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D435 camera won't publish infra2 topic #9158

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Russ76 opened this issue Jun 4, 2021 · 22 comments
Closed

D435 camera won't publish infra2 topic #9158

Russ76 opened this issue Jun 4, 2021 · 22 comments
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@Russ76
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Russ76 commented Jun 4, 2021

An update or a wrong setting seems to have stopped infra2 ROS topic from being published. This is to work with rtabmap software. At first the camera worked perfectly with the mapping software, with infra1 and infra2 stereo image streams. Now I can't get camera to produce infra2 at any time. Using the parameters I can reliably turn on and off the infra1 steam, but infra2 is gone! Is this from a software or firmware update? I am using the Nvidia Jetson TX1 board, Ubuntu 18.04, and ROS Melodic.
@MartyG-RealSense
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MartyG-RealSense commented Jun 4, 2021 •
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Hi @Russ76 Infra2 would be unavailable if the camera was on a USB 2 connection, as that mode requires USB 3. If your camera is plugged into a USB 3 port, could you check please the USB type that your ROS launch process is detecting by checking the Device USB type line of the launch log, as described in the link below. If it is detecting the camera as being on USB 2 then the number reported should be 2.1 instead of 3.2 (a USB 3 connection).

IntelRealSense/realsense-ros#1907 (comment)

@Russ76
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Russ76 commented Jun 4, 2021

[ INFO] [1622814592.984338256]: Device with name Intel RealSense D435 was found.
[ INFO] [1622814592.985620981]: Device with port number 1-3 was found.
[ INFO] [1622814592.985719524]: Device USB type: 2.1
[ WARN] [1622814592.985786712]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.

Yes, this indicates a problem. The port is type 3, I understand. At some times I have used a hub so that the keyboard and mouse may be also connected. That device says it is type 3. Somewhere the type number got changed, for it was working with both stereo streams on an earlier day. Is this a ROS problem or a Linux problem?

@MartyG-RealSense
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If you launch the RealSense Viewer program at look at the number beside the camera name in the options side-panel (2.1 or 3.2), this should indicate whether the detection issue is only in the ROS wrapper or in both RealSense ROS and librealsense.

@Russ76
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Russ76 commented Jun 4, 2021

Realsense viewer reports USB port is type 2.1

It also reports this error at startup:

Timestamp: 1622821858845.864258
Severity: Warn
Description: Multiple realsense udev-rules were found! :
1:/etc/udev/rules.d/99-realsense-libusb.rules
2: /lib/udev/rules.d/60-librealsense2-udev-rules.rules
Make sure to remove redundancies!

@MartyG-RealSense
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MartyG-RealSense commented Jun 4, 2021 •
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The Multiple realsense udev-rules were found warning typically occurs if librealsense has been built with both the source-code and Debian packages on the same computer.

If this is the case, the warning should disappear if the version of the udev (device handling) rules in the etc/udev folder is removed.

#6153 (comment)

#6153 (comment)

The rule in the lib/udev folder is the one that should not be deleted, as doing so may break linkages to Debian packages.

@Russ76
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Russ76 commented Jun 4, 2021

OK, thanks. Is there any way to correct this USB misidentification?

@MartyG-RealSense
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I would recommend first dealing with the multiple udev rule warning to see if that resolves the USB 2.1 issue.

You could also try adding the command initial_reset:=true to the end of your ROS roslaunch instruction to reset the camera at launch if you are not doing so already.

A camera reset can also be performed in the Viewer by going to the More option near the top of the side-panel and selecting Reset Hardware from the drop-down menu.

@Russ76
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Russ76 commented Jun 4, 2021

I have done all you suggested. Even installed another USB 3.0 powered hub. ROS and Realsense-viewer still report port is USB 2.1.
These errors come up repeatedly:
04/06 12:00:05,665 WARNING [547331498368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:00:05,751 WARNING [547331498368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61

@MartyG-RealSense
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If the control_transfer returned warning generates continously then it can indicate that there is a serious communication problem with the device.

We can test whether the USB system on that particular computer is being over-burdened by launching ROS with a custom camera configuration that only streams low-resolution depth.

roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30.0 initial_reset:=true

@Russ76
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Russ76 commented Jun 4, 2021

$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30.0 initial_reset:=true
... logging to /home/thomas/.ros/log/ab5e3b92-c55c-11eb-ada1-00044b79c483/roslaunch-thomas-tx1-14685.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.

RLException: while processing /opt/ros/melodic/share/realsense2_camera/launch/includes/nodelet.launch.xml:
Invalid tag: Invalid tag: invalid literal for int() with base 10: '30.0'.

Param xml is .

Node xml is 




<param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)"/>
<param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/>
<param name="pointcloud_texture_index" type="int" value="$(arg pointcloud_texture_index)"/>
<param name="allow_no_texture_points" type="bool" value="$(arg allow_no_texture_points)"/>
<param name="ordered_pc" type="bool" value="$(arg ordered_pc)"/>

<param name="enable_sync" type="bool" value="$(arg enable_sync)"/>
<param name="align_depth" type="bool" value="$(arg align_depth)"/>

<param name="fisheye_width" type="int" value="$(arg fisheye_width)"/>
<param name="fisheye_height" type="int" value="$(arg fisheye_height)"/>
<param name="enable_fisheye" type="bool" value="$(arg enable_fisheye)"/>
<param name="enable_fisheye1" type="bool" value="$(arg enable_fisheye1)"/>
<param name="enable_fisheye2" type="bool" value="$(arg enable_fisheye2)"/>

<param name="depth_width" type="int" value="$(arg depth_width)"/>
<param name="depth_height" type="int" value="$(arg depth_height)"/>
<param name="enable_depth" type="bool" value="$(arg enable_depth)"/>

<param name="confidence_width" type="int" value="$(arg confidence_width)"/>
<param name="confidence_height" type="int" value="$(arg confidence_height)"/>
<param name="enable_confidence" type="bool" value="$(arg enable_confidence)"/>
<param name="confidence_fps" type="int" value="$(arg confidence_fps)"/>

<param name="color_width" type="int" value="$(arg color_width)"/>
<param name="color_height" type="int" value="$(arg color_height)"/>
<param name="enable_color" type="bool" value="$(arg enable_color)"/>

<param name="infra_width" type="int" value="$(arg infra_width)"/>
<param name="infra_height" type="int" value="$(arg infra_height)"/>
<param name="enable_infra" type="bool" value="$(arg enable_infra)"/>
<param name="enable_infra1" type="bool" value="$(arg enable_infra1)"/>
<param name="enable_infra2" type="bool" value="$(arg enable_infra2)"/>
<param name="infra_rgb" type="bool" value="$(arg infra_rgb)"/>

<param name="fisheye_fps" type="int" value="$(arg fisheye_fps)"/>
<param name="depth_fps" type="int" value="$(arg depth_fps)"/>
<param name="infra_fps" type="int" value="$(arg infra_fps)"/>
<param name="color_fps" type="int" value="$(arg color_fps)"/>
<param name="gyro_fps" type="int" value="$(arg gyro_fps)"/>
<param name="accel_fps" type="int" value="$(arg accel_fps)"/>
<param name="enable_gyro" type="bool" value="$(arg enable_gyro)"/>
<param name="enable_accel" type="bool" value="$(arg enable_accel)"/>
<param name="enable_pose" type="bool" value="$(arg enable_pose)"/>

<param name="base_frame_id" type="str" value="$(arg base_frame_id)"/>
<param name="depth_frame_id" type="str" value="$(arg depth_frame_id)"/>
<param name="infra1_frame_id" type="str" value="$(arg infra1_frame_id)"/>
<param name="infra2_frame_id" type="str" value="$(arg infra2_frame_id)"/>
<param name="color_frame_id" type="str" value="$(arg color_frame_id)"/>
<param name="fisheye_frame_id" type="str" value="$(arg fisheye_frame_id)"/>
<param name="fisheye1_frame_id" type="str" value="$(arg fisheye1_frame_id)"/>
<param name="fisheye2_frame_id" type="str" value="$(arg fisheye2_frame_id)"/>
<param name="accel_frame_id" type="str" value="$(arg accel_frame_id)"/>
<param name="gyro_frame_id" type="str" value="$(arg gyro_frame_id)"/>
<param name="pose_frame_id" type="str" value="$(arg pose_frame_id)"/>

<param name="depth_optical_frame_id" type="str" value="$(arg depth_optical_frame_id)"/>
<param name="infra1_optical_frame_id" type="str" value="$(arg infra1_optical_frame_id)"/>
<param name="infra2_optical_frame_id" type="str" value="$(arg infra2_optical_frame_id)"/>
<param name="color_optical_frame_id" type="str" value="$(arg color_optical_frame_id)"/>
<param name="fisheye_optical_frame_id" type="str" value="$(arg fisheye_optical_frame_id)"/>
<param name="fisheye1_optical_frame_id" type="str" value="$(arg fisheye1_optical_frame_id)"/>
<param name="fisheye2_optical_frame_id" type="str" value="$(arg fisheye2_optical_frame_id)"/>
<param name="accel_optical_frame_id" type="str" value="$(arg accel_optical_frame_id)"/>
<param name="gyro_optical_frame_id" type="str" value="$(arg gyro_optical_frame_id)"/>
<param name="imu_optical_frame_id" type="str" value="$(arg imu_optical_frame_id)"/>
<param name="pose_optical_frame_id" type="str" value="$(arg pose_optical_frame_id)"/>

<param name="aligned_depth_to_color_frame_id" type="str" value="$(arg aligned_depth_to_color_frame_id)"/>
<param name="aligned_depth_to_infra1_frame_id" type="str" value="$(arg aligned_depth_to_infra1_frame_id)"/>
<param name="aligned_depth_to_infra2_frame_id" type="str" value="$(arg aligned_depth_to_infra2_frame_id)"/>
<param name="aligned_depth_to_fisheye_frame_id" type="str" value="$(arg aligned_depth_to_fisheye_frame_id)"/>
<param name="aligned_depth_to_fisheye1_frame_id" type="str" value="$(arg aligned_depth_to_fisheye1_frame_id)"/>
<param name="aligned_depth_to_fisheye2_frame_id" type="str" value="$(arg aligned_depth_to_fisheye2_frame_id)"/>

<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)"/>

<param name="odom_frame_id" type="str" value="$(arg odom_frame_id)"/>
<param name="topic_odom_in" type="str" value="$(arg topic_odom_in)"/>
<param name="calib_odom_file" type="str" value="$(arg calib_odom_file)"/>
<param name="publish_odom_tf" type="bool" value="$(arg publish_odom_tf)"/>
<param name="stereo_module/exposure/1" type="int" value="$(arg stereo_module/exposure/1)"/>
<param name="stereo_module/gain/1" type="int" value="$(arg stereo_module/gain/1)"/>
<param name="stereo_module/exposure/2" type="int" value="$(arg stereo_module/exposure/2)"/>
<param name="stereo_module/gain/2" type="int" value="$(arg stereo_module/gain/2)"/>

<param name="filters" type="str" value="$(arg filters)"/>
<param name="clip_distance" type="double" value="$(arg clip_distance)"/>
<param name="linear_accel_cov" type="double" value="$(arg linear_accel_cov)"/>
<param name="initial_reset" type="bool" value="$(arg initial_reset)"/>
<param name="unite_imu_method" type="str" value="$(arg unite_imu_method)"/>
The traceback for the exception was written to the log file

@Russ76
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Russ76 commented Jun 4, 2021

$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 initial_reset:=true
... logging to /home/thomas/.ros/log/1bb7ca52-c55d-11eb-8907-00044b79c483/roslaunch-thomas-tx1-14894.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://thomas-tx1:41437/

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: 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: 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/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:
  • /rosdistro: melodic
  • /rosversion: 1.14.11

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

auto-starting new master
process[master]: started with pid [14906]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1bb7ca52-c55d-11eb-8907-00044b79c483
process[rosout-1]: started with pid [14921]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [14938]
process[camera/realsense2_camera-3]: started with pid [14939]
[ INFO] [1622828927.951537041]: Initializing nodelet with 4 worker threads.
[ INFO] [1622828928.243808774]: RealSense ROS v2.3.0
[ INFO] [1622828928.243892002]: Built with LibRealSense v2.45.0
[ INFO] [1622828928.243954761]: Running with LibRealSense v2.45.0
[ INFO] [1622828928.300342060]:
[ INFO] [1622828928.557167431]: Device with serial number 819112071357 was found.

[ INFO] [1622828928.557308887]: Device with physical ID 1-3.1.1-8 was found.
[ INFO] [1622828928.557372480]: Device with name Intel RealSense D435 was found.
[ INFO] [1622828928.558559855]: Device with port number 1-3.1.1 was found.
[ INFO] [1622828928.558760529]: Device USB type: 2.1
[ WARN] [1622828928.558833809]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1622828928.559094533]: Resetting device...
[ INFO] [1622828934.618008177]:
[ INFO] [1622828934.815753020]: Device with serial number 819112071357 was found.

[ INFO] [1622828934.816057911]: Device with physical ID 1-3.1.1-9 was found.
[ INFO] [1622828934.816223429]: Device with name Intel RealSense D435 was found.
[ INFO] [1622828934.817330128]: Device with port number 1-3.1.1 was found.
[ INFO] [1622828934.817403200]: Device USB type: 2.1
[ WARN] [1622828934.817498771]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1622828934.823477053]: getParameters...
[ INFO] [1622828935.172145576]: setupDevice...
[ INFO] [1622828935.172359270]: JSON file is not provided
[ INFO] [1622828935.172443018]: ROS Node Namespace: camera
[ INFO] [1622828935.172514475]: Device Name: Intel RealSense D435
[ INFO] [1622828935.172564423]: Device Serial No: 819112071357
[ INFO] [1622828935.172610828]: Device physical port: 1-3.1.1-9
[ INFO] [1622828935.172656244]: Device FW version: 05.12.13.50
[ INFO] [1622828935.172703535]: Device Product ID: 0x0B07
[ INFO] [1622828935.172750201]: Enable PointCloud: Off
[ INFO] [1622828935.172795721]: Align Depth: Off
[ INFO] [1622828935.172871188]: Sync Mode: Off
[ INFO] [1622828935.173039831]: Device Sensors:
[ INFO] [1622828935.204736572]: Stereo Module was found.
[ INFO] [1622828935.223936082]: RGB Camera was found.
[ INFO] [1622828935.224113423]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1622828935.224208421]: num_filters: 0
[ INFO] [1622828935.224271441]: Setting Dynamic reconfig parameters.
[ WARN] [1622828935.875433770]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1622828935.897252818]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1622828936.086609475]: Done Setting Dynamic reconfig parameters.
[ INFO] [1622828936.088387622]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1622828936.090110560]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1622828936.090288630]: setupPublishers...
[ INFO] [1622828936.103773761]: Expected frequency for depth = 30.00000
[ INFO] [1622828936.240078736]: Expected frequency for color = 15.00000
[ INFO] [1622828936.354829972]: setupStreams...
[ INFO] [1622828936.380543119]: insert Depth to Stereo Module
[ INFO] [1622828936.381308626]: insert Color to RGB Camera
04/06 12:48:56,458 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1622828936.509927381]: SELECTED BASE:Depth, 0
[ INFO] [1622828936.550762401]: RealSense Node Is Up!
[ WARN] [1622828936.598675891]:
04/06 12:48:56,605 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:56,656 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:56,707 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:56,859 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:56,962 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:57,015 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 12:48:57,081 WARNING [547185447296] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

@MartyG-RealSense
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Can you run it again with depth_fps:=30 instead of 30.0 please? Sorry about that!

@Russ76
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Russ76 commented Jun 4, 2021

Yes, the second one listed above was with number corrected.

@MartyG-RealSense
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It is unusual that a depth-only configuration was defined in the link below:

roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 initial_reset:=true

But in the launch log, the color stream seems to be being published too at 640x480 and 15 FPS.

Please add enable_color:=false to the above roslaunch instruction to see whether that provides a depth-only launch.

@Russ76
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Russ76 commented Jun 4, 2021

thomas@thomas-tx1:~$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 initial_reset:=true enable_color:=false
... logging to /home/thomas/.ros/log/79474998-c564-11eb-9d8a-00044b79c483/roslaunch-thomas-tx1-19931.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://thomas-tx1:39687/

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: 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: 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: 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/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:
  • /rosdistro: melodic
  • /rosversion: 1.14.11

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

auto-starting new master
process[master]: started with pid [19943]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 79474998-c564-11eb-9d8a-00044b79c483
process[rosout-1]: started with pid [19958]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [19975]
process[camera/realsense2_camera-3]: started with pid [19976]
[ INFO] [1622832091.414180244]: Initializing nodelet with 4 worker threads.
[ INFO] [1622832091.696531429]: RealSense ROS v2.3.0
[ INFO] [1622832091.696629138]: Built with LibRealSense v2.45.0
[ INFO] [1622832091.696707421]: Running with LibRealSense v2.45.0
[ INFO] [1622832091.757692296]:
[ INFO] [1622832091.995636947]: Device with serial number 819112071357 was found.

[ INFO] [1622832091.995735178]: Device with physical ID 1-3.1.1-9 was found.
[ INFO] [1622832091.995778928]: Device with name Intel RealSense D435 was found.
[ INFO] [1622832091.996939981]: Device with port number 1-3.1.1 was found.
[ INFO] [1622832091.997016076]: Device USB type: 2.1
[ WARN] [1622832091.997065243]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1622832091.997155765]: Resetting device...
[ INFO] [1622832098.058515700]:
[ INFO] [1622832098.261852250]: Device with serial number 819112071357 was found.

[ INFO] [1622832098.262045950]: Device with physical ID 1-3.1.1-10 was found.
[ INFO] [1622832098.262158087]: Device with name Intel RealSense D435 was found.
[ INFO] [1622832098.263677164]: Device with port number 1-3.1.1 was found.
[ INFO] [1622832098.263768415]: Device USB type: 2.1
[ WARN] [1622832098.263828988]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1622832098.272330321]: getParameters...
[ INFO] [1622832098.649405426]: setupDevice...
[ INFO] [1622832098.649720169]: JSON file is not provided
[ INFO] [1622832098.649811732]: ROS Node Namespace: camera
[ INFO] [1622832098.649904545]: Device Name: Intel RealSense D435
[ INFO] [1622832098.649978088]: Device Serial No: 819112071357
[ INFO] [1622832098.650055536]: Device physical port: 1-3.1.1-10
[ INFO] [1622832098.650134912]: Device FW version: 05.12.13.50
[ INFO] [1622832098.650216371]: Device Product ID: 0x0B07
[ INFO] [1622832098.650300487]: Enable PointCloud: Off
[ INFO] [1622832098.650386529]: Align Depth: Off
[ INFO] [1622832098.650493770]: Sync Mode: Off
[ INFO] [1622832098.650743981]: Device Sensors:
[ INFO] [1622832098.677507156]: Stereo Module was found.
[ INFO] [1622832098.697113023]: RGB Camera was found.
[ INFO] [1622832098.697276879]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1622832098.697360109]: num_filters: 0
[ INFO] [1622832098.697427140]: Setting Dynamic reconfig parameters.
[ WARN] [1622832099.336065598]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1622832099.357081633]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1622832099.550957721]: Done Setting Dynamic reconfig parameters.
[ INFO] [1622832099.552519038]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1622832099.552677425]: setupPublishers...
[ INFO] [1622832099.572000163]: Expected frequency for depth = 30.00000
[ INFO] [1622832099.714990916]: setupStreams...
[ INFO] [1622832099.727079731]: insert Depth to Stereo Module
04/06 13:41:39,776 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1622832099.827307207]: SELECTED BASE:Depth, 0
[ INFO] [1622832099.853931526]: RealSense Node Is Up!
[ WARN] [1622832099.925471486]:
04/06 13:41:39,935 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:39,990 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:40,143 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:40,302 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:40,353 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:40,504 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:40,555 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
04/06 13:41:48,648 WARNING [546870129024] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

rostopic list
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

@Russ76
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Russ76 commented Jun 4, 2021

Stop the presses! It was my cable. It was not 3.0 type. I'm sorry, I didn't know to watch for that. A number of my cables are type 2.0 even though they are new. It must have the blue plastic inside, then it has more pins for the connections. My bad

@MartyG-RealSense
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MartyG-RealSense commented Jun 4, 2021 •
edited
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Which firmware driver version is your D435 camera using please?

If you do not know the firmware version, you can find it in the RealSense Viewer by left-clicking on the Info option near the top of the options side-panel

Edit:. Never mind - thanks for the update!

@Russ76
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Russ76 commented Jun 4, 2021

05.12.13.50

@MartyG-RealSense
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Okay, that firmware is correct for SDK 2.45.0. Thanks very much.

Please do post an update when you are able to test with a USB 3 cable. Good luck!

@Russ76
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Russ76 commented Jun 4, 2021

Yes, I had one 3.0 cable, and there is the topic infra2, as before! Sorry, I must have missed the memo about blue plugs on USB 3.0 cables. There are more wires inside! Of course the others can't work. I thought the difference was only in the jacks. Thanks for your patient help. I now have 5 new cables on order!

@Russ76 Russ76 closed this as completed Jun 4, 2021
@MartyG-RealSense
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You are very welcome - I'm pleased that you had a successful outcome. :)

@Russ76 Russ76 reopened this Jun 4, 2021
@Russ76
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Russ76 commented Jun 4, 2021

This issue can bite a fellow. In fact, in an article on the Intel website, there is a link to buy a cable for this very camera, and the cable is not type 3.0
https://dev.intelrealsense.com/docs/open-source-ethernet-networking-for-intel-realsense-depth-cameras

@Russ76 Russ76 closed this as completed Jun 4, 2021
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