Is there a way to get imu data in docker?

[ashBabu]

Required Info
Camera Model	D456
Firmware Version	5.15.1
Operating System & Version	Ubuntu 22.04
Kernel Version (Linux Only)	6.5.0-15
Platform	docker
SDK Version	2.54.1

Issue Description

This docker building mentions that IMU cannot be accessed in docker. I was wondering if any further changes have been made to get IMU on docker since the link was updated around 3 years back.

I ran ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true unite_imu_method:=2 in docker

Running the above straight away throws error. I would like to get the /camera/imu topic.

662 ERROR [139936804103744] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,663 ERROR [139936804103744] (backend-hid.cpp:1005) Hid device is busy!
[realsense2_camera_node-1] [ERROR] [1706656717.663373915] [camera.camera]: ./src/rs_node_setup.cpp:370:An exception has been thrown: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] Failed to start device: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] [INFO] [1706656717.664063767] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1706656717.667175929] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1]  30/01 23:18:37,667 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
[realsense2_camera_node-1]  30/01 23:18:37,667 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-1]  30/01 23:18:37,668 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.5.auto
[realsense2_camera_node-1]  30/01 23:18:37,668 WARNING [139936384665152] (backend-hid.h:48) write_fs_attribute with accel_3d-dev1 failed. The specified path /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/trigger/current_trigger is not valid
[realsense2_camera_node-1]  30/01 23:18:37,668 ERROR [139936644707904] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,669 ERROR [139936644707904] (backend-hid.cpp:1005) Hid device is busy!
[realsense2_camera_node-1] [ERROR] [1706656717.669156742] [camera.camera]: ./src/rs_node_setup.cpp:370:An exception has been thrown: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] [ERROR] [1706656717.669198501] [camera.camera]: Error updating the sensors: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.5.auto
[realsense2_camera_node-1] [INFO] [1706656717.695129269] [camera.camera]: Device with serial number 318122301758 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1706656717.695212644] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.0/video4linux/video4 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695230950] [camera.camera]: Device with name Intel RealSense D456 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695577886] [camera.camera]: Device with port number 4-1.1 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695596253] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1706656717.695807486] [camera.camera]: Stop Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1706656717.695832956] [camera.camera]: Close Sensor. 
[realsense2_camera_node-1] [WARN] [1706656718.101862981] [camera.camera]: 
[realsense2_camera_node-1]  30/01 23:18:38,267 ERROR [139936795711040] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Protocol error
[realsense2_camera_node-1]  30/01 23:18:38,267 ERROR [139936795711040] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Protocol error
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device

[MartyG-RealSense]

Hi @ashBabu At IntelRealSense/realsense-ros#2470 there was a case where a Docker user was able to access the IMU in librealsense 2.48.0 but not in 2.50.0 (the version that the Docker guide that you linked to was introduced in).

In a more recent case at #11742 another user found that they could not access the IMU through Docker with a D435i but could if they used a RealSense T265 Tracking camera (a now retired RealSense model that had the same IMU component as D435i). Their Dockerfile can be found here:

https://github.com/EnthusiasticRoboticist/DonkeyJet/blob/main/realsense.Dockerfile

So it appears that IMU remains inaccessible on Docker in the years since the guide that you linked to was published, unfortunately.

[ashBabu]

Thanks @MartyG-RealSense. I am not an expert but does modifying some udev rules help?. In the file I linked, there are these lines -v /dev:/dev --device-cgroup-rule "c 81:* rmw" --device-cgroup-rule "c 189:* rmw" passed to the docker container. When I checked ls -l /dev, the number 81 corresponds to a group plugdev or video. In another forum, I found "c 10:* rmw" would help in getting imu data but 10 corresponds to root or kmv. Tried this but didnt work for me. So far the only thing that worked is to run docker with privileged. This gives access to imu data but it is not recommened.

Not sure if the above is of any help but just a guess. Please feel free to close this if this is a dead end as I dont have T265 cam.

[MartyG-RealSense]

My Docker knowledge is limited, unfortunately. Does it make a difference if you launch Docker in sudo admin permissions mode with sudo docker run instead of 'docker run' if you are not using sudo already, please?

[ashBabu]

I dont think sudo is going to help. When docker is installed, by default, all containers are run with sudo docker run .... By adding docker to the groups by sudo usermod -aG docker $USER makes it run without the sudo

[MartyG-RealSense]

In regard to your earlier comment about using privileged not being recommended, in RealSense Docker cases the use of privileged often is recommended in advice by RealSense users with Docker setups.

[ashBabu]

ok. Thank you @MartyG-RealSense . Closing this