process has died. #2022
Comments
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Hi @github-lile Your RealSense ROS wrapper and librealsense SDK versions are correctly matched. As a starting point in investigating your case, may I ask if you installed ddynamic_reconfigure for ROS Kinetic during installation of the ROS wrapper? If you have not installed it and you are using Linux then you should be able to do so with the command below: sudo apt install ros-kinetic-ddynamic-reconfigure |
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@MartyG-RealSense Thank you, I should have installed ddynamic_reconfigure. I started three D435 cameras through roslaunch at the same time, only two of them can be started, but the left one cannot be started. The above is the logs of starting the left camera alone. |
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What computer or computing device do you have the three D435 cameras attached to please? (PC, Raspberry Pi, Nvidia Jetson, etc) |
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@MartyG-RealSense PC，ubuntu20.04 |
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Thank you very much. And which roslaunch instruction are you using to launch the cameras? For example, are you using rs_multiple_devices.launch and specifying the serial numbers for the three cameras in a single roslaunch instruction? https://github.com/IntelRealSense/realsense-ros#work-with-multiple-cameras |
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@MartyG-RealSense Thank you. Yes, I did exactly what you said. |
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There was a past case in #1326 of a multiple camera launch where only two cameras out of a set of four would be detected. They were able to get it working on a PC by using a mains electricity powered USB 3.2 hub. Is it practical to use a powered hub that is plugged into a mains socket in your particular project, please? You could alternatively test the launching of the three cameras in separate ROS terminals (one terminal for each camera) using the rs_camera.launch instruction instead of a single terminal using the rs_multiple_devices.launch instruction, as suggested by the multiple camera section of the RealSense ROS documentation linked to above. |
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@MartyG-RealSense Thank you very much. |
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Is the affected camera able to work normally in the RealSense Viewer program, please? |
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@MartyG-RealSense Yes, the affected camera can work normally in the RealSense Viewer program. |
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On a case where a RealSense ROS user was using six cameras with the multiple_devices launch instruction, they had very erratic behavior. A RealSense team member advised them to build librealsense with the V4L backend method instead of RSUSB. Finally in that case, Doronhi the RealSense ROS wrapper developer advises that as of December 2020, building librealsense and the ROS wrapper with the Method 1 installation process using the command apt-get install ros-melodic-realsense2-camera installs a version of librealsense2 that uses RSUSB, not V4L. Can you confirm please whether you built the ROS wrapper using Method 1 (building librealsense and the wrapper together from packages using apt-get) or whether you built the wrapper from source code with Method 2? |
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Hi @github-lile Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
SUMMARY
PARAMETERS
NODES
/left_camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[left_camera/realsense2_camera_manager-1]: started with pid [18180]
process[left_camera/realsense2_camera-2]: started with pid [18181]
process[left_camera/color_rectify_color-3]: started with pid [18182]
process[left_camera/points_xyzrgb_hw_registered-4]: started with pid [18184]
[ INFO] [1628139974.514158996]: Initializing nodelet with 8 worker threads.
[ INFO] [1628139974.938156856]: RealSense ROS v2.2.13
[ INFO] [1628139974.938216440]: Running with LibRealSense v2.33.1
[ INFO] [1628139974.962490422]:
[ INFO] [1628139974.976214648]: Device with serial number 008222070950 was found.
[ INFO] [1628139974.976247534]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb1/1-4/1-4.1/1-4.1:1.0/video4linux/video3 was found.
[ INFO] [1628139974.976257009]: Device with name Intel RealSense D435 was found.
[ INFO] [1628139974.976645520]: Device with port number 1-4.1 was found.
[ INFO] [1628139974.985209612]: Device with serial number 001622071918 was found.
[ INFO] [1628139974.985239781]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb1/1-4/1-4.4/1-4.4:1.0/video4linux/video6 was found.
[ INFO] [1628139974.985250120]: Device with name Intel RealSense D435 was found.
[ INFO] [1628139974.985563935]: Device with port number 1-4.4 was found.
[ INFO] [1628139974.990492942]: getParameters...
[ INFO] [1628139975.033630969]: setupDevice...
[ INFO] [1628139975.033674217]: JSON file is not provided
[ INFO] [1628139975.033688243]: ROS Node Namespace: left_camera
[ INFO] [1628139975.033749009]: Device Name: Intel RealSense D435
[ INFO] [1628139975.033761667]: Device Serial No: 001622071918
[ INFO] [1628139975.033792021]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb1/1-4/1-4.4/1-4.4:1.0/video4linux/video6
[ INFO] [1628139975.033827248]: Device FW version: 05.12.13.50
[ INFO] [1628139975.033841217]: Device Product ID: 0x0B07
[ INFO] [1628139975.033886651]: Enable PointCloud: Off
[ INFO] [1628139975.033899267]: Align Depth: On
[ INFO] [1628139975.033910881]: Sync Mode: On
[ INFO] [1628139975.034046962]: Device Sensors:
[ INFO] [1628139975.034101079]: Stereo Module was found.
[ INFO] [1628139975.034119918]: RGB Camera was found.
[ INFO] [1628139975.034175900]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034188572]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034215015]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034241362]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034253492]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034265483]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1628139975.034285773]: num_filters: 0
[ INFO] [1628139975.034297465]: Setting Dynamic reconfig parameters.
05/08 13:06:15,055 WARNING [140292252456704] (types.cpp:49) hwmon command 0x7d failed. Error type: No data to return (-21).
terminate called after throwing an instance of 'rs2::invalid_value_error'
what(): hwmon command 0x7d failed. Error type: No data to return (-21).
[left_camera/realsense2_camera_manager-1] process has died [pid 18180, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/bulldog/.ros/log/9e567484-f5a7-11eb-b87f-1c697a64284c/left_camera-realsense2_camera_manager-1.log].
log file: /home/bulldog/.ros/log/9e567484-f5a7-11eb-b87f-1c697a64284c/left_camera-realsense2_camera_manager-1*.log
[left_camera/realsense2_camera-2] process has finished cleanly
log file: /home/bulldog/.ros/log/9e567484-f5a7-11eb-b87f-1c697a64284c/left_camera-realsense2_camera-2*.log
[left_camera/points_xyzrgb_hw_registered-4] process has finished cleanly
log file: /home/bulldog/.ros/log/9e567484-f5a7-11eb-b87f-1c697a64284c/left_camera-points_xyzrgb_hw_registered-4*.log
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