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Release to Melodic/Ubuntu 18.04? #386

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doisyg opened this issue May 28, 2018 · 35 comments
Closed

Release to Melodic/Ubuntu 18.04? #386

doisyg opened this issue May 28, 2018 · 35 comments

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@doisyg
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doisyg commented May 28, 2018

Now that Melodic is out, is there any plan to release to Melodic/Ubuntu18.04 for for both previous gen Realsense and D400 series?
Any tentative schedule?
@doisyg
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doisyg commented Aug 28, 2018

@doronhi Any update?

@Tuebel
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Tuebel commented Sep 11, 2018

I haven't read any official comments on this yet but I am actually running the ROS realsense camera on Melodic/Ubuntu 18.04 without any problems.
Make sure that you have the current librealsense installed as they supported Ubutunu 18.04 quite recently.

@doisyg
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doisyg commented Sep 19, 2018

Hi @Tuebel
Thanks for your answer, can you provide more details ? Which did you tested?
How did you install librealsense on ubuntu 18.04? You compiled it from source? (on 16.04 the package ros-kinetic-librealsense was enough I believe)

@Tuebel
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Tuebel commented Sep 19, 2018

Hi @doisyg
I followed the instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md to install the librealsense Debian package.
After installing these packages I was able to compile the ros package from source as described in https://github.com/intel-ros/realsense#step-3-install-intel-realsense-ros-from-sources .

@doisyg
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doisyg commented Sep 20, 2018

Ok, thanks.
I am using the R200 camera, so I cannot use the v2.0 of the SDK like you. It seems a bit more complex for the legacy version.

@doisyg
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doisyg commented Sep 20, 2018 •
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Reporting progress for usage of a R200 camera in ROS with Ubuntu 18.04 and Melodic (and hence librealsense and realsense_camera v1)

#Installation of librealsense: OK
sudo apt-get install libglfw3-dev
download and unzip https://github.com/IntelRealSense/librealsense/archive/v1.12.1.zip
add #include <functional> to librealsense-1.12.1/src/type.h (in order to compile with ubuntu 18.04 builtin gcc 7)
cd librealsense-1.12.1
mkdir build
cd build
cmake ..
make && sudo make install
cd ..
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

Update: udev rules

@doisyg
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doisyg commented Sep 20, 2018

Currently struggling with the compilation of the ros realsense_camera library (https://github.com/intel-ros/realsense/archive/indigo-devel.zip)
Probably linking issue with the system installed librealsense

@doisyg
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doisyg commented Sep 20, 2018

Got it working by modifying CMakelists.txt:

#Ros realsense_camera
download https://github.com/intel-ros/realsense/archive/indigo-devel.zip
Modify CMakelists.txt as below and build
CMakeLists.txt

I added:
SET(USE_SYSTEM_LIBREALSENSE ON)

Replaced: https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L34
by:

FIND_PATH(realsense_INCLUDE_DIR librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARY realsense HINTS "/usr/local/lib")

FIND_PATH(realsense_INCLUDE_DIRS librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARIES realsense HINTS "/usr/local/lib")

Commented the following lines (it was causing errors and I don't need it):
https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L114-L118

And modified https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L147
in:
install(TARGETS ${PROJECT_NAME}_nodelet

A bit dirty but it works

@rbeltranb
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Due to the fact that sudo clears the environment variables setup by setup.bash, for me was necessary run sudo visudo and add there the following line in order to run make with sudo:

 Defaults        env_keep += "PYTHONPATH"

@prabinrath
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I have Ubuntu 18.04 with 4.16.0 generic kernel
I cannot access my intel realsense R200 camera. I was able to configure my system for building the librealsense but there seems to be some issues in the access to camera. I updated my rules.d folder with the required rules but still cannot access the camera. the driver for the camera is not configured properly. I get no camera found error while running the ROS nodelet for R200. How can I access the camera ?
Any ideas will be hepful

@prabinrath
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failed during initialization: gstv4l2object.c(3722): gst_v4l2_object_set_format_full (): /GstCameraBin:camerabin/GstWrapperCameraBinSrc:camera_source/GstBin:bin18/GstV4l2Src:v4l2src1:
Call to S_FMT failed for GREY @ 640x481: Input/output error

This is the out put from cheese

@doisyg
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doisyg commented Feb 25, 2019

It is working for me with kernel 4.15 (with the modified CMakeLists posted before)
I tried to update to the 18.04.2 (kernel 4.18) and it is NOT working. Each R200 is recognized as 6 video* devices instead of 3 before. I am not going to investigate further and stay on kernel 4.15 for the moment. But I will happily follow any solutions to make it work with 4.18.

@RealSenseCustomerSupport
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[Please Ignore - RealSense system comment]

@peci1
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peci1 commented Mar 20, 2019

Hey, releasing this to melodic (together with "bundling" librealsense2 into the ROS APT repos) would really help. Is it on track for you?

@doronhi
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doronhi commented Mar 20, 2019

Releasing realsense2_camera for Melodic is planned but as it seems to work for many people as it is, so far it never got the full attention of being supported officially.

@peci1
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peci1 commented Mar 20, 2019

work for many people as it is

Well, it's a difference if you just run rosdep install on your workspace and forget about all the complexities, or if you have to manually clone repos, build them etc...

@doronhi
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doronhi commented Mar 20, 2019

I absolutely agree and hope to manage that packaging soon.

@SteveMacenski
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Thanks! I know this is a blocker on my end for Melodic transitions

@RealSenseCustomerSupport
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HI SteveMacenski,

We understand the importance of the issue to you.
So far we have no further update yet. You may check back later on.

Thanks!

@timrae
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timrae commented Apr 24, 2019

Please release

@doisyg
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doisyg commented May 7, 2019

I made the legacy librealsense work with 4.16+ kernel (and hence ubuntu 18.04.2) in this PR: IntelRealSense/librealsense#3929
Hosted here: https://github.com/doisyg/librealsense/tree/recent_kernel_compatibility
Tested only with a R200, feel free to PR for other cams if needed but I won't be able to check that it works.

@marcmateumateus
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marcmateumateus commented May 8, 2019 •
edited
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Thanks @doisyg! tested on SR300 with 4.18 kernel and it works.

@peci1
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peci1 commented Jun 5, 2019

Why was this issue closed? I don't see any melodic release in rosdistro...

@doronhi doronhi reopened this Jun 5, 2019
@atyshka
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atyshka commented Jul 30, 2019

Yeah how difficult would it be to get this added to the buildfarm? Having to rebuild every time a new librealsense is tedious and having a melodic debian would be much easier.

@fmessmer
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fmessmer commented Aug 7, 2019

we are also waiting for a release of both realsense_camera and realsense2_camera
what's the status here?

@fmessmer fmessmer mentioned this issue Aug 7, 2019
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@airballking
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I'd like to +1 the request for a melodic release of the realsense2_camera. Thanks a lot for your support!

@Jiloc
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Jiloc commented Oct 25, 2019

+2

@KrystianMarek
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Hi,

I'm trying to run realsense-ros on a Jetson Nano without much luck, please help.

 * /rosdistro: melodic
 * /rosversion: 1.14.3

$ inxi -F
System:    Host: jetson Kernel: 4.9.140-tegra aarch64 bits: 32 Console: tty 0 Distro: Ubuntu 18.04.3 LTS
Machine:   No /sys/class/dmi; using dmidecode: root required for dmidecode
CPU:       Quad core ARMv8 rev 1 (v8l) (-MCP-)  (ARM)
           clock speeds: max: 1479 MHz 1: 1132 MHz 2: 1132 MHz 3: 1132 MHz 4: 1132 MHz
Graphics:  Card: Failed to Detect Video Card!
           Display Server: X.org 1.19.6 driver: nvidia tty size: 207x61 Advanced Data: N/A out of X
Audio:     Card-1 tegra-hda driver: tegra-hda Sound: ALSA v: k4.9.140-tegra
           Card-2 tegra-snd-t210ref-mobile-rt565x driver: tegra-snd-t210r
Network:   Card-1: Intel Wireless 8265 / 8275 driver: iwlwifi
           IF: wlan0 state: down mac: 98:af:65:2d:9b:9b
           Card-2: Realtek RTL8111/8168/8411 PCI Express Gigabit Ethernet Controller driver: r8168
           IF: eth0 state: up speed: 1000 Mbps duplex: full mac: 00:04:4b:e6:8e:22
Drives:    HDD Total Size: NA (-)
           ID-1: /dev/mmcblk0 model: N/A size: 63.9GB
Partition: ID-1: / size: 59G used: 16G (28%) fs: ext4 dev: /dev/mmcblk0p1
           ID-2: swap-1 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram0
           ID-3: swap-2 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram1
           ID-4: swap-3 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram2
           ID-5: swap-4 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram3
Sensors:   System Temperatures: cpu: 38.0C mobo: N/A
           Fan Speeds (in rpm): cpu: N/A
Info:      Processes: 312 Uptime: 2:36 Memory: 1625.3/3964.3MB Init: systemd runlevel: 5
           Client: Shell (bash) inxi: 2.3.56

I was able to install https://github.com/IntelRealSense/librealsense
the realsense-viewer application works.

When I try to run
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

I get:

$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
... logging to /home/mentis/.ros/log/0eb5abc0-2cb2-11ea-b52a-00044be68e22/roslaunch-jetson-9654.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://jetson:37869/

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: pointcloud
 * /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: melodic
 * /rosversion: 1.14.3

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

auto-starting new master
process[master]: started with pid [9667]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0eb5abc0-2cb2-11ea-b52a-00044be68e22
process[rosout-1]: started with pid [9680]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9687]
process[camera/realsense2_camera-3]: started with pid [9688]
[ INFO] [1577895388.449746626]: Initializing nodelet with 4 worker threads.
[ INFO] [1577895389.721256484]: RealSense ROS v2.2.11
[ INFO] [1577895389.721366330]: Running with LibRealSense v2.31.0
[ INFO] [1577895390.117433339]:  
 01/01 17:16:30,647 WARNING [547705979264] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1577895390.700522011]: Device with serial number 923322073166 was found.

[ INFO] [1577895390.700628575]: Device with physical ID 2-1.3-6 was found.
[ INFO] [1577895390.700972955]: Device with name Intel RealSense D435I was found.
[ WARN] [1577895390.703345178]: Error extracting usb port from device with physical ID: 2-1.3-6
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1577895390.713202827]: getParameters...
[ INFO] [1577895390.818107687]: setupDevice...
[ INFO] [1577895390.818211438]: JSON file is not provided
[ INFO] [1577895390.818264981]: ROS Node Namespace: camera
[ INFO] [1577895390.818317482]: Device Name: Intel RealSense D435I
[ INFO] [1577895390.818370607]: Device Serial No: 923322073166
[ INFO] [1577895390.818820718]: Device physical port: 2-1.3-6
[ INFO] [1577895390.818875927]: Device FW version: 05.12.01.00
[ INFO] [1577895390.818923480]: Device Product ID: 0x0B3A
[ INFO] [1577895390.818973221]: Enable PointCloud: On
[ INFO] [1577895390.819041659]: Align Depth: Off
[ INFO] [1577895390.819085566]: Sync Mode: On
[ INFO] [1577895390.819217808]: Device Sensors: 
[ INFO] [1577895390.819314424]: Stereo Module was found.
[ INFO] [1577895390.819380883]: RGB Camera was found.
[ INFO] [1577895390.819427446]: Motion Module was found.
[ INFO] [1577895390.819512812]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819557709]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819605261]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819652762]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819736565]: Add Filter: pointcloud
[ INFO] [1577895390.821203983]: num_filters: 1
[ INFO] [1577895390.821318204]: Setting Dynamic reconfig parameters.
[ INFO] [1577895396.180962767]: Done Setting Dynamic reconfig parameters.
[ INFO] [1577895396.226764908]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1577895396.227555128]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895396.227996749]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895396.283396482]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1577895396.284521342]: setupPublishers...
[ INFO] [1577895396.297726852]: Expected frequency for depth = 30.00000
[ INFO] [1577895396.408827259]: Expected frequency for infra1 = 30.00000
[ INFO] [1577895396.471623195]: Expected frequency for infra2 = 30.00000
[ INFO] [1577895396.532623636]: Expected frequency for color = 30.00000
[ INFO] [1577895396.596062915]: setupStreams...
[ INFO] [1577895396.659554331]: insert Depth to Stereo Module
[ INFO] [1577895396.659674437]: insert Color to RGB Camera
[ INFO] [1577895396.659760115]: insert Infrared to Stereo Module
[ INFO] [1577895396.659823970]: insert Infrared to Stereo Module
[ INFO] [1577895396.659871263]: insert Gyro to Motion Module
[ INFO] [1577895396.659922617]: insert Accel to Motion Module
[ INFO] [1577895397.030014177]: SELECTED BASE:Depth, 0
[ INFO] [1577895397.094051173]: RealSense Node Is Up!
 01/01 17:16:37,119 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,180 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,309 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,370 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,417 ERROR [547188887936] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 01/01 17:16:37,451 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:37,533 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:37,718 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:38,329 WARNING [547297927552] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 23, 
 01/01 17:16:39,216 WARNING [547331498368] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 12, 
[ WARN] [1577895399.217841982]: Hardware Notification:IR stream start failure,1.5779e+12,Error,Hardware Error
[ERROR] [1577895399.217988911]: Hardware Reset is needed. use option: initial_reset:=true
 01/01 17:16:39,224 WARNING [547297927552] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 9, 
 01/01 17:16:39,625 ERROR [547163709824] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 01/01 17:16:39,817 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
 01/01 17:16:39,817 WARNING [547574755712] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19
 01/01 17:16:39,817 WARNING [547289534848] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 134 error: No such device, number: 19
 01/01 17:16:39,817 ERROR [547289534848] (hid-device.cpp:153) failed to submit UVC request
 01/01 17:16:39,818 WARNING [546375188864] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [546375188864] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [546375188864] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [546375188864] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547188887936] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547188887936] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547188887936] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547188887936] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547163709824] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547163709824] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547163709824] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547163709824] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,828 ERROR [547591541120] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: usb device disconnected
 01/01 17:16:40,082 ERROR [547188887936] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 01/01 17:16:40,082 WARNING [547188887936] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
 01/01 17:16:40,229 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
 01/01 17:16:40,239 ERROR [547339891072] (error-handling.cpp:68) Error during polling error handler: usb device disconnected
[ERROR] [1577895400.711504349]: The device has been disconnected!
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19
 01/01 17:16:40,846 WARNING [546375188864] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:40,851 WARNING [546375188864] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:40,851 WARNING [546375188864] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 131, error: No such device, number: 19
 01/01 17:16:40,861 WARNING [547574755712] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 135 error: No such device, number: 19
 01/01 17:16:40,898 WARNING [547188887936] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:40,898 WARNING [547188887936] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:40,902 WARNING [547188887936] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
 01/01 17:16:40,962 WARNING [547289534848] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 134 error: No such device, number: 19
 01/01 17:16:40,976 ERROR [547714371968] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE
 01/01 17:16:40,977 ERROR [547714371968] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE
[ INFO] [1577895400.979578323]: Checking new devices...
[ INFO] [1577895400.979821921]:  
 01/01 17:16:41,363 WARNING [547714371968] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1577895401.428706847]: Device with serial number 923322073166 was found.

[ INFO] [1577895401.428811171]: Device with physical ID 2-1.3-7 was found.
[ INFO] [1577895401.428863412]: Device with name Intel RealSense D435I was found.
[ WARN] [1577895401.429671288]: Error extracting usb port from device with physical ID: 2-1.3-7
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1577895401.446205908]: getParameters...
[ INFO] [1577895401.574354211]: setupDevice...
[ INFO] [1577895401.574670570]: JSON file is not provided
[ INFO] [1577895401.574978647]: ROS Node Namespace: camera
[ INFO] [1577895401.575420894]: Device Name: Intel RealSense D435I
[ INFO] [1577895401.575716367]: Device Serial No: 923322073166
[ INFO] [1577895401.576001996]: Device physical port: 2-1.3-7
[ INFO] [1577895401.576284708]: Device FW version: 05.12.01.00
[ INFO] [1577895401.576572004]: Device Product ID: 0x0B3A
[ INFO] [1577895401.576854144]: Enable PointCloud: On
[ INFO] [1577895401.577136700]: Align Depth: Off
[ INFO] [1577895401.577486549]: Sync Mode: On
[ INFO] [1577895401.577712230]: Device Sensors: 
[ INFO] [1577895401.578023693]: Stereo Module was found.
[ INFO] [1577895401.578329739]: RGB Camera was found.
[ INFO] [1577895401.578625733]: Motion Module was found.
[ INFO] [1577895401.578934279]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579205168]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579456839]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579705645]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579960180]: Add Filter: pointcloud
[ INFO] [1577895401.581481244]: num_filters: 1
[ INFO] [1577895401.581818801]: Setting Dynamic reconfig parameters.
[ INFO] [1577895408.019732707]: Done Setting Dynamic reconfig parameters.
[ INFO] [1577895408.116159276]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1577895408.116692617]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895408.117154499]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895408.210325239]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1577895408.219792566]: setupPublishers...
[ INFO] [1577895408.230747310]: Expected frequency for depth = 30.00000
[ INFO] [1577895408.381969890]: Expected frequency for infra1 = 30.00000
[ INFO] [1577895408.472462623]: Expected frequency for infra2 = 30.00000
[ INFO] [1577895408.580358006]: Expected frequency for color = 30.00000
[ INFO] [1577895408.733803223]: setupStreams...
[ INFO] [1577895408.807079454]: insert Depth to Stereo Module
[ INFO] [1577895408.807221383]: insert Color to RGB Camera
[ INFO] [1577895408.807293884]: insert Infrared to Stereo Module
[ INFO] [1577895408.807343884]: insert Infrared to Stereo Module
[ INFO] [1577895408.807395916]: insert Gyro to Motion Module
[ INFO] [1577895408.807444563]: insert Accel to Motion Module
[ INFO] [1577895409.166522686]: SELECTED BASE:Depth, 0
 01/01 17:16:49,228 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1577895409.305912851]: RealSense Node Is Up!
 01/01 17:16:49,337 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,398 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,520 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,581 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,805 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ERROR] [1577895410.222891005]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1577895410.749189374]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1577895431.213645061]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
^C 01/01 17:17:14,549 WARNING [547180495232] (sensor.cpp:328) Frame received with streaming inactive,Color0, Arrived,0.000000 1577895434549.132568
terminate called without an active exception
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
```

@berktepebag
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@KrystianMarek have you checked this JetsonHacks video? https://www.youtube.com/watch?v=lL3zxwN5Lnw I don't have the camera so I did not have a chance to check if it is working but if Jim made a video about it, probably it's working.

@KrystianMarek
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@berktepebag, Yes, I saw the video. It is about installing the realsense camera on Jetson Nano. As I wrote above. I already installed the camera on my Jetson Nano and realsense-viewer works. The problem is with realsense-ros. The camera does not work under ROS.

@berktepebag
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@KrystianMarek sorry my bad, I was focused on Jetson part of the question. Totally missed the ROS part.

@drfg0119
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drfg0119 commented Jan 7, 2020

Is there any application on TX2 ? ...I'm really tired about surveying the version matching problem. I'm Melodic/Ubuntu 18.04 with Jetpack 4.2

@RealSenseCustomerSupport
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Hi @doisyg,

The PR has been submitted recently to address this matter:
ros/rosdistro#23493
Please stay tuned for further updates regarding official binary packages availability.

Thank you!

@christian-rauch
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The package has been released. This can be closed @doisyg @RealSenseCustomerSupport .

@RealSenseCustomerSupport
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@christian-rauch,

Thank you for your feedback!

@wenyan96 wenyan96 mentioned this issue Oct 7, 2021
Closed
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