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update sdk version question #5406

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TouchDeeper opened this issue Dec 9, 2019 · 6 comments
Closed

update sdk version question #5406

TouchDeeper opened this issue Dec 9, 2019 · 6 comments
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bug ros SR300

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@TouchDeeper
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Required Info
Camera Model SR300
Firmware Version 3.15.0.0
Operating System & Version Ubuntu 16
Kernel Version (Linux Only) 4.15.0-72-generic
Platform PC
SDK Version 2.29.0
Language c++
Segment Robot

Issue Description

<Describe your issue / question / feature request / etc..>
I want to update realsense sdk from 2.18.1 to 2.29.0. I have sudo make uninstall in 2.18.1.

When I process ./scripts/patch-realsense-ubuntu-lts.sh, output below:

Package required libusb-1.0-0-dev:  - found
Package required libssl-dev:  - found
Create patches workspace in ubuntu-xenial-hwe folder

Applying patches for xenial-hwe line
Applying realsense-uvc patch
patching file drivers/media/usb/uvc/Makefile
Reversed (or previously applied) patch detected!  Assume -R? [n] 
Apply anyway? [n]

I hit enter two times. This should because I have install patch when I install 2.18.1.

After I install the 2.29.0, I tried to test realsense-viewer, the ouput of realsen-viewer is below:

 09/12 11:10:11,150 WARNING [140289839146752] (backend-v4l2.cpp:1148) Pixel format 435a4e49-b602-480f-978c-e4e88ae likely requires patch for fourcc code INZC!
 09/12 11:10:11,150 WARNING [140289839146752] (backend-v4l2.cpp:1148) Pixel format 52494150-8536-4841-b6bf-8fc6ffb likely requires patch for fourcc code PAIR!
 09/12 11:10:16,203 WARNING [140289839146752] (types.cpp:48) set_pu(id=9) failed! Last Error: Input/output error
 09/12 11:10:16,212 WARNING [140289839146752] (sensor.cpp:766) Exception was thrown when inspecting RGB Camera property Controls white balance of color image. Setting any value will disable auto white balance
 09/12 11:10:16,212 ERROR [140289839146752] (types.h:304) xioctl(VIDIOC_G_CTRL) failed Last Error: Invalid argument
 09/12 11:10:16,216 WARNING [140289839146752] (sensor.cpp:766) Exception was thrown when inspecting RGB Camera property Enable / disable auto-exposure
 09/12 11:11:13,773 WARNING [140289729619712] (sr300.cpp:358) UVC metadata payloads are not available for stream 5a3136201513174560. Please refer to installation chapter for details.
 09/12 11:11:14,362 WARNING [140289708640000] (sr300.cpp:358) UVC metadata payloads are not available for stream 595559561498765654. Please refer to installation chapter for details.

The warning of UVC metadata payloads are not available may be the problem caused by patch kernal.

When I tried to run ros node roslaunch realsense2_camera rs_camera.launch filters:=pointcloud, error occured:

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: True
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

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

auto-starting new master
process[master]: started with pid [6665]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 04fb8b7e-1a31-11ea-81ce-2016b9896a4d
process[rosout-1]: started with pid [6678]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [6681]
process[camera/realsense2_camera-3]: started with pid [6682]
[ INFO] [1575860844.379151441]: Initializing nodelet with 6 worker threads.
[ INFO] [1575860844.846633067]: RealSense ROS v2.2.9
[ INFO] [1575860844.846662375]: Running with LibRealSense v2.29.0
[ INFO] [1575860845.476449927]:  
[ INFO] [1575860845.486953427]: Device with serial number 619203001802 was found.

[ INFO] [1575860845.486979648]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.1/2-1.1:1.2/video4linux/video1 was found.
[ INFO] [1575860845.486988445]: Device with name Intel RealSense SR300 was found.
[ INFO] [1575860845.487285007]: Device with port number 2-1 was found.
[ INFO] [1575860845.491008260]: getParameters...
[ INFO] [1575860845.561322685]: setupDevice...
[ INFO] [1575860845.561345752]: JSON file is not provided
[ INFO] [1575860845.561354416]: ROS Node Namespace: camera
[ INFO] [1575860845.561367624]: Device Name: Intel RealSense SR300
[ INFO] [1575860845.561375075]: Device Serial No: 619203001802
[ INFO] [1575860845.561384402]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.1/2-1.1:1.2/video4linux/video1
[ INFO] [1575860845.561392767]: Device FW version: 3.15.0.0
[ INFO] [1575860845.561399253]: Device Product ID: 0x0AA5
[ INFO] [1575860845.561406734]: Enable PointCloud: On
[ INFO] [1575860845.561413075]: Align Depth: Off
[ INFO] [1575860845.561419336]: Sync Mode: On
[ INFO] [1575860845.561460362]: Device Sensors: 
[ INFO] [1575860845.561489113]: Coded-Light Depth Sensor was found.
[ INFO] [1575860845.561502718]: RGB Camera was found.
[ INFO] [1575860845.561531860]: (Infrared, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561542875]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561551194]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561558094]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561565903]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561574106]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561582929]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1575860845.561600650]: Add Filter: pointcloud
[ INFO] [1575860845.562049978]: num_filters: 1
[ INFO] [1575860845.562063192]: Setting Dynamic reconfig parameters.
[ INFO] [1575860845.606874738]: Done Setting Dynamic reconfig parameters.
 09/12 11:07:25,607 WARNING [139691507070720] (backend-v4l2.cpp:1148) Pixel format 435a4e49-b602-480f-978c-e4e88ae likely requires patch for fourcc code INZC!
 09/12 11:07:25,607 WARNING [139691507070720] (backend-v4l2.cpp:1148) Pixel format 52494150-8536-4841-b6bf-8fc6ffb likely requires patch for fourcc code PAIR!
[ INFO] [1575860845.625755229]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1575860845.625910424]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1575860845.627022328]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1575860845.627044863]: setupPublishers...
[ INFO] [1575860845.630962237]: Expected frequency for depth = 30.00000
[ INFO] [1575860845.639489333]: Expected frequency for infra1 = 30.00000
[ INFO] [1575860845.641058470]: Expected frequency for color = 30.00000
[ INFO] [1575860845.643548891]: setupStreams...
[ INFO] [1575860845.643885718]: insert Depth to Coded-Light Depth Sensor
[ INFO] [1575860845.643911383]: insert Color to RGB Camera
[ INFO] [1575860845.643922102]: insert Infrared to Coded-Light Depth Sensor
[ INFO] [1575860845.648392546]: SELECTED BASE:Depth, 0
[ INFO] [1575860845.653646791]: RealSense Node Is Up!
 09/12 11:07:26,010 WARNING [139691473499904] (sr300.cpp:358) UVC metadata payloads are not available for stream 494e5a491229871689. Please refer to installation chapter for details.
[ WARN] [1575860846.013629230]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
 09/12 11:07:26,223 WARNING [139691371808512] (sr300.cpp:358) UVC metadata payloads are not available for stream 595559561498765654. Please refer to installation chapter for details.
 09/12 11:07:26,225 WARNING [139691341784832] (types.cpp:48) Region-of-interest is not implemented for this device!
[ERROR] [1575860846.238346599]: Region-of-interest is not implemented for this device!

There still has the error UVC metadata payloads are not available . and new error Region-of-interest is not implemented for this device! occured?
Could you please provide some advice? Thanks a lot!
@TouchDeeper
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anyone help~

@dorodnic
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Hi @TouchDeeper
Will check. Its the combination of SDK, ROS-RealSense and SR300 firmware version that makes the wrapper think it should support RGB auto-exposure ROI, when in fact it should not.

@TouchDeeper
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@dorodnic Thank you for reply.

Is the realsense-viewer's warning UVC metadata payloads are not available for stream 5a3136201513174560. Please refer to installation chapter for details. also a bug? If not, how can I fix it? Thanks a lot!

@manhha1402
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manhha1402 commented Dec 16, 2019 •
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I also have a problem with librealsense and realsense-ros due to the bug of librealsense with SR300
IntelRealSense/realsense-ros#1017
#5233

@RealSenseCustomerSupport
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We will fix the issue. But the schedule is not available yet.

@doronhi
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doronhi commented Sep 1, 2021

In a very long delay, using librealsense2 version 2.48.0 and realsense-ros version 2.3.1 and an SR305 I can no longer reproduce the Region-of-interest is not implemented for this device! error.

@MartyG-RealSense MartyG-RealSense mentioned this issue May 10, 2022
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@dorodnic @manhha1402 @TouchDeeper @doronhi @RealSenseCustomerSupport @RealSenseSupport