(messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 #2386
Comments
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Hi @hugoyvrn Does the warning still occur if you reset the camera in the ROS wrapper by including the command initial_reset:=true in your roslaunch instruction, please?
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Thanks @MartyG-RealSense for your quick response. This is the first thing I tried, it doesn't seem to change anything. $ roslaunch realsense2_camera rs_camera.launch initial_reset:=true
... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-58553.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hugo-victus-pc:41301/
SUMMARY
========
PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: -1
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: -1
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: -1
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /camera/realsense2_camera/initial_reset: True
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [58567]
process[camera/realsense2_camera-2]: started with pid [58568]
[ INFO] [1655731385.680638651]: Initializing nodelet with 12 worker threads.
[ INFO] [1655731385.754289811]: RealSense ROS v2.3.2
[ INFO] [1655731385.754319878]: Built with LibRealSense v2.50.0
[ INFO] [1655731385.754329657]: Running with LibRealSense v2.50.0
[ INFO] [1655731385.778337614]:
[ INFO] [1655731385.883844192]: Device with serial number 146222254421 was found.
[ INFO] [1655731385.883877255]: Device with physical ID 4-1-9 was found.
[ INFO] [1655731385.883888216]: Device with name Intel RealSense D455 was found.
[ INFO] [1655731385.884233015]: Device with port number 4-1 was found.
[ INFO] [1655731385.884249807]: Device USB type: 3.2
[ INFO] [1655731385.884265858]: Resetting device...
[ INFO] [1655731391.961025976]:
[ INFO] [1655731392.062878063]: Device with serial number 146222254421 was found.
[ INFO] [1655731392.062910835]: Device with physical ID 4-1-9 was found.
[ INFO] [1655731392.062919903]: Device with name Intel RealSense D455 was found.
[ INFO] [1655731392.063215247]: Device with port number 4-1 was found.
[ INFO] [1655731392.063236558]: Device USB type: 3.2
[ INFO] [1655731392.064862915]: getParameters...
[ INFO] [1655731392.094779740]: setupDevice...
[ INFO] [1655731392.094808085]: JSON file is not provided
[ INFO] [1655731392.094816080]: ROS Node Namespace: camera
[ INFO] [1655731392.094824616]: Device Name: Intel RealSense D455
[ INFO] [1655731392.094830618]: Device Serial No: 146222254421
[ INFO] [1655731392.094837401]: Device physical port: 4-1-9
[ INFO] [1655731392.094843132]: Device FW version: 05.13.00.50
[ INFO] [1655731392.094850395]: Device Product ID: 0x0B5C
[ INFO] [1655731392.094855976]: Enable PointCloud: Off
[ INFO] [1655731392.094861607]: Align Depth: Off
[ INFO] [1655731392.094869251]: Sync Mode: Off
[ INFO] [1655731392.094896203]: Device Sensors:
[ INFO] [1655731392.190691378]: Stereo Module was found.
[ INFO] [1655731392.197778718]: RGB Camera was found.
[ INFO] [1655731392.197887306]: Motion Module was found.
[ INFO] [1655731392.197919868]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655731392.197945948]: num_filters: 0
[ INFO] [1655731392.197961457]: Setting Dynamic reconfig parameters.
[ INFO] [1655731395.240527707]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655731395.240949643]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1655731395.241797553]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655731395.241821919]: setupPublishers...
[ INFO] [1655731395.243467794]: Expected frequency for depth = 30.00000
[ INFO] [1655731395.264402819]: Expected frequency for color = 30.00000
[ INFO] [1655731395.278194679]: setupStreams...
20/06 15:23:15,526 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,577 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,627 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655731395.677900580]: SELECTED BASE:Depth, 0
[ INFO] [1655731395.685538742]: RealSense Node Is Up!
[ WARN] [1655731395.740031650]:
20/06 15:23:15,740 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,791 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,841 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 15:23:15,891 WARNING [139947239515904] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 |
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Thank you. Next, let's test whether the problem is related to the ROS wrapper having difficulty with processing the volume of data by using a lower stream configuration (depth only, 640x480, 15 FPS).
Do the control_transfer_returned warnings still occur with this launch? |
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Okay, do you have any idea how I can fix this? To me, it seems to be a camera software issue. There is no change with these settings (I've already tested a lot of configurations from what you gave in the other github issues). $ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-70981.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hugo-victus-pc:46029/
SUMMARY
========
PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /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: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [70995]
process[camera/realsense2_camera-2]: started with pid [70996]
[ INFO] [1655754316.965389729]: Initializing nodelet with 12 worker threads.
[ INFO] [1655754317.033177845]: RealSense ROS v2.3.2
[ INFO] [1655754317.033209716]: Built with LibRealSense v2.50.0
[ INFO] [1655754317.033223492]: Running with LibRealSense v2.50.0
[ INFO] [1655754317.055527793]:
[ INFO] [1655754317.153544439]: Device with serial number 146222254421 was found.
[ INFO] [1655754317.153572362]: Device with physical ID 4-1-10 was found.
[ INFO] [1655754317.153580107]: Device with name Intel RealSense D455 was found.
[ INFO] [1655754317.153941709]: Device with port number 4-1 was found.
[ INFO] [1655754317.153980684]: Device USB type: 3.2
[ INFO] [1655754317.155082431]: getParameters...
[ INFO] [1655754317.185069871]: setupDevice...
[ INFO] [1655754317.185106611]: JSON file is not provided
[ INFO] [1655754317.185117341]: ROS Node Namespace: camera
[ INFO] [1655754317.185131088]: Device Name: Intel RealSense D455
[ INFO] [1655754317.185140415]: Device Serial No: 146222254421
[ INFO] [1655754317.185149292]: Device physical port: 4-1-10
[ INFO] [1655754317.185157658]: Device FW version: 05.13.00.50
[ INFO] [1655754317.185166275]: Device Product ID: 0x0B5C
[ INFO] [1655754317.185174370]: Enable PointCloud: Off
[ INFO] [1655754317.185182316]: Align Depth: Off
[ INFO] [1655754317.185190271]: Sync Mode: Off
[ INFO] [1655754317.185228394]: Device Sensors:
[ INFO] [1655754317.281893534]: Stereo Module was found.
[ INFO] [1655754317.289269696]: RGB Camera was found.
[ INFO] [1655754317.289403632]: Motion Module was found.
[ INFO] [1655754317.289432978]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655754317.289458627]: num_filters: 0
[ INFO] [1655754317.289473045]: Setting Dynamic reconfig parameters.
20/06 21:45:19,730 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
20/06 21:45:19,994 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1655754320.442757916]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655754320.443154305]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655754320.443989392]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655754320.444064356]: setupPublishers...
[ INFO] [1655754320.445538586]: Expected frequency for depth = 15.00000
[ INFO] [1655754320.474307173]: Expected frequency for color = 30.00000
[ INFO] [1655754320.488904340]: setupStreams...
20/06 21:45:20,704 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:20,754 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:20,804 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655754320.854922430]: SELECTED BASE:Depth, 0
20/06 21:45:20,854 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655754320.860755640]: RealSense Node Is Up!
[ WARN] [1655754321.025031797]:
20/06 21:45:21,025 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,075 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,125 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,176 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,226 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,277 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,327 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,377 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,528 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,679 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,729 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,879 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:21,930 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:22,080 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
20/06 21:45:22,130 WARNING [140378555541248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 |
|
Can you confirm that you do not have any other RealSense programs, such as realsense-viewer, already streaming with the camera before you perform the ROS launch? Do the warnings reduce if you add enable_color:=false to your roslaunch instruction to disable the color stream? |
|
I can confirm you that I do not have any other RealSense programs lunch at the same time. Today, even after rebooting my computer, I have the other issue (the error $ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false
... logging to /home/hugo/.ros/log/27819598-f144-11ec-afad-a598d86d1557/roslaunch-hugo-victus-pc-19792.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://hugo-victus-pc:40621/SUMMARY
========PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /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: False
* /camera/realsense2_camera/enable_color: False
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [19802]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 27819598-f144-11ec-afad-a598d86d1557
process[rosout-1]: started with pid [19812]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [19819]
process[camera/realsense2_camera-3]: started with pid [19820]
[ INFO] [1655803556.994129924]: Initializing nodelet with 12 worker threads.
[ INFO] [1655803557.145261805]: RealSense ROS v2.3.2
[ INFO] [1655803557.145290499]: Built with LibRealSense v2.50.0
[ INFO] [1655803557.145301720]: Running with LibRealSense v2.50.0
[ INFO] [1655803557.171811271]:
21/06 11:25:57,240 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803557.314491730]: Device with serial number 146222254421 was found.[ INFO] [1655803557.314540332]: Device with physical ID 4-1-2 was found.
[ INFO] [1655803557.314548577]: Device with name Intel RealSense D455 was found.
[ INFO] [1655803557.314832361]: Device with port number 4-1 was found.
[ INFO] [1655803557.314845897]: Device USB type: 3.2
[ INFO] [1655803557.319521224]: getParameters...
[ INFO] [1655803557.352628068]: setupDevice...
[ INFO] [1655803557.352658926]: JSON file is not provided
[ INFO] [1655803557.352669015]: ROS Node Namespace: camera
[ INFO] [1655803557.352678944]: Device Name: Intel RealSense D455
[ INFO] [1655803557.352686408]: Device Serial No: 146222254421
[ INFO] [1655803557.352697158]: Device physical port: 4-1-2
[ INFO] [1655803557.352708820]: Device FW version: 05.13.00.50
[ INFO] [1655803557.352716725]: Device Product ID: 0x0B5C
[ INFO] [1655803557.352724559]: Enable PointCloud: Off
[ INFO] [1655803557.352731402]: Align Depth: Off
[ INFO] [1655803557.352745339]: Sync Mode: Off
[ INFO] [1655803557.352794321]: Device Sensors:
[ INFO] [1655803557.450333421]: Stereo Module was found.
[ INFO] [1655803557.458155269]: RGB Camera was found.
[ INFO] [1655803557.458299671]: Motion Module was found.
[ INFO] [1655803557.458519815]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655803557.458566593]: num_filters: 0
[ INFO] [1655803557.458583134]: Setting Dynamic reconfig parameters.
[ INFO] [1655803560.507607341]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655803560.508549523]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655803560.508571014]: setupPublishers...
[ INFO] [1655803560.510506325]: Expected frequency for depth = 15.00000
[ INFO] [1655803560.532981084]: setupStreams...
21/06 11:26:00,704 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:00,754 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:00,805 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803560.855627359]: SELECTED BASE:Depth, 0
21/06 11:26:00,855 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803560.859860123]: RealSense Node Is Up!
[ WARN] [1655803561.026046151]:
21/06 11:26:01,027 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,077 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,128 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,179 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,431 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,482 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,532 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,683 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,734 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,885 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:01,936 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,087 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,138 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,289 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:26:02,340 WARNING [139883889760000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/hugo/.ros/log/50f927ba-f144-11ec-afad-a598d86d1557/roslaunch-hugo-victus-pc-22369.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://hugo-victus-pc:44689/SUMMARY
========PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /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: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [22377]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 50f927ba-f144-11ec-afad-a598d86d1557
process[rosout-1]: started with pid [22387]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [22394]
process[camera/realsense2_camera-3]: started with pid [22395]
[ INFO] [1655803626.516595368]: Initializing nodelet with 12 worker threads.
[ INFO] [1655803626.596673103]: RealSense ROS v2.3.2
[ INFO] [1655803626.596704362]: Built with LibRealSense v2.50.0
[ INFO] [1655803626.596717216]: Running with LibRealSense v2.50.0
[ INFO] [1655803626.621408736]:
21/06 11:27:06,679 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803626.759661624]: Device with serial number 146222254421 was found.[ INFO] [1655803626.759705296]: Device with physical ID 4-1-2 was found.
[ INFO] [1655803626.759763306]: Device with name Intel RealSense D455 was found.
[ INFO] [1655803626.760122361]: Device with port number 4-1 was found.
[ INFO] [1655803626.760152718]: Device USB type: 3.2
[ INFO] [1655803626.761551821]: getParameters...
[ INFO] [1655803626.790724603]: setupDevice...
[ INFO] [1655803626.790796277]: JSON file is not provided
[ INFO] [1655803626.790811556]: ROS Node Namespace: camera
[ INFO] [1655803626.790823789]: Device Name: Intel RealSense D455
[ INFO] [1655803626.790833067]: Device Serial No: 146222254421
[ INFO] [1655803626.790844669]: Device physical port: 4-1-2
[ INFO] [1655803626.790854287]: Device FW version: 05.13.00.50
[ INFO] [1655803626.790862823]: Device Product ID: 0x0B5C
[ INFO] [1655803626.790870597]: Enable PointCloud: Off
[ INFO] [1655803626.790878592]: Align Depth: Off
[ INFO] [1655803626.790887489]: Sync Mode: Off
[ INFO] [1655803626.790952732]: Device Sensors:
[ INFO] [1655803626.924101316]: Stereo Module was found.
[ INFO] [1655803626.930684012]: RGB Camera was found.
[ INFO] [1655803626.930842149]: Motion Module was found.
[ INFO] [1655803626.930883607]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655803626.930921839]: num_filters: 0
[ INFO] [1655803626.930934253]: Setting Dynamic reconfig parameters.
21/06 11:27:08,863 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:08,976 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:09,435 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655803630.179653227]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655803630.180024576]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655803630.180831464]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655803630.180855680]: setupPublishers...
[ INFO] [1655803630.182247599]: Expected frequency for depth = 15.00000
[ INFO] [1655803630.202186356]: Expected frequency for color = 30.00000
[ INFO] [1655803630.215359592]: setupStreams...
21/06 11:27:10,291 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
21/06 11:27:10,528 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,579 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,629 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1655803630.679950141]: SELECTED BASE:Depth, 0
[ INFO] [1655803630.694779554]: RealSense Node Is Up!
21/06 11:27:10,781 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ WARN] [1655803630.849835960]:
21/06 11:27:10,850 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,901 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:10,951 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,002 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,054 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,104 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
21/06 11:27:11,256 WARNING [139873453336320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false
... logging to /home/ras/.ros/log/9a8d5f8a-f145-11ec-9cd1-b764e565c950/roslaunch-ras-ThinkPad-P40-Yoga-140785.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://ras-thinkpad-p40-yoga:35871/SUMMARY
========PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /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: False
* /camera/realsense2_camera/enable_color: False
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [140793]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 9a8d5f8a-f145-11ec-9cd1-b764e565c950
process[rosout-1]: started with pid [140803]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [140810]
process[camera/realsense2_camera-3]: started with pid [140811]
[ INFO] [1655804179.724855025]: Initializing nodelet with 4 worker threads.
[ INFO] [1655804179.838032794]: RealSense ROS v2.3.2
[ INFO] [1655804179.838099423]: Built with LibRealSense v2.50.0
[ INFO] [1655804179.838134268]: Running with LibRealSense v2.50.0
[ INFO] [1655804179.875762821]:
21/06 11:36:20,028 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655804180.133087402]: Device with serial number 146222254421 was found.[ INFO] [1655804180.133125063]: Device with physical ID 2-4-5 was found.
[ INFO] [1655804180.133140674]: Device with name Intel RealSense D455 was found.
[ INFO] [1655804180.133730662]: Device with port number 2-4 was found.
[ INFO] [1655804180.133810019]: Device USB type: 3.2
[ INFO] [1655804180.136275647]: getParameters...
[ INFO] [1655804180.183752208]: setupDevice...
[ INFO] [1655804180.183795573]: JSON file is not provided
[ INFO] [1655804180.183808317]: ROS Node Namespace: camera
[ INFO] [1655804180.183835410]: Device Name: Intel RealSense D455
[ INFO] [1655804180.183865373]: Device Serial No: 146222254421
[ INFO] [1655804180.183892183]: Device physical port: 2-4-5
[ INFO] [1655804180.183920735]: Device FW version: 05.13.00.50
[ INFO] [1655804180.183946775]: Device Product ID: 0x0B5C
[ INFO] [1655804180.183971013]: Enable PointCloud: Off
[ INFO] [1655804180.183995558]: Align Depth: Off
[ INFO] [1655804180.184020934]: Sync Mode: Off
[ INFO] [1655804180.184071231]: Device Sensors:
[ INFO] [1655804180.354205553]: Stereo Module was found.
[ INFO] [1655804180.376627036]: RGB Camera was found.
[ INFO] [1655804180.377048395]: Motion Module was found.
[ INFO] [1655804180.377136866]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655804180.377320571]: num_filters: 0
[ INFO] [1655804180.377356336]: Setting Dynamic reconfig parameters.
[ INFO] [1655804183.247510858]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655804183.248415678]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655804183.248474549]: setupPublishers...
[ INFO] [1655804183.252012983]: Expected frequency for depth = 15.00000
[ INFO] [1655804183.319642804]: setupStreams...
21/06 11:36:23,465 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,518 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,568 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655804183.619381829]: SELECTED BASE:Depth, 0
[ INFO] [1655804183.630505084]: RealSense Node Is Up!
[ WARN] [1655804183.743294632]:
21/06 11:36:23,744 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,794 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,844 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:23,895 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,146 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,196 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,247 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,397 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,448 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,598 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:36:24,651 WARNING [140094509934336] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
... logging to /home/ras/.ros/log/89611eae-f145-11ec-9cd1-b764e565c950/roslaunch-ras-ThinkPad-P40-Yoga-139512.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://ras-thinkpad-p40-yoga:35059/SUMMARY
========PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /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: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /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: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /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: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /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_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /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:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)auto-starting new master
process[master]: started with pid [139520]
ROS_MASTER_URI=http://localhost:11311/setting /run_id to 89611eae-f145-11ec-9cd1-b764e565c950
process[rosout-1]: started with pid [139530]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [139537]
process[camera/realsense2_camera-3]: started with pid [139538]
[ INFO] [1655804150.913190839]: Initializing nodelet with 4 worker threads.
[ INFO] [1655804151.057417340]: RealSense ROS v2.3.2
[ INFO] [1655804151.057450719]: Built with LibRealSense v2.50.0
[ INFO] [1655804151.057475255]: Running with LibRealSense v2.50.0
[ INFO] [1655804151.093420523]:
21/06 11:35:51,242 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1655804151.349459792]: Device with serial number 146222254421 was found.[ INFO] [1655804151.349518681]: Device with physical ID 2-4-5 was found.
[ INFO] [1655804151.349544080]: Device with name Intel RealSense D455 was found.
[ INFO] [1655804151.350317339]: Device with port number 2-4 was found.
[ INFO] [1655804151.350376373]: Device USB type: 3.2
[ INFO] [1655804151.352392290]: getParameters...
[ INFO] [1655804151.402549128]: setupDevice...
[ INFO] [1655804151.402590464]: JSON file is not provided
[ INFO] [1655804151.402616136]: ROS Node Namespace: camera
[ INFO] [1655804151.402641973]: Device Name: Intel RealSense D455
[ INFO] [1655804151.402666738]: Device Serial No: 146222254421
[ INFO] [1655804151.402684610]: Device physical port: 2-4-5
[ INFO] [1655804151.402708121]: Device FW version: 05.13.00.50
[ INFO] [1655804151.402744271]: Device Product ID: 0x0B5C
[ INFO] [1655804151.402765445]: Enable PointCloud: Off
[ INFO] [1655804151.402787971]: Align Depth: Off
[ INFO] [1655804151.402814453]: Sync Mode: Off
[ INFO] [1655804151.402872606]: Device Sensors:
[ INFO] [1655804151.516745616]: Stereo Module was found.
[ INFO] [1655804151.540269417]: RGB Camera was found.
[ INFO] [1655804151.540661141]: Motion Module was found.
[ INFO] [1655804151.540718559]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1655804151.540763556]: num_filters: 0
[ INFO] [1655804151.540798545]: Setting Dynamic reconfig parameters.
[ INFO] [1655804154.517867979]: Done Setting Dynamic reconfig parameters.
[ INFO] [1655804154.518869118]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1655804154.522553694]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1655804154.522886468]: setupPublishers...
[ INFO] [1655804154.525888814]: Expected frequency for depth = 15.00000
[ INFO] [1655804154.590587965]: Expected frequency for color = 30.00000
[ INFO] [1655804154.645225192]: setupStreams...
21/06 11:35:54,878 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:54,928 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:54,978 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1655804155.029405519]: SELECTED BASE:Depth, 0
[ INFO] [1655804155.063051780]: RealSense Node Is Up!
[ WARN] [1655804155.158494832]:
21/06 11:35:55,160 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,210 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,263 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,315 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,373 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,424 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,575 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,626 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,676 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,827 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:55,878 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:56,028 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
21/06 11:35:56,079 WARNING [140275083101952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
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Let's look at the basics of your librealsense and ROS wrapper installations. You are correctly matching wrapper version 2.3.2 and librealsense version 2.50.0. Which methods did you use to install librealsense and the ROS wrapper, please? Did you:
Sometimes people build librealsense on its own and then install librealsense and the wrapper together from packages with the wrapper's Method 1. By doing so, they are effectively installing librealsense twice. Or instead, they install librealsense with both packages and source code on the same computer, resulting in conflicts between the two SDK installation types such as the Multiple udev rules detected warning. |
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Thank you for your answer. I installed both packages with the command line I have never tried to build something from source. Should I try? I also tried to remove the packages and reinstall them again. |
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All RealSense related packages should be uninstalled with the 'purge' command below. Is that the command that you used to uninstall, please?
Once uninstall has been performed, I would recommend only installing Noetic or Galactic but not both, and purging the packages to remove one version before installing another from packages (for example, removing a Noetic wrapper installation before installing the Galactic wrapper from packages). This is because performing an apt-get build with the command in the wrapper documentation will install both librealsense and the wrapper. So doing an apt-get build for both Noetic and Galactic would be installing librealsense twice. There is no harm in trying a source code build so long as the package build is uninstalled first before doing so. But you would have to reinstall librealsense separately first (either from packages or source code) and then install the ROS wrapper from source code afterwards. |
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Hi @hugoyvrn Do you require further assistance with this case, please? Thanks! |
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I also got this error on my ubuntu 18.04 : roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=false started roslaunch server http://ubuntu18:46121/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to df7d8cb2-f77d-11ec-9bef-000c297dee61 [ INFO] [1656488054.116286683]: Device with physical ID 4-1-4 was found. |
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I have used all the methods above and failed |
Hi @MartyG-RealSense, sorry for my late reply, I am now back with the camera. I used Any other ideas? |
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@hugoyvrn What kernel version(s) are you using on your computers, please? A package installation of the librealsense SDK supports up to kernel 5.4, whilst the most recent supported kernels on a source-code build of librealsense are 5.8 and 5.11. Whilst newer unsupported kernels such as 5.13 can work with librealsense, there may be unpredictable consequences in regards to stability. |
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Hi @MartyG-RealSense I have the same issue and here is what I use : I built from source the librealsense then realsense_ros , I tried all what you have proposed in all the forums but the I have the same error: SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to f5c7b254-fc78-11ec-8606-d8c0a6b112b7 [ INFO] [1657035703.073249108]: Device with physical ID 2-3.4.2-4 was found. |
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Hi @MariamFdil Can you confirm if you have tried the initial_reset:=true method mentioned earlier in this discussion at #2386 (comment) as initial_reset is False in your log. Thanks! |
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@MartyG-RealSense yes I’ve tried it and it didn’t change anything. |
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@MariamFdil It looks as though the pointcloud filter is being enabled. Do the control_transfer returned warnings still occur if pointcloud is not enabled?
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@MartyG-RealSense I tried this command right now roslaunch rs_camera.launch enable_pointcloud:=false. SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to ecdcfe4a-fd38-11ec-86d3-d8c0a6b112b7 [ INFO] [1657118151.438231421]: Device with physical ID 2-3.4.2-5 was found. |
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And the warnings still occur if you use a lower 640x480 resolution for both depth and color? roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 |
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@MartyG-RealSense Yes still occurs... |
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@MariamFdil Could you check the CPU percentage usage of your Ubuntu 20.04 computer with a system monitoring tool such as htop please and see whether CPU usage % is near 100%. If it is then this could indicate that your warnings might be occurring because the computer's CPU is over-burdened with processing and so cannot effectively process the frames arriving from the camera. |
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I did everything aforementioned and still end up with this while running this command: roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 06/07 17:25:26,663 ERROR [140619812943616] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130 06/07 17:25:26,679 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 17:25:26,730 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 17:25:26,780 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 06/07 17:25:26,830 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ WARN] [1657142727.542752535]: Hardware Notification:Depth stream start failure,1.65714e+12,Error,Hardware Error 06/07 17:25:27,888 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 ^C[camera/realsense2_camera-3] killing on exit [camera/realsense2_camera_manager-2] killing on exit 06/07 17:25:28,523 WARNING [140620232382208] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 I didn't want to spam the page with redundant logs so I've only added limited errors and warnings that seemed relevant. |
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Hi @prasuchit Which computer and operating system are you using? Also, which versions of ROS, the librealsense SDK and the RealSense ROS wrapper are you using? Could you also provide a complete roslaunch log, please? If you are concerned about log spam, please feel free to create a new case for your problem by visiting the front page of the forum at the link below and clicking the green New Issue button. |
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Hi @MartyG-RealSense , Computer - Dell Precision 5820 Tower with Intel(R) Xeon(R) W-2104 CPU @ 3.20GHz, 72 gigs RAM and Nvidia quadro RTX 4000 gpu. OS - Ubuntu 20.04; ROS - Noetic; RealSense ROS v2.2.21; LibRealSense v2.50.0; roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 Checking log directory for disk usage. This may take a while. started roslaunch server http://Whisler:42071/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 8d040e1c-fde9-11ec-b04f-07bd33fe1891 [ INFO] [1657202451.518667111]: Device with physical ID 2-10.2-7 was found. |
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It is important to match the RealSense ROS wrapper version as closely as possible with the librealsense SDK version listed in that particular wrapper version's release notes. The librealsense version that matches with the 2.2.21 wrapper version that you are using is 2.41.0 https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.21 If you are using SDK 2.50.0 then the correct Noetic-compatible wrapper version to match it with is 2.3.2 https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.2 |
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@MartyG-RealSense it seems that the camera doesn't use that much space of the CPU |
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@MartyG-RealSense I updated the ros wrapper like you said and nothing changed. started roslaunch server http://Whisler:44179/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 98f610aa-fe1e-11ec-b04f-07bd33fe1891 [ INFO] [1657216792.185089060]: Device with physical ID 2-10.2-7 was found. |
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Thanks for the information!! I guess it worked. I installed RGBD launch using: Noetic Output: Then i checked the rostopic "/camera/depth_registered/points" and points were published. I also got the pointcloud2 output in rviz. But the error in terminal did not disappear. Do I just ignore or does it mean it's not fully functioning still? Below are some reference screenshots for your reference:
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If the log is showing control_transfer returned warnings but RViz appears to be displaying a topic correctly then it is safe to ignore the warnings. |
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Alright! I'll proceed my works with this. I'll get back if there is a trouble. Thank you so much @MartyG-RealSense |
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You are very welcome. Please do feel free to leave a comment here or create a new issue if you have problems. Good luck! |
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Hello, I got the same type of error.
Issue DescriptionI have tried replacing multiple USB3.0 cables and reducing transmission requirements, but I still encounter this error on the Jetson Orin NX. In rviz2, the PointCloude2 topic is visible, but nothing is displayed. However, when using the same system and lib version on the LattePanda3 Delta, the point cloud data is displayed correctly. I would really appreciate some guidance! Command: ced@orin-nx:~$ ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true initial_reset:=true depth_width:=640 depth_height:=480 depth_fps:=15 enable_color:=falseReport: [INFO] [launch]: All log files can be found below /home/ced/.ros/log/2025-02-13-16-03-24-211691-orin-nx-815551
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [815566]
[realsense2_camera_node-1] [INFO] [1739433804.508809587] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-1] [INFO] [1739433804.509037625] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739433804.509067993] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739433805.189776100] [camera.camera]: Device with serial number 923322071923 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1739433805.189982858] [camera.camera]: Device with physical ID 2-1.2-13 was found.
[realsense2_camera_node-1] [INFO] [1739433805.190020843] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1739433805.190518936] [camera.camera]: Device with port number 2-1.2 was found.
[realsense2_camera_node-1] [INFO] [1739433805.190559449] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1739433805.190586617] [camera.camera]: Resetting device...
[realsense2_camera_node-1] [INFO] [1739433812.026650916] [camera.camera]: Device with serial number 923322071923 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1739433812.026830472] [camera.camera]: Device with physical ID 2-1.2-14 was found.
[realsense2_camera_node-1] [INFO] [1739433812.026871690] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1739433812.027198066] [camera.camera]: Device with port number 2-1.2 was found.
[realsense2_camera_node-1] [INFO] [1739433812.027242867] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1739433812.027404632] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1739433812.028113482] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1739433812.028165579] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1739433812.028192012] [camera.camera]: Device Serial No: 923322071923
[realsense2_camera_node-1] [INFO] [1739433812.028216109] [camera.camera]: Device physical port: 2-1.2-14
[realsense2_camera_node-1] [INFO] [1739433812.028234797] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1739433812.028255918] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1739433812.028273742] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1739433816.050855226] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1739433817.013876205] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1739433817.015305042] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1739433817.015546681] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1739433817.029924529] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739433817.164002342] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739433817.246965153] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] 13/02 16:03:37,248 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739433817.250141205] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] 13/02 16:03:37,259 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1739433817.367685753] [camera.camera]:
[realsense2_camera_node-1] [WARN] [1739433817.678584002] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 13/02 16:04:49,815 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:04:49,826 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:04:49,837 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:04:49,847 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:05:41,945 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:05:41,956 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:06:50,077 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:07:33,160 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:07:33,171 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/02 16:07:33,181 WARNING [281471612807392] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
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Hi @Ziller0831 In your ROS2 launch your custom configuration for the depth stream is being rejected as invalid and the launch is instead applying the default profile of 848x480 depth at 30 FPS and 1280x720 color at 30 FPS. This is occurring because the method of defining a custom stream configuration is different in the ROS2 wrapper - it is done with 'profile' instructions. Please try the launch command below to see whether it reduces the
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@MartyG-RealSense Thank for the reply, I tryed the launch command you provided, and the "control_transfer returned" problem has indeed been reduced, but Rviz2 still does not display the point cloud 2 image. If you need more information, please let me know.
ced@orin-nx:~$ ros2 topic list
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/metadata
/camera/imu
/parameter_events
/rosout
/tf_static
ced@orin-nx:~$ ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=640x480x15 enable_color:=false pointcloud.enable:=true
[INFO] [launch]: All log files can be found below /home/ced/.ros/log/2025-02-14-15-12-58-578364-orin-nx-1988459
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [1988460]
[realsense2_camera_node-1] [INFO] [1739517178.847020736] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-1] [INFO] [1739517178.847255170] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739517178.847289411] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739517179.544282499] [camera.camera]: Device with serial number 923322071923 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1739517179.544527525] [camera.camera]: Device with physical ID 2-1.2-16 was found.
[realsense2_camera_node-1] [INFO] [1739517179.544589350] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1739517179.545178091] [camera.camera]: Device with port number 2-1.2 was found.
[realsense2_camera_node-1] [INFO] [1739517179.545226668] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1739517179.545380909] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1739517179.546068372] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1739517179.546119316] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1739517179.546140757] [camera.camera]: Device Serial No: 923322071923
[realsense2_camera_node-1] [INFO] [1739517179.546156437] [camera.camera]: Device physical port: 2-1.2-16
[realsense2_camera_node-1] [INFO] [1739517179.546168085] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1739517179.546180501] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1739517179.546191029] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1739517183.583191858] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1739517184.574624979] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1739517184.576601798] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1739517184.576794696] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1739517184.589454786] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739517184.713204842] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739517184.819964526] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] 14/02 15:13:04,822 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739517184.823493328] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] 14/02 15:13:04,833 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1739517184.940812474] [camera.camera]:
[realsense2_camera_node-1] 14/02 15:13:12,280 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:13:12,291 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:13:12,301 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:15:39,611 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:15:39,622 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:15:39,633 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:16:27,730 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:16:27,741 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:01,819 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:01,830 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:01,841 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:01,851 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:52,953 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 14/02 15:17:52,964 WARNING [281472661186784] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
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The 'Image' setting in the side-panel of RViz is usually set to an RGB color topic rather than a depth topic such as Please try setting Image to |
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@MartyG-RealSense But When I set
I also discovered something interesting. When I open Rviz2 first and the execute: ced@orin-nx:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=640x480x15 enable_color:=true pointcloud.enable:=trueRviz2 briefly displays the PointCloud2 image, but then it freezes. Meanwhile, the terminal outputs the following information.
[INFO] [launch]: All log files can be found below /home/ced/.ros/log/2025-02-15-15-29-32-712890-orin-nx-3220192
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [3220201]
[realsense2_camera_node-1] [INFO] [1739604572.984851593] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-1] [INFO] [1739604572.985076911] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739604572.985109231] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739604573.721343056] [camera.camera]: Device with serial number 923322071923 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1739604573.721517557] [camera.camera]: Device with physical ID 2-1.2-16 was found.
[realsense2_camera_node-1] [INFO] [1739604573.721548789] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1739604573.721870781] [camera.camera]: Device with port number 2-1.2 was found.
[realsense2_camera_node-1] [INFO] [1739604573.721902462] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1739604573.722043937] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1739604573.722700465] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1739604573.722733874] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1739604573.722753330] [camera.camera]: Device Serial No: 923322071923
[realsense2_camera_node-1] [INFO] [1739604573.722787315] [camera.camera]: Device physical port: 2-1.2-16
[realsense2_camera_node-1] [INFO] [1739604573.722805523] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1739604573.722819988] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1739604573.722832788] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1739604577.794680664] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1739604578.786553664] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1739604578.788825974] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1739604578.788967706] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1739604578.802226680] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739604578.918882569] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739604579.006138328] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1739604579.006414207] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] 15/02 15:29:39,007 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739604579.009298884] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 15/02 15:29:39,019 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739604579.033659181] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1739604579.037257284] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1739604579.126191259] [camera.camera]:
[realsense2_camera_node-1] 15/02 15:29:39,336 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,346 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,357 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,368 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1739604579.433580945] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 15/02 15:29:39,684 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,696 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,707 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:29:39,718 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1739604580.243051202] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 15/02 15:29:40,361 ERROR [281472250079456] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 15/02 15:31:11,707 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:31:57,802 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:31:57,813 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:31:57,824 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:31:57,834 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:32:54,976 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:33:45,089 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:33:45,100 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:33:45,111 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:34:38,216 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:34:38,227 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:34:38,238 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:34:38,249 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:35:24,351 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:35:24,361 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:35:24,372 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:35:24,383 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:36:27,505 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:36:27,516 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:36:27,527 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:37:33,648 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:37:33,658 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:37:33,669 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 15/02 15:37:33,680 WARNING [281473072294112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
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@Ziller0831 Usually, Fixed Frame will be set to camera_link when displaying a RealSense pointcloud in RViz.
Do the number of control_transfer returned messages reduce if you set a lower resolution and FPS for RGB color too?
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@MartyG-RealSense The [realsense2_camera_node-1] [INFO] [1739686624.140169741] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739686624.250152818] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739686624.353932528] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1739686624.354214968] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] 16/02 14:17:04,355 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739686624.357831321] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 16/02 14:17:04,367 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739686624.383982102] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1739686624.387544629] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1739686624.473418356] [camera.camera]:
[realsense2_camera_node-1] 16/02 14:17:04,683 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/02 14:17:04,694 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/02 14:17:04,705 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/02 14:17:04,716 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [WARN] [1739686624.795425933] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 16/02 14:17:04,828 WARNING [281472619440352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 16/02 14:17:08,709 ERROR [281472065661152] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] [WARN] [1739686629.255811605] [camera.camera]: XXX Hardware Notification:Right MIPI error,1.73969e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1739686629.255968346] [camera.camera]: Hardware Notification:Right MIPI error,1.73969e+12,Error,Hardware ErrorAdditionally, RViz2's Image and PointCloud2 work for a few seconds, but then they freeze.
This photo shows the system's operation while running the command. I hope it provides you with more clues. Thank you! |
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Even though I provided a launch instruction that should set depth and color to 640x480 and 15 FPS, the above launch seems to be rejecting those settings and is instead using the default 848x480 depth and 1280x720 color at 30 FPS. I note that although you are using librealsense 2.55.1, your wrapper version is 4.54.1, which is designed for librealsense 2.54.1. The 4.55.1 wrapper version should be used with librealsense 2.55.1. Let's try an older method of setting the profiles that may be more compatible with 4.54.1.
Please provide the log that is generated when using this launch instruction. |
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Thanks for the information!! it can worked. But the control_transfer returned messages didn't reduce, and there will also be other WARNING and Error messages. Launch log: Report: ced@orin-nx:~$ ros2 launch realsense2_camera rs_launch.py depth_module.profile:=640x480x15 rgb_camera.profile:=640x480x15 pointcloud.enable:=true
[INFO] [launch]: All log files can be found below /home/ced/.ros/log/2025-02-17-16-21-19-200860-orin-nx-1500012
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [1500013]
[realsense2_camera_node-1] [INFO] [1739780479.476282548] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-1] [INFO] [1739780479.476490137] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739780479.476525113] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739780480.238699941] [camera.camera]: Device with serial number 923322071923 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1739780480.238984940] [camera.camera]: Device with physical ID 2-1.3-22 was found.
[realsense2_camera_node-1] [INFO] [1739780480.239053485] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1739780480.239819007] [camera.camera]: Device with port number 2-1.3 was found.
[realsense2_camera_node-1] [INFO] [1739780480.239884257] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1739780480.240243113] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1739780480.240871479] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1739780480.240906584] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1739780480.240929401] [camera.camera]: Device Serial No: 923322071923
[realsense2_camera_node-1] [INFO] [1739780480.240944345] [camera.camera]: Device physical port: 2-1.3-22
[realsense2_camera_node-1] [INFO] [1739780480.240954777] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1739780480.240964314] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1739780480.240973210] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [WARN] [1739780484.270693116] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1739780485.247590289] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1739780485.249312153] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1739780485.249442844] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1739780485.261892604] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739780485.381465196] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739780485.472395237] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] [INFO] [1739780485.472916785] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] 17/02 16:21:25,473 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739780485.478168650] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 17/02 16:21:25,484 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1739780485.492826686] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] [INFO] [1739780485.495374681] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1739780485.658890690] [camera.camera]:
[realsense2_camera_node-1] 17/02 16:21:25,800 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:25,811 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:25,823 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:25,938 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:25,949 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:26,469 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:26,479 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:26,490 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:26,501 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:26,511 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:28,821 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:31,486 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:34,150 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:36,814 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:39,479 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:40,054 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:21:42,143 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:44,807 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] [WARN] [1739780506.402947442] [camera.camera]: XXX Hardware Notification:Right MIPI error,1.73978e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1739780506.403178999] [camera.camera]: Hardware Notification:Right MIPI error,1.73978e+12,Error,Hardware Error
[realsense2_camera_node-1] 17/02 16:21:47,472 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] [WARN] [1739780508.406313642] [camera.camera]: XXX Hardware Notification:Right MIPI error,1.73978e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1739780508.406516431] [camera.camera]: Hardware Notification:Right MIPI error,1.73978e+12,Error,Hardware Error
[realsense2_camera_node-1] 17/02 16:21:50,136 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:52,800 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:55,464 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:21:58,129 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:22:00,793 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:22:03,457 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] 17/02 16:22:04,114 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/02 16:22:06,122 ERROR [281471528790240] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[realsense2_camera_node-1] [INFO] [1739780527.383918993] [rclcpp]: signal_handler(signum=2)
[realsense2_camera_node-1] [INFO] [1739780527.384911816] [camera.camera]: Stop Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1739780527.384974954] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1739780527.533260241] [camera.camera]: Close Sensor - Done.
[realsense2_camera_node-1] [INFO] [1739780527.533325266] [camera.camera]: Stop Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1739780527.533343474] [camera.camera]: Close Sensor.
[realsense2_camera_node-1] [INFO] [1739780529.313759481] [camera.camera]: Close Sensor - Done.
[INFO] [realsense2_camera_node-1]: process has finished cleanly [pid 1500013]
According to what you said, my librealsense and wrapper version do not match. Do I need to change the wrapper version? |
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If the pointcloud is displaying correctly in RViz with good performance then it is safe to ignore the messages in the log. If it is working then changing the wrapper version to 4.55.1 could risk it no longer working if the older 4.54.1 wrapper is not fully removed from the computer first. If you built the 4.54.1 wrapper from source code then you can remove it simply by completely deleting the /ros2_ws/src catkin workspace folder. My recommendation would be to keep the setup as you have it now and ignore the stream of log messages though. |
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@MartyG-RealSense |
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Okay, thanks very much @Ziller0831 for the update. I look forward to your next report. |
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Currently, I have updated the wrapper version to v4.55.1. [realsense2_camera_node-1] [INFO] [1739866229.727589066] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1739866229.727859955] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739866229.727900309] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1739866230.474511856] [camera.camera]: Device with serial number 923322071923 was found.I used the command: ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=640x480x15 rgb_camera.color_profile:=640x480x15 pointcloud.enable:=trueHowever, I still see control_transfer messages appearing. I tried using average rate: 10.813
min: 0.057s max: 0.183s std dev: 0.04100s window: 12
average rate: 9.210
min: 0.057s max: 0.202s std dev: 0.05246s window: 20
average rate: 9.982
min: 0.057s max: 0.202s std dev: 0.04930s window: 33
average rate: 10.140
min: 0.057s max: 0.202s std dev: 0.04763s window: 45
average rate: 9.739
min: 0.057s max: 0.334s std dev: 0.05711s window: 53
average rate: 8.814
min: 0.057s max: 0.342s std dev: 0.07577s window: 58
average rate: 8.505
min: 0.057s max: 0.400s std dev: 0.08293s window: 65
average rate: 8.266
min: 0.057s max: 0.533s std dev: 0.09352s window: 72
average rate: 8.183
min: 0.057s max: 0.533s std dev: 0.09189s window: 80
I have tried multiple USB 3.2 signal cables available in the lab, but the issue remains. I have ordered new signal cables, but before they arrive, I would like to ask about possible causes. Could it be due to the performance limitations of the Jetson Orin NX? |
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Jetson boards are very capable hardware. However, desktop PCs do often perform better with the RealSense ROS wrapper than a Jetson running the same Ubuntu, librealsense and wrapper configuration as the PC. Does the FPS improve if you disable the RGB option auto_exposure_priority with the instruction below, which should be inputted after launch has completed?
|
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After running When I changed |
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You could test whether it is the resolution or FPS (or both) that are limited by using higher resolutions at 15 FPS instead of 30.
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When I ran the commands you provided, rviz2 initially displayed the point cloud correctly. However, when these messages appeared: [realsense2_camera_node-1] [WARN] [1739952291.680613999] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
[realsense2_camera_node-1] 19/02 16:04:53,427 ERROR [281471595899104] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132The point cloud froze. |
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Does the launch instruction below work? It should publish a pointcloud that uses the infrared image for the pointcloud's texture instead of the RGB color image.
|
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The PointCloud2 is being published, but rviz2 does not display any point clouds and shows the following messages: [realsense2_camera_node-1] [WARN] [1740041319.260611747] [camera.camera]: No stream match for pointcloud chosen texture Process - Depth
[realsense2_camera_node-1] 20/02 16:48:45,114 ERROR [281471654553824] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 131
[realsense2_camera_node-1] 20/02 16:49:10,321 WARNING [281472275441888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 20/02 16:49:10,332 WARNING [281472275441888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 20/02 16:49:10,343 WARNING [281472275441888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 |
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And the same errors occur if you launch with ros2 run instead of ros2 launch?
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After using the new command you provided, the previous error no longer appears. However, besides the 21/02 13:48:42,635 ERROR [281472342550752] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(ctrl=1) failed! Last Error: SuccessAdditionally, when using I also tested multiple resolution and FPS combinations using: ros2 launch realsense2_camera rs_launch.pyOnly the |
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You mentioned earlier at #2386 (comment) that although the problem was occurring on Jetson Orin, the pointcloud worked correctly on LattePanda 3 Delta. You also said that you were using the same librealsense and wrapper version combination on LattePanda. What method did you use to install librealsense on the Jetson Orin, please? Did you build it from source code or apt-get install from packages? |
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@MartyG-RealSense I installed it on the Jetson Orin NX using LibUVC-backend. |
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When you built with the libuvc backend procedure, did you edit line 46 of the libuvc_installation.sh script to add the flag https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh#L46 This flag enables the librealsense SDK's CUDA support and accelerates the processing of pointclouds on Jetson boards by offloading processing of the pointcloud from the CPU onto the Jetson's graphics GPU. There may be a heavy processing burden on the CPU otherwise when the pointcloud is enabled, which could result in the Resource temporarily unavailable warnings. |
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I don't recall adding that command, so I probably didn't add it. Should I reinstall libuvc? |
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If you are using pointclouds or depth-color alignment on Jetson then it is highly recommendable to build librealsense with its CUDA support enabled with that command, yes. Alternatively, if you would prefer not to have to reinstall librealsense then you could instead build the ROS2 wrapper again from source code and include the command -DBUILD_ACCELERATE_GPU_WITH_GLSL=ON in the 'colcon build' command to enable the wrapper's own pointcloud acceleration mechanism.
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Hello,
Camera: Realsense depth camera D455
OS: Linux (Ubutuntu 20.04, same issue in Ubuntu 18.04)
ROS distribution: ros1 noetic (same issue on ros1 with melodic and ros2 with galactic)
No problem seen with realsense-viewer (neither on Windows 10 nor Ubuntu 20.04).
I changed the USB port and the USB C cable, tested on different computers and reset the camera with realsense-viewer.
I am want to do localization with the camera
roslaunch realsense2_camera rs_camera.launchorroslaunch realsense2_camera rs_rgbd.launch, whatever the parameters used I never get Pose, odom nor tf publication.Two errors seem to be the problem :
and
Does anyone have any idea what is causing this problem?
Thanks in advance.
Some terminal outputs:
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