Intel RealSense D455 roslaunch error #1864
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Hi @seungsunkim Which librealsense SDK version and RealSense ROS wrapper version are you using, please? Also would it be possible to provide a log of the launch process that includes the control_transfer returned warnings? Thanks! |
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librealsense SDK version : 2.44.0 sengsun@sengsun-17Z990-VA76K:~$ roslaunch realsense2_camera rs_camera.launch started roslaunch server http://sengsun-17Z990-VA76K:43121/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 60dc587a-b22d-11eb-bb6a-982cbc9f29aa [ INFO] [1620719354.226946963]: Device with physical ID 2-4-2 was found. |
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Your versions (librealsense 2.44.0 and ROS wrapper 2.2.24) are correctly matched up, so that aspect of your installation looks fine. When control_transfer returned warnings generate continuously then this can indicate that there is a serious communication problem with the device. Could you try adding initial_reset:=true to the end of your roslaunch instruction to reset the camera at launch, if you are not doing so already. For example: roslaunch realsense2_camera rs_camera.launch initial_reset:=true |
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I've already done it, but the results are the same. |
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I do not see anything obviously wrong in your log. Can you add enable_color:=false to the roslaunch to disable color so that only depth is publishing. This may indicate whether the problem is related to your computer / computing device being over-burdened by publishing both depth and color. roslaunch realsense2_camera rs_camera.launch enable_color:=false Also, could you tell me please which computer / computing device you are using (desktop / laptop, Raspberry Pi, Jetson, etc) |
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@MartyG-RealSense roslaunch realsense2_camera rs_camera.launch enable_color:=false The result is the same. |
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Given the number of control_transfer returned errors that you experience and then the Asic Temperature value is not valid! error, it does look as though the camera is 'timing out' and not providing data. Next, could you unplug the USB cable from the side of the camera at the micro-connector end of the cable, turn the connector upside down and re-insert it into the side of the camera (it is 2-way insertion at the micro end), and test the launch again. |
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I tried changing to a different cable, but the result is still the same. |
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Are you using the official 1 meter cable supplied with the camera or a longer USB cable of your own choice please? |
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Same error.. 😭 My Env: RPi4/Raspbian/ros1 melodic/real sense d435i pi@raspberrypi:~ $ roslaunch realsense2_camera rs_camera.launch align_depth:=false depth_width:=424 depth_height:=240 depth_fps:=15 color_width:=424 color_height:=240 color_fps:=15 enable_sync:=true started roslaunch server ip SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [11257] [ INFO] [1620736886.602629032]: Device with physical ID 2-2-2 was found. |
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@jeonds1127 Please try adding initial_reset:=true to the end of your roslaunch instruction to see whether it improves your results. For example: roslaunch realsense2_camera rs_camera.launch initial_reset:=true |
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@MartyG-RealSense |
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@jeonds1127 It is important to match the ROS wrapper version as closely as possible with the librealsense version recommended for that particular wrapper version. For SDK 2.44.0, ROS wrapper 2.2.24 should be used instead of 2.2.23. https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.24 Another RealSense ROS user with a Raspberry Pi is also currently experiencing the Time is out of dual 32-bit range error despite using initial_reset:=true and enable_sync:=true (which has fixed the problem in the past on desktop and laptop computers). If changing the reset or sync (the most common fixes) do not work, there are some less commonly used solutions that can be investigated. A solution for some RealSense ROS users has been to clean their catkin workspace. Another Pi user switched their Pi from Raspbian to the Pi version of Ubuntu and also used a more stable power connection. Whilst someone on the same discussion suggested checking that the time on the computer is up to date. |
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@seungsunkim Does the camera stream correctly in the SDK's RealSense Viewer tool please? |
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@MartyG-RealSense Yes. Realsense Viewer is stream correctly. |
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@seungsunkim Does the wrapper still generate control_transfer returned errors if you use a different launch file: roslaunch realsense2_camera rs_d435_camera_with_model.launch |
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@MartyG-RealSense I ran roslaunch realsense2_camera rs_d435_camera_with_model.launch Resource not found: realsense2_description |
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@seungsunkim Okay, let's try an RGBD type launch next. First, use the sudo command below in the Ubuntu terminal to install support for an RGBD launch in ROS. sudo apt-get install ros-melodic-rgbd-launch Then try the RGBD ROS wrapper launch instruction: roslaunch realsense2_camera rs_rgbd.launch |
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@MartyG-RealSense I success installed ros-melodic-rgbd-launch and ran roslaunch realsense2_camera rs_rgbd.launch, but the result is still the same. Should I change the Ubuntu version? |
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It could be related to the RSUSB backend that the librealsense2 version you have is using. |
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Thanks very much @doronhi :) @seungsunkim A RealSense user also just shared advice on another case that setting data to compressed instead of raw in RViz helped to resolve their own problem with control_transfer returned |
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Hi everyone I also have an error too while using Realsense D455 with Nvidia Jetson Xavier NX Developer kit. I'm using ROS melodic and Ubuntu 18.04 LTS. whenever i tried to launch
started roslaunch server http://project1-desktop:46823/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [15261] [ INFO] [1621154818.363832299]: Device with physical ID 2-3.3-7 was found. |
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Hi @GBT16 If you only receive a small number of control_transfer returned warnings at launch, or receive them at a rate of one or two per minute after launch, then they can be safely ignored if the launch has completed successfully and the topics are being published correctly in RViz. |
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Dear @MartyG-RealSense, |
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If control_transfer returned generates continuously then it can indicate that there is a serious communication problem with the device. Have you tried adding an initial_reset:=true command to your roslaunch instruction to reset the camera at launch, please? roslaunch realsense2_camera rs_camera.launch initial_reset:=true |
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@MartyG-RealSense yes I already tried that one too. the result still same like this
started roslaunch server http://project1-desktop:38755/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [16631] [ INFO] [1621157645.467644627]: Device with physical ID 2-3.3-7 was found. [ INFO] [1621157651.684970647]: Device with physical ID 2-3.3-7 was found. |
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It looks as though the warning starts generating when the launch process tries to set a default stream configuration for the camera. Let's try providing it with a custom stream definition in the roslaunch instead: roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30.0 |
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@MartyG-RealSense you're right when I run that code, it show errors
RLException: while processing /opt/ros/melodic/share/realsense2_camera/launch/includes/nodelet.launch.xml: Param xml is . Node xml is what should I do? |
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Could you try the roslaunch again with '30' instead of '30.0' for the FPS? |
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@MartyG-RealSense still same error...
started roslaunch server http://project1-desktop:38427/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [17179] [ INFO] [1621158777.928200959]: Device with physical ID 2-3.3-7 was found. |
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Did you build the ROS wrapper from source code using Method 2? And if you did build from source code, did you install ddynamic_reconfigure before inputting catkin_make clean? |
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@MartyG-RealSense no i'm using method 1 because when I tried using 2nd Method i can't install librealsense2-dkms.
and I tried using this comment #1510 (comment) and the output would be like this even though the output for roslaunch are like this
started roslaunch server http://project1-desktop:35057/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [18111] [ INFO] [1621159531.788986241]: Device with physical ID 2-3.3-7 was found. |
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Are you able to receive streams correctly if the camera is used in the RealSense Viewer tool? |
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And you have not got the RealSense Viewer streaming when using ROS? (the Viewer streams should not be enabled when trying to use the camera with other camera applications) |
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@MartyG-RealSense yeah when I'm using RViz my realsense-viewer won't show any detected camera it automatically disconnected. that pict took after i close my RViz, stop my roslaunch and reconnect the camera to my jetson xavier |
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When a stream on a specific camera is enabled in a camera application, it is "claimed" by that application so that another application cannot access that stream from that particular camera. For example, if Depth is enabled in the Viewer then another RealSense application such as rs-capture cannot stream depth. In the same way, if rs-capture is active then the Depth stream cannot be enabled in the Viewer. When a particular stream is disabled, that stream becomes available again for other applications to use. It is not necessary to have the Viewer active when using RealSense ROS. |
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@MartyG-RealSense I'm sorry I don't understand. so I dont need to open realsense-viewer when using roslaunch is that what you mean? |
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That is what I mean, yes. The RealSense Viewer does not need to be open when using RealSense ROS as the Viewer does not play any part in the operation of RealSense ROS. In ROS, RViz is used to view the streams. |
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@MartyG-RealSense okay still, so the error what should I do? should I just ignore it then? |
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If control_transfer returned is generating continuously even when the Viewer is closed then it should not be ignored. As the log goes into the continual stream of warnings after it tries to set the configuration and does not list RealSense Node is up! (indicating that launch has been successful and not exited), that is of concern to me. Is there any part of your log once the errors start where it lists RealSense Node is up! |
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@MartyG-RealSense Yeah there is after I let it run for a while there is one
started roslaunch server http://project1-desktop:43569/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [21278] [ INFO] [1621164095.760652417]: Device with physical ID 2-3.3-9 was found.
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I suspected that there might be a RealSense Node is up! somewhere as you were able to show images displayed in RViz earlier, and that the warnings were generating so fast that it was getting pushed down the log out of sight. That is very useful, as it shows that the camera configuration is being applied correctly to the launch process and the launch process is not exiting. Thank you very much.
Going back to the roslaunch with pointcloud filter: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud Do you see an image in the center panel of RViz if you set Fixed Frame to camera_link instead of map, like in the pointcloud example in the ROS wrapper documentation? https://github.com/IntelRealSense/realsense-ros#point-cloud |
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@MartyG-RealSense actually when I launch it show sth but nothing look like the page you mentioned or maybe just bad angle or sth (?)
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Interestingly, the Views side-panel of RViz is suggesting that the measured distance is 10 meters, although the RGB image shows that the camera position is not anything like as far away as that. This could account for the low-quality point cloud image.
Does the depth measurement in the side panel change in real-time if the camera is moved or remain fixed on '10'? |
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actually it doesn't change when I moved my camera around. But I can change it manually.
is it suppose to change real-time? |
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Actually the animated image in the point-cloud example looks as though it is being zoomed and unzoomed with the mouse scroll-wheel rather than the camera being moved, so you are likely correct that it is a manual adjustment. I do apologize. That does look like a significantly improved cloud compared to the previous one. |
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@MartyG-RealSense So about the error earlier, should I just ignore it or there is sth wrong with my ROS RealSense? |
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Ideally a continuously generating control_transfer returned error would be resolved if possible. There are some cases though where it never gets resolved and the cause is never found. So if the performance in RViz is satisfactory then it may be best to simply ignore the log. |
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@MartyG-RealSense Okay Thank you very much for your assistance. |
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You are very welcome @GBT16 - good luck! |
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Hi @seungsunkim Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
Hi.
I use realsense D455 and ubuntu 18.04
I installed ROS melodic and realsense ros.
When I ran roslaunch realsense2_camera rs_camera.launch, I got the following error.
WARNING [140676904908544] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number:61
and
ERROR [140675999848192] (ds5-options.cpp:88) Asic Temperature value is not valid!
I have see some error like this in issues but i have not find the solution.
Thank you
regards
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