nodelet manager process has died, exit code -11, dmesg --> usb usb2-port3: cannot disable, segfault

[byhang]

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---

Required Info
Camera Model	D400
Firmware Version	05.13.00.50
Operating System & Version	Ubuntu 16
Kernel Version (Linux Only)	4.13.0-36-generic
Platform	PC
SDK Version	2.45.0 }
Language	c++ }
Segment	Robot }

Issue Description

Hi Intel,
I got error when launch official realsense-ros-2.3.0, use my launch file which copy from rs_camera.launch and include/nodelet.launch.xml.

roslaunch error:

[ WARN] [1656065577.814077970]: Param '/fl_cam/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 200000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1656065577.827148874]: Param '/fl_cam/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1656065577.962120107]: Done Setting Dynamic reconfig parameters.
[ INFO] [1656065577.963537216]: depth stream is enabled - width: 848, height: 480, fps: 15, Format: Z16
[ INFO] [1656065577.964731016]: color stream is enabled - width: 640, height: 480, fps: 6, Format: RGB8
[ INFO] [1656065577.968293423]: setupPublishers...
[fl_cam/fl_cam_manager-2] process has died [pid 8828, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=fl_cam_manager __log:=/home/byhang/.ros/log/2a5b1e34-f3a5-11ec-86dd-74e5f9ec52bb/fl_cam-fl_cam_manager-2.log].
log file: /home/byhang/.ros/log/2a5b1e34-f3a5-11ec-86dd-74e5f9ec52bb/fl_cam-fl_cam_manager-2*.log

dmesg error

[ 82.557328] audit: type=1400 audit(1656065110.496:34): apparmor="DENIED" operation="open" profile="/usr/lib/telepathy/mission-control-5" name="/etc/dconf/profile/user" pid=2878 comm="mission-control" requested_mask="r" denied_mask="r" fsuid=1000 ouid=0
[ 113.897267] usb 2-2: USB disconnect, device number 2
[ 116.283063] usb 2-2: new SuperSpeed USB device number 4 using xhci_hcd
[ 116.303670] usb 2-2: New USB device found, idVendor=8086, idProduct=0b07
[ 116.303677] usb 2-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 116.303682] usb 2-2: Product: Intel(R) RealSense(TM) Depth Camera 435
[ 116.303686] usb 2-2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435
[ 116.303690] usb 2-2: SerialNumber: 901523021387
[ 116.305049] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07)
[ 116.306993] uvcvideo: Unable to create debugfs 2-4 directory.
[ 116.307146] uvcvideo 2-2:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[ 116.307153] uvcvideo 2-2:1.0: Entity type for entity Processing 2 was not initialized!
[ 116.307158] uvcvideo 2-2:1.0: Entity type for entity Camera 1 was not initialized!
[ 116.307485] input: Intel(R) RealSense(TM) Depth Ca as /devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/input/input21
[ 116.308545] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07)
[ 116.309485] uvcvideo: Unable to create debugfs 2-4 directory.
[ 116.309666] uvcvideo 2-2:1.3: Entity type for entity Processing 7 was not initialized!
[ 116.309672] uvcvideo 2-2:1.3: Entity type for entity Extension 8 was not initialized!
[ 116.309677] uvcvideo 2-2:1.3: Entity type for entity Camera 6 was not initialized!
[ 117.522720] xhci_hcd 0000:00:14.0: Cannot set link state.
[ 117.522732] usb usb2-port3: cannot disable (err = -32)
[ 117.522743] usb 2-3: USB disconnect, device number 3
[ 117.523917] hid-sensor-hub 0003:8086:0B3A.0001: No report with id 0xffffffff found
[ 117.523939] hid-sensor-hub 0003:8086:0B3A.0001: No report with id 0xffffffff found
[ 117.524161] hid-sensor-hub 0003:8086:0B3A.0001: No report with id 0xffffffff found
[ 119.082831] usb 2-3: new SuperSpeed USB device number 5 using xhci_hcd
[ 119.103201] usb 2-3: New USB device found, idVendor=8086, idProduct=0b3a
[ 119.103202] usb 2-3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 119.103203] usb 2-3: Product: Intel(R) RealSense(TM) Depth Camera 435i
[ 119.103204] usb 2-3: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[ 119.103205] usb 2-3: SerialNumber: 903223053633
[ 119.104302] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 119.105887] uvcvideo: Unable to create debugfs 2-5 directory.
[ 119.105910] uvcvideo 2-3:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[ 119.105911] uvcvideo 2-3:1.0: Entity type for entity Processing 2 was not initialized!
[ 119.105912] uvcvideo 2-3:1.0: Entity type for entity Camera 1 was not initialized!
[ 119.105956] input: Intel(R) RealSense(TM) Depth Ca as /devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/input/input22
[ 119.106282] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 119.107060] uvcvideo: Unable to create debugfs 2-5 directory.
[ 119.107087] uvcvideo 2-3:1.3: Entity type for entity Processing 7 was not initialized!
[ 119.107087] uvcvideo 2-3:1.3: Entity type for entity Extension 8 was not initialized!
[ 119.107088] uvcvideo 2-3:1.3: Entity type for entity Camera 6 was not initialized!
[ 119.166972] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 119.167442] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 119.227542] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 119.227925] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 119.323565] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 122.333234] hid-sensor-hub 0003:8086:0B3A.0003: No report with id 0xffffffff found
[ 131.717974] nodelet[4038]: segfault at 1 ip 00007f84746844a1 sp 00007f843fffda80 error 6 in librostime.so[7f847466d000+2b000]
[ 137.668587] nodelet[4020]: segfault at 1 ip 00007fbe2436a4a1 sp 00007fbdefffda80 error 6 in librostime.so[7fbe24353000+2b000]

my launch file:

<node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)" respawn="$(arg respawn)"/>
<node pkg="nodelet" type="nodelet" name="node" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)" respawn="$(arg respawn)">
  <param name="serial_no"                type="str"  value="$(arg serial_no)"/>
  <param name="usb_port_id"              type="str"  value="$(arg usb_port_id)"/>
  <param name="device_type"              type="str"  value="$(arg device_type)"/>
  <param name="json_file_path"           type="str"  value="$(arg json_file_path)"/>
  <param name="rosbag_filename"          type="str"  value="$(arg rosbag_filename)"/>

  <param name="enable_pointcloud"        type="bool" value="$(arg enable_pointcloud)"/>
  <param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/>
  <param name="pointcloud_texture_index"  type="int" value="$(arg pointcloud_texture_index)"/>
  <param name="allow_no_texture_points"  type="bool"   value="$(arg allow_no_texture_points)"/>
  <param name="ordered_pc"               type="bool"   value="$(arg ordered_pc)"/>

  <param name="enable_sync"              type="bool" value="$(arg enable_sync)"/>
  <param name="align_depth"              type="bool" value="$(arg align_depth)"/>

  <param name="fisheye_width"            type="int"  value="$(arg fisheye_width)"/>
  <param name="fisheye_height"           type="int"  value="$(arg fisheye_height)"/>
  <param name="enable_fisheye"           type="bool" value="$(arg enable_fisheye)"/>
  <param name="enable_fisheye1"          type="bool" value="$(arg enable_fisheye1)"/>
  <param name="enable_fisheye2"          type="bool" value="$(arg enable_fisheye2)"/>

  <param name="depth_width"              type="int"  value="$(arg depth_width)"/>
  <param name="depth_height"             type="int"  value="$(arg depth_height)"/>
  <param name="enable_depth"             type="bool" value="$(arg enable_depth)"/>

  <param name="confidence_width"         type="int"  value="$(arg confidence_width)"/>
  <param name="confidence_height"        type="int"  value="$(arg confidence_height)"/>
  <param name="enable_confidence"        type="bool" value="$(arg enable_confidence)"/>
  <param name="confidence_fps"           type="int"  value="$(arg confidence_fps)"/>

  <param name="color_width"              type="int"  value="$(arg color_width)"/>
  <param name="color_height"             type="int"  value="$(arg color_height)"/>
  <param name="enable_color"             type="bool" value="$(arg enable_color)"/>

  <param name="infra_width"              type="int"  value="$(arg infra_width)"/>
  <param name="infra_height"             type="int"  value="$(arg infra_height)"/>
  <param name="enable_infra"             type="bool" value="$(arg enable_infra)"/>
  <param name="enable_infra1"            type="bool" value="$(arg enable_infra1)"/>
  <param name="enable_infra2"            type="bool" value="$(arg enable_infra2)"/>
  <param name="infra_rgb"                type="bool" value="$(arg infra_rgb)"/>

  <param name="fisheye_fps"              type="int"  value="$(arg fisheye_fps)"/>
  <param name="depth_fps"                type="int"  value="$(arg depth_fps)"/>
  <param name="infra_fps"                type="int"  value="$(arg infra_fps)"/>
  <param name="color_fps"                type="int"  value="$(arg color_fps)"/>
  <param name="gyro_fps"                 type="int"  value="$(arg gyro_fps)"/>
  <param name="accel_fps"                type="int"  value="$(arg accel_fps)"/>
  <param name="enable_gyro"              type="bool" value="$(arg enable_gyro)"/>
  <param name="enable_accel"             type="bool" value="$(arg enable_accel)"/>
  <param name="enable_pose"              type="bool" value="$(arg enable_pose)"/>

  <param name="base_frame_id"            type="str"  value="$(arg base_frame_id)"/>
  <param name="depth_frame_id"           type="str"  value="$(arg depth_frame_id)"/>
  <param name="infra1_frame_id"          type="str"  value="$(arg infra1_frame_id)"/>
  <param name="infra2_frame_id"          type="str"  value="$(arg infra2_frame_id)"/>
  <param name="color_frame_id"           type="str"  value="$(arg color_frame_id)"/>
  <param name="fisheye_frame_id"         type="str"  value="$(arg fisheye_frame_id)"/>
  <param name="fisheye1_frame_id"        type="str"  value="$(arg fisheye1_frame_id)"/>
  <param name="fisheye2_frame_id"        type="str"  value="$(arg fisheye2_frame_id)"/>
  <param name="accel_frame_id"           type="str"  value="$(arg accel_frame_id)"/>
  <param name="gyro_frame_id"            type="str"  value="$(arg gyro_frame_id)"/>
  <param name="pose_frame_id"            type="str"  value="$(arg pose_frame_id)"/>

  <param name="depth_optical_frame_id"    type="str"  value="$(arg depth_optical_frame_id)"/>
  <param name="infra1_optical_frame_id"   type="str"  value="$(arg infra1_optical_frame_id)"/>
  <param name="infra2_optical_frame_id"   type="str"  value="$(arg infra2_optical_frame_id)"/>
  <param name="color_optical_frame_id"    type="str"  value="$(arg color_optical_frame_id)"/>
  <param name="fisheye_optical_frame_id"  type="str"  value="$(arg fisheye_optical_frame_id)"/>
  <param name="fisheye1_optical_frame_id" type="str"  value="$(arg fisheye1_optical_frame_id)"/>
  <param name="fisheye2_optical_frame_id" type="str"  value="$(arg fisheye2_optical_frame_id)"/>
  <param name="accel_optical_frame_id"    type="str"  value="$(arg accel_optical_frame_id)"/>
  <param name="gyro_optical_frame_id"     type="str"  value="$(arg gyro_optical_frame_id)"/>
  <param name="imu_optical_frame_id"      type="str"  value="$(arg imu_optical_frame_id)"/>
  <param name="pose_optical_frame_id"     type="str"  value="$(arg pose_optical_frame_id)"/>

  <param name="aligned_depth_to_color_frame_id"    type="str"  value="$(arg aligned_depth_to_color_frame_id)"/>
  <param name="aligned_depth_to_infra1_frame_id"   type="str"  value="$(arg aligned_depth_to_infra1_frame_id)"/>
  <param name="aligned_depth_to_infra2_frame_id"   type="str"  value="$(arg aligned_depth_to_infra2_frame_id)"/>
  <param name="aligned_depth_to_fisheye_frame_id"  type="str"  value="$(arg aligned_depth_to_fisheye_frame_id)"/>
  <param name="aligned_depth_to_fisheye1_frame_id" type="str"  value="$(arg aligned_depth_to_fisheye1_frame_id)"/>
  <param name="aligned_depth_to_fisheye2_frame_id" type="str"  value="$(arg aligned_depth_to_fisheye2_frame_id)"/>

  <param name="publish_tf"               type="bool"   value="$(arg publish_tf)"/>
  <param name="tf_publish_rate"          type="double" value="$(arg tf_publish_rate)"/>

  <param name="odom_frame_id"            type="str"  value="$(arg odom_frame_id)"/>
  <param name="topic_odom_in"            type="str"  value="$(arg topic_odom_in)"/>
  <param name="calib_odom_file"          type="str"    value="$(arg calib_odom_file)"/>
  <param name="publish_odom_tf"          type="bool" value="$(arg publish_odom_tf)"/>
  <param name="stereo_module/exposure/1" type="int"  value="$(arg stereo_module/exposure/1)"/>
  <param name="stereo_module/gain/1"     type="int"  value="$(arg stereo_module/gain/1)"/>
  <param name="stereo_module/exposure/2" type="int"  value="$(arg stereo_module/exposure/2)"/>
  <param name="stereo_module/gain/2"     type="int"  value="$(arg stereo_module/gain/2)"/>

  <param name="filters"                  type="str"    value="$(arg filters)"/>
  <param name="clip_distance"            type="double" value="$(arg clip_distance)"/>
  <param name="linear_accel_cov"         type="double" value="$(arg linear_accel_cov)"/>
  <param name="initial_reset"            type="bool"   value="$(arg initial_reset)"/>
  <param name="reconnect_timeout"        type="double" value="$(arg reconnect_timeout)"/>
  <param name="wait_for_device_timeout"  type="double" value="$(arg wait_for_device_timeout)"/>
  <param name="unite_imu_method"         type="str"    value="$(arg unite_imu_method)"/>
</node>
<node pkg="nodelet" type="nodelet" name="depth_points"
    args="load depth_image_proc/point_cloud_xyz $(arg manager) --no-bond"
    respawn="$(arg respawn)" output="$(arg output)">
  <remap from="image_rect" to="/$(arg camera)/aligned_depth_to_color/image_raw"/> 
  <remap from="points"     to="/$(arg camera)/aligned_depth_to_color/points" />
</node> 
<node pkg="topic_tools" type="throttle" name="$(arg camera)_color_hz_control" args="messages /$(arg camera)/color/image_raw 6 /$(arg camera)/color/image_raw/fix_rate" output="$(arg output)"/>

[MartyG-RealSense]

Hi @byhang Is launch able to complete successfully if you use the original rs_camera.launch instead of your own copy of it?

Also, I note that your roslaunch log is identifying two separate cameras with unique serial numbers, a D435 and D435i. Can you confirm whether you are launching more than one camera, please? Thanks!

[byhang]

Hi @MartyG-RealSense
We use D435 D435i and D430, randomly, multi camera.
I use the original rs_camera.launch, got error, too.

➜ ~ roslaunch realsense2_camera rs_camera.launch camera:=fcb_hu_cam usb_port_id:=2-2
... logging to /home/byhang/.ros/log/2a5b1e34-f3a5-11ec-86dd-74e5f9ec52bb/roslaunch-Eros-28314.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://Eros:41353/

SUMMARY

PARAMETERS

• /fcb_hu_cam/realsense2_camera/accel_fps: -1
• /fcb_hu_cam/realsense2_camera/accel_frame_id: fcb_hu_cam_accel_...
• /fcb_hu_cam/realsense2_camera/accel_optical_frame_id: fcb_hu_cam_accel_...
• /fcb_hu_cam/realsense2_camera/align_depth: False
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_color_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_fisheye1_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_fisheye2_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_fisheye_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_infra1_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/aligned_depth_to_infra2_frame_id: fcb_hu_cam_aligne...
• /fcb_hu_cam/realsense2_camera/allow_no_texture_points: False
• /fcb_hu_cam/realsense2_camera/base_frame_id: fcb_hu_cam_link
• /fcb_hu_cam/realsense2_camera/calib_odom_file:
• /fcb_hu_cam/realsense2_camera/clip_distance: -2.0
• /fcb_hu_cam/realsense2_camera/color_fps: -1
• /fcb_hu_cam/realsense2_camera/color_frame_id: fcb_hu_cam_color_...
• /fcb_hu_cam/realsense2_camera/color_height: -1
• /fcb_hu_cam/realsense2_camera/color_optical_frame_id: fcb_hu_cam_color_...
• /fcb_hu_cam/realsense2_camera/color_width: -1
• /fcb_hu_cam/realsense2_camera/confidence_fps: -1
• /fcb_hu_cam/realsense2_camera/confidence_height: -1
• /fcb_hu_cam/realsense2_camera/confidence_width: -1
• /fcb_hu_cam/realsense2_camera/depth_fps: -1
• /fcb_hu_cam/realsense2_camera/depth_frame_id: fcb_hu_cam_depth_...
• /fcb_hu_cam/realsense2_camera/depth_height: -1
• /fcb_hu_cam/realsense2_camera/depth_optical_frame_id: fcb_hu_cam_depth_...
• /fcb_hu_cam/realsense2_camera/depth_width: -1
• /fcb_hu_cam/realsense2_camera/device_type:
• /fcb_hu_cam/realsense2_camera/enable_accel: False
• /fcb_hu_cam/realsense2_camera/enable_color: True
• /fcb_hu_cam/realsense2_camera/enable_confidence: True
• /fcb_hu_cam/realsense2_camera/enable_depth: True
• /fcb_hu_cam/realsense2_camera/enable_fisheye1: False
• /fcb_hu_cam/realsense2_camera/enable_fisheye2: False
• /fcb_hu_cam/realsense2_camera/enable_fisheye: False
• /fcb_hu_cam/realsense2_camera/enable_gyro: False
• /fcb_hu_cam/realsense2_camera/enable_infra1: False
• /fcb_hu_cam/realsense2_camera/enable_infra2: False
• /fcb_hu_cam/realsense2_camera/enable_infra: False
• /fcb_hu_cam/realsense2_camera/enable_pointcloud: False
• /fcb_hu_cam/realsense2_camera/enable_pose: False
• /fcb_hu_cam/realsense2_camera/enable_sync: False
• /fcb_hu_cam/realsense2_camera/filters:
• /fcb_hu_cam/realsense2_camera/fisheye1_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye1_optical_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye2_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye2_optical_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye_fps: -1
• /fcb_hu_cam/realsense2_camera/fisheye_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye_height: -1
• /fcb_hu_cam/realsense2_camera/fisheye_optical_frame_id: fcb_hu_cam_fishey...
• /fcb_hu_cam/realsense2_camera/fisheye_width: -1
• /fcb_hu_cam/realsense2_camera/gyro_fps: -1
• /fcb_hu_cam/realsense2_camera/gyro_frame_id: fcb_hu_cam_gyro_f...
• /fcb_hu_cam/realsense2_camera/gyro_optical_frame_id: fcb_hu_cam_gyro_o...
• /fcb_hu_cam/realsense2_camera/imu_optical_frame_id: fcb_hu_cam_imu_op...
• /fcb_hu_cam/realsense2_camera/infra1_frame_id: fcb_hu_cam_infra1...
• /fcb_hu_cam/realsense2_camera/infra1_optical_frame_id: fcb_hu_cam_infra1...
• /fcb_hu_cam/realsense2_camera/infra2_frame_id: fcb_hu_cam_infra2...
• /fcb_hu_cam/realsense2_camera/infra2_optical_frame_id: fcb_hu_cam_infra2...
• /fcb_hu_cam/realsense2_camera/infra_fps: 30
• /fcb_hu_cam/realsense2_camera/infra_height: 480
• /fcb_hu_cam/realsense2_camera/infra_rgb: False
• /fcb_hu_cam/realsense2_camera/infra_width: 848
• /fcb_hu_cam/realsense2_camera/initial_reset: False
• /fcb_hu_cam/realsense2_camera/json_file_path:
• /fcb_hu_cam/realsense2_camera/linear_accel_cov: 0.01
• /fcb_hu_cam/realsense2_camera/odom_frame_id: fcb_hu_cam_odom_f...
• /fcb_hu_cam/realsense2_camera/ordered_pc: False
• /fcb_hu_cam/realsense2_camera/pointcloud_texture_index: 0
• /fcb_hu_cam/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /fcb_hu_cam/realsense2_camera/pose_frame_id: fcb_hu_cam_pose_f...
• /fcb_hu_cam/realsense2_camera/pose_optical_frame_id: fcb_hu_cam_pose_o...
• /fcb_hu_cam/realsense2_camera/publish_odom_tf: True
• /fcb_hu_cam/realsense2_camera/publish_tf: True
• /fcb_hu_cam/realsense2_camera/rosbag_filename:
• /fcb_hu_cam/realsense2_camera/serial_no:
• /fcb_hu_cam/realsense2_camera/stereo_module/exposure/1: 7500
• /fcb_hu_cam/realsense2_camera/stereo_module/exposure/2: 1
• /fcb_hu_cam/realsense2_camera/stereo_module/gain/1: 16
• /fcb_hu_cam/realsense2_camera/stereo_module/gain/2: 16
• /fcb_hu_cam/realsense2_camera/tf_publish_rate: 0.0
• /fcb_hu_cam/realsense2_camera/topic_odom_in: odom_in
• /fcb_hu_cam/realsense2_camera/unite_imu_method:
• /fcb_hu_cam/realsense2_camera/usb_port_id: 2-2
• /rosdistro: kinetic
• /rosversion: 1.12.13

NODES
/fcb_hu_cam/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[fcb_hu_cam/realsense2_camera_manager-1]: started with pid [28333]
process[fcb_hu_cam/realsense2_camera-2]: started with pid [28334]
[ INFO] [1656216895.017738315]: Initializing nodelet with 8 worker threads.
[ INFO] [1656216895.068328899]: RealSense ROS v2.3.0
[ INFO] [1656216895.068358642]: Built with LibRealSense v2.45.0
[ INFO] [1656216895.068373666]: Running with LibRealSense v2.45.0
[ INFO] [1656216895.093109684]:
[ INFO] [1656216895.387393310]: Device with serial number 909512071860 was found.

[ INFO] [1656216895.387487237]: Device with physical ID 2-2-12 was found.
[ INFO] [1656216895.387535774]: Device with name Intel RealSense D435 was found.
[ INFO] [1656216895.389099052]: Device with port number 2-2 was found.
[ INFO] [1656216895.389212797]: Device USB type: 3.2
[ INFO] [1656216895.395130169]: getParameters...
[ INFO] [1656216895.495449629]: setupDevice...
[ INFO] [1656216895.495481280]: JSON file is not provided
[ INFO] [1656216895.495494822]: ROS Node Namespace: fcb_hu_cam
[ INFO] [1656216895.495508840]: Device Name: Intel RealSense D435
[ INFO] [1656216895.495520234]: Device Serial No: 909512071860
[ INFO] [1656216895.495534481]: Device physical port: 2-2-12
[ INFO] [1656216895.495547952]: Device FW version: 05.13.00.50
[ INFO] [1656216895.495559772]: Device Product ID: 0x0B07
[ INFO] [1656216895.495572669]: Enable PointCloud: Off
[ INFO] [1656216895.495587460]: Align Depth: Off
[ INFO] [1656216895.495601466]: Sync Mode: Off
[ INFO] [1656216895.495649676]: Device Sensors:
[ INFO] [1656216895.511838372]: Stereo Module was found.
[ INFO] [1656216895.524228121]: RGB Camera was found.
[ INFO] [1656216895.524279195]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656216895.524307441]: num_filters: 0
[ INFO] [1656216895.524327996]: Setting Dynamic reconfig parameters.
[ WARN] [1656216895.972641477]: Param '/fcb_hu_cam/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 200000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1656216895.986240455]: Param '/fcb_hu_cam/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1656216896.102135764]: Done Setting Dynamic reconfig parameters.
[ INFO] [1656216896.103791925]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1656216896.105308260]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1656216896.105387437]: setupPublishers...
[fcb_hu_cam/realsense2_camera_manager-1] process has died [pid 28333, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/byhang/.ros/log/2a5b1e34-f3a5-11ec-86dd-74e5f9ec52bb/fcb_hu_cam-realsense2_camera_manager-1.log].
log file: /home/byhang/.ros/log/2a5b1e34-f3a5-11ec-86dd-74e5f9ec52bb/fcb_hu_cam-realsense2_camera_manager-1*.log
^C[fcb_hu_cam/realsense2_camera-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

dmesg

[ 2666.520371] input: Intel(R) RealSense(TM) Depth Ca as /devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/input/input28
[ 2666.521193] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07)
[ 2666.522080] uvcvideo: Unable to create debugfs 2-11 directory.
[ 2666.522234] uvcvideo 2-2:1.3: Entity type for entity Processing 7 was not initialized!
[ 2666.522239] uvcvideo 2-2:1.3: Entity type for entity Extension 8 was not initialized!
[ 2666.522242] uvcvideo 2-2:1.3: Entity type for entity Camera 6 was not initialized!
[ 2714.803929] usb 2-2: USB disconnect, device number 11
[ 2718.639787] usb 2-2: new SuperSpeed USB device number 12 using xhci_hcd
[ 2718.660401] usb 2-2: New USB device found, idVendor=8086, idProduct=0b07
[ 2718.660408] usb 2-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 2718.660412] usb 2-2: Product: Intel(R) RealSense(TM) Depth Camera 435
[ 2718.660417] usb 2-2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435
[ 2718.660420] usb 2-2: SerialNumber: 901523021387
[ 2718.661760] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07)
[ 2718.663733] uvcvideo: Unable to create debugfs 2-12 directory.
[ 2718.663943] uvcvideo 2-2:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[ 2718.663948] uvcvideo 2-2:1.0: Entity type for entity Processing 2 was not initialized!
[ 2718.663952] uvcvideo 2-2:1.0: Entity type for entity Camera 1 was not initialized!
[ 2718.664199] input: Intel(R) RealSense(TM) Depth Ca as /devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/input/input29
[ 2718.664971] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07)
[ 2718.665836] uvcvideo: Unable to create debugfs 2-12 directory.
[ 2718.666027] uvcvideo 2-2:1.3: Entity type for entity Processing 7 was not initialized!
[ 2718.666032] uvcvideo 2-2:1.3: Entity type for entity Extension 8 was not initialized!
[ 2718.666035] uvcvideo 2-2:1.3: Entity type for entity Camera 6 was not initialized!
[ 2955.783495] nodelet[28398]: segfault at 1 ip 00007f692c3394a1 sp 00007f6903703a80 error 6 in librostime.so[7f692c322000+2b000]
[ 3226.320203] hid-sensor-hub 0003:8086:0B3A.0006: No report with id 0xffffffff found
[ 3226.357131] hid-sensor-hub 0003:8086:0B3A.0006: No report with id 0xffffffff found
[ 3230.068119] hid-sensor-hub 0003:8086:0B3A.0006: No report with id 0xffffffff found
[ 3230.068405] hid-sensor-hub 0003:8086:0B3A.0006: No report with id 0xffffffff found

[MartyG-RealSense]

The cause of the 'entity type' kernel messages tends to be difficult to trace and if they are corrected then you may never find out for sure what caused them in the first place. I previously enquired to the RealSense development team about them in 2020 and received the following explanation.

---

The message “Entity camera ... not initialized" is related to UVC topology defined in the firmware descriptor for USB device.
Those are protocol-specific messages and are apparently stemmed from firmware.

---

The most recent RealSense ROS user who experienced the errors suspected at #10158 (comment) that the problem had occurred because they had several different versions of the librealsense SDK installed on their computer. Is the presence of multiple librealsense installations a possibility on your own computer, please?

[byhang]

Hi @MartyG-RealSense ,
Thanks for your quick reply.

This is my installed deb version, all are the default, lasted versions in Ubuntu-16.04.
librealsense2_2.50.0-0realsense0.6126_amd64.deb
librealsense2-dkms_1.3.18-0ubuntu1_all.deb
librealsense2-gl_2.50.0-0realsense0.6126_amd64.deb
librealsense2-net_2.50.0-0realsense0.6126_amd64.deb
librealsense2-udev-rules_2.50.0-0realsense0.6126_amd64.deb
librealsense2-utils_2.50.0-0~realsense0.6126_amd64.deb
ros-kinetic-ddynamic-reconfigure_0.2.0-0xenial-20210503-114111-0800_amd64.deb
ros-kinetic-librealsense2_2.45.0-1xenial-20210506-081043-0800_amd64.deb
ros-kinetic-realsense2-camera_2.3.0-1xenial-20210506-084151-0800_amd64.deb

Building for 4.13.0-36-generic and 4.15.0-142-generic
Building initial module for 4.13.0-36-generic
Secure Boot not enabled on this system.
Maybe dkms error?

install log

➜ sudo apt-get install librealsense2-dkms
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
daemontools fonts-droid-fallback fonts-noto-mono libatk-bridge2.0-dev libatspi2.0-dev libepoxy-dev libglfw3 libgmp-dev libgmpxx4ldbl libgtk-3-dev libwnck-common libwnck22 libxfce4ui-1-0 libxfce4ui-common libxfce4util-bin
libxfce4util-common libxfce4util7 libxfconf-0-2 libxtst-dev nettle-dev x11proto-record-dev xfconf
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
librealsense2-udev-rules
The following NEW packages will be installed:
librealsense2-dkms librealsense2-udev-rules
0 upgraded, 2 newly installed, 0 to remove and 887 not upgraded.
Need to get 10.3 MB of archives.
After this operation, 81.7 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 https://librealsense.intel.com/Debian/apt-repo xenial/main amd64 librealsense2-dkms all 1.3.18-0ubuntu1 [10.3 MB]
Get:2 https://librealsense.intel.com/Debian/apt-repo xenial/main amd64 librealsense2-udev-rules amd64 2.50.0-0realsense0.6126 [7,788 B]
Fetched 10.3 MB in 6s (1,522 kB/s)
Selecting previously unselected package librealsense2-dkms.
(Reading database ... 565549 files and directories currently installed.)
Preparing to unpack .../librealsense2-dkms_1.3.18-0ubuntu1_all.deb ...
Unpacking librealsense2-dkms (1.3.18-0ubuntu1) ...
Selecting previously unselected package librealsense2-udev-rules:amd64.
Preparing to unpack .../librealsense2-udev-rules_2.50.0-0realsense0.6126_amd64.deb ...
Unpacking librealsense2-udev-rules:amd64 (2.50.0-0~realsense0.6126) ...
Setting up librealsense2-dkms (1.3.18-0ubuntu1) ...
Loading new librealsense2-dkms-1.3.18 DKMS files...
First Installation: checking all kernels...
Building for 4.13.0-36-generic and 4.15.0-142-generic
Building initial module for 4.13.0-36-generic
Secure Boot not enabled on this system.
Done.

uvcvideo:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.13.0-36-generic/updates/dkms/

videodev.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.13.0-36-generic/updates/dkms/

hid-sensor-accel-3d.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.13.0-36-generic/updates/dkms/

hid-sensor-gyro-3d.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.13.0-36-generic/updates/dkms/

depmod....

DKMS: install completed.
Building initial module for 4.15.0-142-generic
Secure Boot not enabled on this system.
Done.

uvcvideo:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.15.0-142-generic/updates/dkms/

videodev.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.15.0-142-generic/updates/dkms/

hid-sensor-accel-3d.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.15.0-142-generic/updates/dkms/

hid-sensor-gyro-3d.ko:
Running module version sanity check.

• Original module
• Installation
  • Installing to /lib/modules/4.15.0-142-generic/updates/dkms/

depmod....

DKMS: install completed.
\nLoading the modified modules into kernel... complete
Current status:
bbswitch, 0.8, 4.15.0-101-generic, x86_64: installed
bbswitch, 0.8, 4.15.0-142-generic, x86_64: installed
bbswitch, 0.8, 4.4.0-210-generic, x86_64: installed
librealsense2-dkms, 1.3.18, 4.13.0-36-generic, x86_64: installed
librealsense2-dkms, 1.3.18, 4.15.0-142-generic, x86_64: installed
nvidia, 430.64, 4.13.0-36-generic, x86_64: installed
nvidia, 430.64, 4.15.0-142-generic, x86_64: installed
mod: videodev \t\t\t version: realsense2-dkms
mod: uvcvideo \t\t\t version: 1.1.2.realsense-1.3.18
mod: hid_sensor_gyro_3d \t version: realsense2-dkms
mod: hid_sensor_accel_3d \t version: realsense2-dkms
Setting up librealsense2-udev-rules:amd64 (2.50.0-0~realsense0.6126) ...
\nPostinst script activated...
Presets deployment:
no src dir
tgt dir exists
Presets deployment is skipped

➜ sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
daemontools fonts-droid-fallback fonts-noto-mono libatk-bridge2.0-dev libatspi2.0-dev libepoxy-dev libglfw3 libgmp-dev libgmpxx4ldbl libgtk-3-dev libwnck-common libwnck22 libxfce4ui-1-0 libxfce4ui-common libxfce4util-bin
libxfce4util-common libxfce4util7 libxfconf-0-2 libxtst-dev nettle-dev x11proto-record-dev xfconf
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
ros-kinetic-ddynamic-reconfigure ros-kinetic-librealsense2
The following NEW packages will be installed:
ros-kinetic-ddynamic-reconfigure ros-kinetic-librealsense2 ros-kinetic-realsense2-camera
0 upgraded, 3 newly installed, 0 to remove and 887 not upgraded.
Need to get 13.1 MB of archives.
After this operation, 36.9 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-librealsense2 amd64 2.45.0-1xenial-20210506-081043-0800 [12.8 MB]
Get:2 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-ddynamic-reconfigure amd64 0.2.0-0xenial-20210503-114111-0800 [57.7 kB]
Get:3 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-realsense2-camera amd64 2.3.0-1xenial-20210506-084151-0800 [308 kB]
Fetched 13.1 MB in 1min 30s (144 kB/s)
Selecting previously unselected package ros-kinetic-librealsense2.
(Reading database ... 571989 files and directories currently installed.)
Preparing to unpack .../ros-kinetic-librealsense2_2.45.0-1xenial-20210506-081043-0800_amd64.deb ...
Unpacking ros-kinetic-librealsense2 (2.45.0-1xenial-20210506-081043-0800) ...
Selecting previously unselected package ros-kinetic-ddynamic-reconfigure.
Preparing to unpack .../ros-kinetic-ddynamic-reconfigure_0.2.0-0xenial-20210503-114111-0800_amd64.deb ...
Unpacking ros-kinetic-ddynamic-reconfigure (0.2.0-0xenial-20210503-114111-0800) ...
Selecting previously unselected package ros-kinetic-realsense2-camera.
Preparing to unpack .../ros-kinetic-realsense2-camera_2.3.0-1xenial-20210506-084151-0800_amd64.deb ...
Unpacking ros-kinetic-realsense2-camera (2.3.0-1xenial-20210506-084151-0800) ...
Processing triggers for libc-bin (2.23-0ubuntu10) ...
Setting up ros-kinetic-librealsense2 (2.45.0-1xenial-20210506-081043-0800) ...
Setting up ros-kinetic-ddynamic-reconfigure (0.2.0-0xenial-20210503-114111-0800) ...
Setting up ros-kinetic-realsense2-camera (2.3.0-1xenial-20210506-084151-0800) ...
Processing triggers for libc-bin (2.23-0ubuntu10) ...

[MartyG-RealSense]

From the information at the top of this case, it looks as though your intention was to use librealsense 2.45.0 and its matching ROS wrapper 2.3.0. Indeed, this is shown in the roslaunch log.

In your latest comment at #10624 (comment) the logs have references to both librealsense 2.45.0 and 2.50.0, and two different kernel versions (4.13.0-36-generic and 4.15.0-142-generic).

In that comment, it also logs that the ROS wrapper's 'Method 1' installation process of sudo apt-get install ros-$ROS_DISTRO-realsense2-camera was used. This would install both the librealsense SDK and the ROS wrapper from packages at the same time. This install method will also install the currently latest librealsense version and its matching wrapper. So using that command today would not install 2.45.0 and 2.3.0, but instead install librealsense 2.50.0 and wrapper 2.3.2.

So if you had already installed librealsense 2.45.0 previously and then ran the Method 1 command then you could end up with two potentially conflicting installations of different versions of librealsense on the same computer.

My recommendations would therefore be:

1. If you have previously installed the ROS wrapper from source code then delete the entire ROS catkin workspace folder /catkin_ws/src/

2. Run the command below to uninstall all librealsense-related packages.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

3. Install librealsense 2.50.0 and wrapper 2.3.2 together at the same time from packages with the command below.

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

[byhang]

Hi @MartyG-RealSense
sudo apt-get install ros-$ROS_DISTRO-realsense2-camera=2.3.2
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Version '2.3.2' for 'ros-kinetic-realsense2-camera' was not found

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
The newest version is 2.3.0 in my env, How can I get official version 2.3.2?

apt search realsense

Sorting... Done
Full Text Search... Done
intel-realsense-dfu/xenial 1.1.0 amd64
FW update tool installer package for Intel Realsense Cameras

librealsense2/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Cross Platform API - runtime

librealsense2-dbg/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - debug symbols

librealsense2-dev/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - development files

librealsense2-dkms/xenial 1.3.18-0ubuntu1 all
Modified kernel modules for librealsense2

librealsense2-gl/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) - GLSL-enabled extensions

librealsense2-gl-dbg/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) GLSL extensions - debug symbols

librealsense2-gl-dev/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - development files

librealsense2-net/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) - Network Bridge extension

librealsense2-net-dbg/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Network Bridge extension - debug symbols

librealsense2-net-dev/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - Network Bridge extension development files

librealsense2-udev-rules/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - udev rules

librealsense2-utils/xenial 2.50.0-0~realsense0.6126 amd64
Intel(R) RealSense(tm) Camera Capture API - utils and demos

librscalibrationapi/xenial 2.6.8.0 amd64
This package provides calibration API library and sample code for Intel Realsense Cameras.

librscalibrationtool/xenial 2.11.1.0 amd64
This package provides calibration tool execution file for Intel Realsense Cameras.

realsense-sdk/xenial 2.7.7-0~realsense0.29 amd64
Intel(R) RealSense(tm) Cross Platform API - runtime

realsense-sdk-dbg/xenial 2.7.7-0~realsense0.29 amd64
Intel(R) RealSense(tm) Camera Capture API - debug symbols

realsense-sdk-dev/xenial 2.7.7-0~realsense0.29 amd64
Intel(R) RealSense(tm) Camera Capture API - development files

realsense-sdk-udev-rules/xenial 2.7.7-0~realsense0.29 amd64
Intel(R) RealSense(tm) Camera Capture API - udev rules

realsense-sdk-utils/xenial 2.7.7-0~realsense0.29 amd64
Intel(R) RealSense(tm) Camera Capture API - utils and demos

realsense-uvcvideo/xenial 1.1.0-0ubuntu3 all
DKMS-registered uvcvideo kernel module

ros-kinetic-librealsense/xenial 1.12.2-1xenial-20210506-081035-0800 amd64
Library for capturing data from the Intel(R) RealSense(TM) F200, SR300, R200, LR200 and ZR300 cameras.

ros-kinetic-librealsense2/xenial 2.45.0-1xenial-20210506-081043-0800 amd64
Library for capturing data from the Intel(R) RealSense(TM) SR300, D400 Depth cameras and T2xx Tracking devices.

ros-kinetic-realsense-camera/xenial 1.8.1-1xenial-20210506-082012-0800 amd64
RealSense Camera package allowing access to Intel 3D cameras and advanced modules

ros-kinetic-realsense2-camera/xenial 2.3.0-1xenial-20210506-084151-0800 amd64
RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras

ros-kinetic-realsense2-description/xenial 2.3.0-1xenial-20210506-081408-0800 amd64
RealSense Camera description package for Intel 3D D400 cameras

rs-dfu-tool/xenial 0.9.6 amd64
FW update tool installer package for Intel Realsense Cameras

[byhang]

Hi @MartyG-RealSense ,
Are there any bugs in official realsense-ros-2.3.0?

I have to test at 2.3.0, because the newest official version is 2.3.0 in Ubuntu-16.04.
But I got same error,
use:

librealsense2-2.45.0
ros-kinetic-librealsense2-2.45.0
ros-kinetic-realsense2-camera-2.3.0
Ubuntu-16.04
4.13.0-36-generic kernel only (4.15.0-* are removed, than reinstall realsense deb)
official rs_camera.launch

$ dpkg -l | grep realsense

ii librealsense2-dkms 1.3.18-0ubuntu1 all Modified kernel modules for librealsense2
ii librealsense2-udev-rules:amd64 2.45.0-0~realsense0.4550 amd64 Intel(R) RealSense(tm) Camera Capture API - udev rules
ii ros-kinetic-librealsense2 2.45.0-1xenial-20210506-081043-0800 amd64 Library for capturing data from the Intel(R) RealSense(TM) SR300, D400 Depth cameras and T2xx Tracking devices.
ii ros-kinetic-realsense2-camera 2.3.0-1xenial-20210506-084151-0800 amd64 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras

$ roslaunch realsense2_camera rs_camera.launch usb_port_id:=2-2

[ INFO] [1656321482.793619608]: Stereo Module was found.
[ INFO] [1656321482.810608329]: RGB Camera was found.
[ INFO] [1656321482.811011033]: Motion Module was found.
[ INFO] [1656321482.811061586]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1656321482.811094068]: num_filters: 0
[ INFO] [1656321482.811118709]: Setting Dynamic reconfig parameters.
[ WARN] [1656321483.256434565]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 200000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1656321483.270204556]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1656321483.398787511]: Done Setting Dynamic reconfig parameters.
[ INFO] [1656321483.400456437]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1656321483.404092036]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1656321483.404170844]: setupPublishers...
[camera/realsense2_camera_manager-1] process has died [pid 7319, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/byhang/.ros/log/8af7c8e0-f5f9-11ec-bba1-74e5f9ec52bb/camera-realsense2_camera_manager-1.log].
log file: /home/byhang/.ros/log/8af7c8e0-f5f9-11ec-bba1-74e5f9ec52bb/camera-realsense2_camera_manager-1*.log

dmesg

[ 268.246154] nodelet[5891]: segfault at 1 ip 00007f762eef24a1 sp 00007f760127ba80 error 6 in librostime.so[7f762eedb000+2b000]

[MartyG-RealSense]

Regarding the [camera/realsense2_camera_manager-1] process has died error at the end of the launch process, a RealSense ROS user of Kinetic experienced it in IntelRealSense/realsense-ros#473 and the solution for them in their particular case was a completely fresh installation.

In another similar case at IntelRealSense/realsense-ros#1774 where the error number was -2 instead of -1, building the ROS wrapper from source code instead of packages resolved it.

[byhang]

Thank you @MartyG-RealSense very much for your careful assistance.
In Ubuntu-16.04, I build ddynamic-reconfigure-0.3.2、 realsense-ros-2.3.2 and librealsense2-2.50.0 from source code, than I solved this problem.