt/ros/kinetic/lib/librosconsole.so
7f6475a81000-7f6475a83000 r--p 0002f000 08:14 657693 /opt/ros/kinetic/lib/librosconsole.so
7f6475a83000-7f6475a84000 rw-p 00031000 08:14 657693 /opt/ros/kinetic/lib/librosconsole.so
7f6475a84000-7f6475c16000 r-xp 00000000 08:14 657799 /opt/ros/kinetic/lib/libroscpp.so
7f6475c16000-7f6475e15000 ---p 00192000 08:14 657799 /opt/ros/kinetic/lib/libroscpp.so
7f6475e15000-7f6475e1c000 r--p 00191000 08:14 657799 /opt/ros/kinetic/lib/libroscpp.so
7f6475e1c000-7f6475e20000 rw-p 00198000 08:14 657799 /opt/ros/kinetic/lib/libroscpp.so
7f6475e20000-7f6475e4d000 r-xp 00000000 08:14 659050 /opt/ros/kinetic/lib/libbondcpp.so
7f6475e4d000-7f647604d000 ---p 0002d000 08:14 659050 /opt/ros/kinetic/lib/libbondcpp.so
7f647604d000-7f647604f000 r--p 0002d000 08:14 659050 /opt/ros/kinetic/lib/libbondcpp.so
7f647604f000-7f6476050000 rw-p 0002f000 08:14 659050 /opt/ros/kinetic/lib/libbondcpp.so
7f6476050000-7f6476054000 r-xp 00000000 08:14 1184790 /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f6476054000-7f6476253000 ---p 00004000 08:14 1184790 /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f6476253000-7f6476254000 r--p 00003000 08:14 1184790 /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f6476254000-7f6476255000 rw-p 00004000 08:14 1184790 /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f6476255000-7f64762b9000 r-xp 00000000 08:14 659077 /opt/ros/kinetic/lib/libnodeletlib.so
7f64762b9000-7f64764b8000 ---p 00064000 08:14 659077 /opt/ros/kinetic/lib/libnodeletlib.so
7f64764b8000-7f64764bb000 r--p 00063000 08:14 659077 /opt/ros/kinetic/lib/libnodeletlib.so
7f64764bb000-7f64764bc000 rw-p 00066000 08:14 659077 /opt/ros/kinetic/lib/libnodeletlib.so
7f64764bc000-7f64764e2000 r-xp 00000000 08:14 1179844 /lib/x86_64-linux-gnu/ld-2.23.so
7f6476686000-7f64766a2000 rw-p 00000000 00:00 0
7f64766ad000-7f64766ae000 rw-p 00000000 00:00 0
7f64766ae000-7f64766cc000 r-xp 00000000 08:14 1184688 /lib/x86_64-linux-gnu/libudev.so.1.6.4
7f64766cc000-7f64766cd000 r--p 0001d000 08:14 1184688 /lib/x86_64-linux-gnu/libudev.so.1.6.4
7f64766cd000-7f64766ce000 rw-p 0001e000 08:14 1184688 /lib/x86_64-linux-gnu/libudev.so.1.6.4
7f64766ce000-7f64766e1000 rw-p 00000000 00:00 0
7f64766e1000-7f64766e2000 r--p 00025000 08:14 1179844 /lib/x86_64-linux-gnu/ld-2.23.so
7f64766e2000-7f64766e3000 rw-p 00026000 08:14 1179844 /lib/x86_64-linux-gnu/ld-2.23.so
7f64766e3000-7f64766e4000 rw-p 00000000 00:00 0
7ffea0665000-7ffea0686000 rwxp 00000000 00:00 0 [stack]
7ffea0686000-7ffea0687000 rw-p 00000000 00:00 0
7ffea0787000-7ffea078a000 r--p 00000000 00:00 0 [vvar]
7ffea078a000-7ffea078c000 r-xp 00000000 00:00 0 [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall]
[camera/realsense2_camera_manager-1] process has died [pid 9094, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/yun/.ros/log/68af5518-e9cc-11ea-8cce-1cbfce291082/camera-realsense2_camera_manager-1.log].
log file: /home/yun/.ros/log/68af5518-e9cc-11ea-8cce-1cbfce291082/camera-realsense2_camera_manager-1*.log
[camera/realsense2_camera-2] process has finished cleanly
log file: /home/yun/.ros/log/68af5518-e9cc-11ea-8cce-1cbfce291082/camera-realsense2_camera-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
I have been troubled by this problem for a few days, Could you help me,thanks in advance!!
@RealSenseSupport
@MartyG-RealSense
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MartyG-RealSense commented Aug 29, 2020 •
edited
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Hi @tt2cloud It is important to match the librealsense version as closely as possible with the version recommended on the ROS wrapper's Releases page for a particular wrapper version.

Your librealsense version is listed as 2.37.0 and your ROS wrapper version is 2.2.11. The 2.2.11 ROS wrapper was targed at the 2.31.0 version of librealsense. For the recent SDK 2.37.0, the recommended ROS wrapper version to match with it is 2.2.16.

https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.16

@tt2cloud
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Hi @tt2cloud It is important to match the librealsense version as closely as possible with the version recommended on the ROS wrapper's Releases page for a particular wrapper version.

Your librealsense version is listed as 2.37.0 and your ROS wrapper version is 2.2.11. The 2.2.11 ROS wrapper was targed at the 2.31.0 version of librealsense. For the recent SDK 2.37.0, the recommended ROS wrapper version to match with it is 2.2.16.

https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.16

I will try it later,thanks!!!

@MartyG-RealSense
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Hi @tt2cloud Do you still require assistance with this case, please? Thanks!

@MartyG-RealSense
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Case closed due to no further comments received.

@cxt98
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cxt98 commented Mar 1, 2021

Hi,

I also try to get realsense working with roslaunch on ubuntu 16.04. I can have it run with realsense-viewer and also another example python code using pyrealsense2. I just follow the sudo apt-get install ros-kinetic-realsense2-camera to install this library. When I run roslaunch realsense2_camera rs_camera.launch, I got the following. Could someone share their experience to figure this problem out? Thanks in advance!

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://cxt:39453/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: -1
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -2.0
  • /camera/realsense2_camera/color_fps: -1
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: -1
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: -1
  • /camera/realsense2_camera/confidence_fps: -1
  • /camera/realsense2_camera/confidence_height: -1
  • /camera/realsense2_camera/confidence_width: -1
  • /camera/realsense2_camera/depth_fps: -1
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: -1
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
  • /camera/realsense2_camera/depth_width: -1
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: False
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_confidence: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: False
  • /camera/realsense2_camera/enable_fisheye2: False
  • /camera/realsense2_camera/enable_fisheye: False
  • /camera/realsense2_camera/enable_gyro: False
  • /camera/realsense2_camera/enable_infra1: False
  • /camera/realsense2_camera/enable_infra2: False
  • /camera/realsense2_camera/enable_infra: False
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_pose: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/filters:
  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
  • /camera/realsense2_camera/fisheye_fps: -1
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: -1
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: -1
  • /camera/realsense2_camera/gyro_fps: -1
  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
  • /camera/realsense2_camera/infra_fps: -1
  • /camera/realsense2_camera/infra_height: -1
  • /camera/realsense2_camera/infra_rgb: False
  • /camera/realsense2_camera/infra_width: -1
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/ordered_pc: False
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame
  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
  • /camera/realsense2_camera/publish_odom_tf: True
  • /camera/realsense2_camera/publish_tf: True
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: odom_in
  • /camera/realsense2_camera/unite_imu_method:
  • /camera/realsense2_camera/usb_port_id:
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

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

auto-starting new master
process[master]: started with pid [32688]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cf2fc3c8-7ad5-11eb-b9d5-7085c2a76b1d
process[rosout-1]: started with pid [32701]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [32718]
process[camera/realsense2_camera-3]: started with pid [32719]
[ INFO] [1614634429.404945866]: Initializing nodelet with 6 worker threads.
[ INFO] [1614634429.451611861]: RealSense ROS v2.2.22
[ INFO] [1614634429.451634400]: Built with LibRealSense v2.42.0
[ INFO] [1614634429.451643854]: Running with LibRealSense v2.42.0
[ INFO] [1614634429.475527228]:
[ WARN] [1614634429.482052794]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1614634429.482076936]: The requested device with is NOT found. Will Try again.
01/03 16:33:49,481 ERROR [140009424287488] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
01/03 16:33:49,481 ERROR [140009652311808] (sensor.cpp:523) acquire_power failed: failed to set power state
01/03 16:33:49,482 WARNING [140009652311808] (rs.cpp:306) null pointer passed for argument "device"
[ INFO] [1614634435.495007601]:
[ WARN] [1614634435.501193130]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1614634435.501208121]: The requested device with is NOT found. Will Try again.
01/03 16:33:55,500 ERROR [140009635526400] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
01/03 16:33:55,500 ERROR [140009652311808] (sensor.cpp:523) acquire_power failed: failed to set power state
01/03 16:33:55,501 WARNING [140009652311808] (rs.cpp:306) null pointer passed for argument "device"
^C[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

@MartyG-RealSense
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Hi @cxt98 Your launch log looks very wrong, as most of the values are set at -1 instead of the default values that they should actually be configured at.

As a starting point, let's try resetting the camera at launch by adding an initial_reset instruction to the end of your roslaunch instruction:

roslaunch realsense2_camera rs_camera.launch initial_reset:=true

@cxt98
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cxt98 commented Mar 2, 2021 •
edited
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Hi @MartyG-RealSense, thanks a lot for your help! I rerun using the command you suggested and it seems got partially working. I attach the output here:

roslaunch realsense2_camera rs_camera.launch initial_reset:=true
... logging to /home/cxt/.ros/log/dc097e12-7b8f-11eb-9100-7085c2a76b1d/roslaunch-cxt-15043.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://cxt:32979/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: -1
 * /camera/realsense2_camera/infra_height: -1
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: -1
 * /camera/realsense2_camera/initial_reset: True
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

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

auto-starting new master
process[master]: started with pid [15053]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dc097e12-7b8f-11eb-9100-7085c2a76b1d
process[rosout-1]: started with pid [15066]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [15080]
process[camera/realsense2_camera-3]: started with pid [15084]
[ INFO] [1614714337.392521735]: Initializing nodelet with 6 worker threads.
[ INFO] [1614714337.448317315]: RealSense ROS v2.2.22
[ INFO] [1614714337.448341332]: Built with LibRealSense v2.42.0
[ INFO] [1614714337.448351607]: Running with LibRealSense v2.42.0
[ INFO] [1614714337.474111546]:  
[ INFO] [1614714337.726454750]: Device with serial number 048122072556 was found.

[ INFO] [1614714337.726492221]: Device with physical ID 2-8-4 was found.
[ INFO] [1614714337.726506938]: Device with name Intel RealSense D435I was found.
[ INFO] [1614714337.727132206]: Device with port number 2-8 was found.
[ INFO] [1614714337.727158430]: Device USB type: 3.2
[ INFO] [1614714337.727184167]: Resetting device...
[ INFO] [1614714343.777519993]:  
[ INFO] [1614714343.971066626]: Device with serial number 048122072556 was found.

[ INFO] [1614714343.971104290]: Device with physical ID 2-8-5 was found.
[ INFO] [1614714343.971117930]: Device with name Intel RealSense D435I was found.
[ INFO] [1614714343.971668218]: Device with port number 2-8 was found.
[ INFO] [1614714343.971688220]: Device USB type: 3.2
[ INFO] [1614714343.974264854]: getParameters...
[ INFO] [1614714344.066600919]: setupDevice...
[ INFO] [1614714344.066622118]: JSON file is not provided
[ INFO] [1614714344.066630118]: ROS Node Namespace: camera
[ INFO] [1614714344.066641890]: Device Name: Intel RealSense D435I
[ INFO] [1614714344.066650513]: Device Serial No: 048122072556
[ INFO] [1614714344.066658655]: Device physical port: 2-8-5
[ INFO] [1614714344.066666538]: Device FW version: 05.12.10.00
[ INFO] [1614714344.066675464]: Device Product ID: 0x0B3A
[ INFO] [1614714344.066684459]: Enable PointCloud: Off
[ INFO] [1614714344.066692272]: Align Depth: Off
[ INFO] [1614714344.066700132]: Sync Mode: Off
[ INFO] [1614714344.066738738]: Device Sensors: 
[ INFO] [1614714344.089141900]: Stereo Module was found.
[ INFO] [1614714344.118379831]: RGB Camera was found.
[ INFO] [1614714344.118703425]: Motion Module was found.
[ INFO] [1614714344.118752596]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1614714344.118791851]: num_filters: 0
[ INFO] [1614714344.118809921]: Setting Dynamic reconfig parameters.
[ INFO] [1614714344.670095415]: Done Setting Dynamic reconfig parameters.
[ INFO] [1614714344.671130491]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1614714344.673360912]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1614714344.673413659]: setupPublishers...
[ INFO] [1614714344.679052336]: Expected frequency for depth = 30.00000
[ INFO] [1614714344.721593918]: Expected frequency for color = 30.00000
[ INFO] [1614714344.749851704]: setupStreams...
[ INFO] [1614714344.760673793]: insert Depth to Stereo Module
[ INFO] [1614714344.760725583]: insert Color to RGB Camera
 02/03 14:45:44,808 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1614714344.859379917]: SELECTED BASE:Depth, 0
[ INFO] [1614714344.901410176]: RealSense Node Is Up!
[ WARN] [1614714344.927688824]: 
 02/03 14:45:44,928 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:44,978 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,130 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,229 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,280 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,431 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,482 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,633 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1614714345.670895289]: Hardware Notification:Motion Module failure,1.61471e+12,Error,Hardware Error
 02/03 14:45:45,683 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,835 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 02/03 14:45:45,885 WARNING [140451587806976] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61

This is what I got from 'rostopic list':

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

But I see in rviz there is no actual image available. Is there any reason I got the 'no data error'?

@MartyG-RealSense
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It seems to be applying the default stream settings of the camera model in the final stages of launch, which may explain how it is able to function despite the values initially being -1.

depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

It sets both of the above streams to the default speed of 30 FPS.

The control_transfer returned errors can be ignored if they only occur at launch, or appear once or twice a minute after launch. If they generate continuously though then it can indicate a serious communication problem with the device.

In regard to RViz, have you added a topic to it using the Add button at the bottom of the RViz side-panel?

You could also test the camera with RViz using the simple pointcloud example in the RealSense ROS wrapper documentation.

https://github.com/IntelRealSense/realsense-ros#point-cloud

@cxt98
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cxt98 commented Mar 2, 2021

Okay, I got it run successfully, thanks for your help!

@MartyG-RealSense
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You are very welcome @cxt98 !

@doronhi
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doronhi commented Mar 3, 2021

Thank you @MartyG-RealSense .
Just as a side note I would like to clarify the behavior regarding the "-1" values in the launch file. Version 2.2.22 introduced a new behavior for the profile selection, as is mentioned in the release notes. It now "Chooses the default profile in case of an invalid request. Notice that the rs_camera.launch file now selects the default profile for each device."
The "launch parameters" section in the README.md file has also been updated to reflect this new behavior.
The feature is meant to deal with the fact that not all devices have the same profiles. It also prevents the need to define default profiles in realsense2_camera, as they are already defined in the underlying librealsense2 library.
Thanks

@MartyG-RealSense
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Thanks very much @doronhi for the information about the "-1" values!

@MartyG-RealSense MartyG-RealSense mentioned this issue Mar 16, 2021
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@cxt98 @doronhi @MartyG-RealSense @tt2cloud