D435i ros-wrapper unstable and crash base on jetson nano,

Question

D435i ros-wrapper unstable and crash base on jetson nano,

lightsalt2011 opened this issue 4 years ago · 2 comments

lightsalt2011 commented 4 years ago

[ INFO] [1587093001.067961095]: Initializing nodelet with 4 worker threads.
[ INFO] [1587093001.352782130]: RealSense ROS v2.2.11
[ INFO] [1587093001.352886622]: Running with LibRealSense v2.31.0
[ INFO] [1587093001.725060607]:
17/04 11:10:02,277 WARNING [547561193856] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1587093002.330385056]: Device with serial number 947122070521 was found.

[ INFO] [1587093002.330522365]: Device with physical ID 2-1.3-6 was found.
[ INFO] [1587093002.330628056]: Device with name Intel RealSense D435I was found.
[ WARN] [1587093002.337918928]: Error extracting usb port from device with physical ID: 2-1.3-6
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1587093002.345399826]: getParameters...
[ INFO] [1587093002.444041871]: setupDevice...
[ INFO] [1587093002.444127247]: JSON file is not provided
[ INFO] [1587093002.444185640]: ROS Node Namespace: camera
[ INFO] [1587093002.444246377]: Device Name: Intel RealSense D435I
[ INFO] [1587093002.444293258]: Device Serial No: 947122070521
[ INFO] [1587093002.444337690]: Device physical port: 2-1.3-6
[ INFO] [1587093002.444391447]: Device FW version: 05.11.01.100
[ INFO] [1587093002.444437130]: Device Product ID: 0x0B3A
[ INFO] [1587093002.444501096]: Enable PointCloud: Off
[ INFO] [1587093002.444548915]: Align Depth: Off
[ INFO] [1587093002.444594962]: Sync Mode: Off
[ INFO] [1587093002.445238117]: Device Sensors:
[ INFO] [1587093002.445754693]: Stereo Module was found.
[ INFO] [1587093002.445914609]: RGB Camera was found.
[ INFO] [1587093002.446011861]: Motion Module was found.
[ INFO] [1587093002.446139065]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1587093002.446203396]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1587093002.446253298]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1587093002.446310336]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1587093002.446775656]: num_filters: 0
[ INFO] [1587093002.446836080]: Setting Dynamic reconfig parameters.
[ INFO] [1587093007.733984162]: Done Setting Dynamic reconfig parameters.
[ INFO] [1587093007.788406136]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1587093007.789139975]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1587093007.789736193]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1587093007.841915916]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1587093007.843135960]: setupPublishers...
[ INFO] [1587093007.848657568]: Expected frequency for depth = 30.00000
[ INFO] [1587093007.857428216]: Expected frequency for infra1 = 30.00000
[ INFO] [1587093007.861933659]: Expected frequency for infra2 = 30.00000
[ INFO] [1587093007.866169903]: Expected frequency for color = 30.00000
[ INFO] [1587093007.876578563]: setupStreams...
[ INFO] [1587093007.930999026]: insert Depth to Stereo Module
[ INFO] [1587093007.931538988]: insert Color to RGB Camera
[ INFO] [1587093007.931698903]: insert Infrared to Stereo Module
[ INFO] [1587093007.931797404]: insert Infrared to Stereo Module
[ INFO] [1587093007.931870538]: insert Gyro to Motion Module
[ INFO] [1587093007.931975811]: insert Accel to Motion Module
17/04 11:10:08,048 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1587093008.276969922]: SELECTED BASE:Depth, 0
[ INFO] [1587093008.317713629]: RealSense Node Is Up!
17/04 11:10:08,400 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:08,460 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:08,542 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:08,681 ERROR [547113386368] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
17/04 11:10:08,724 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:08,905 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:08,986 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:09,050 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
17/04 11:10:09,488 WARNING [547432145280] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 23,
[ WARN] [1587093009.755832530]: Hardware Notification:IR stream start failure,1.58709e+12,Error,Hardware Error
[ERROR] [1587093009.756025314]: Hardware Reset is needed. use option: initial_reset:=true
17/04 11:10:09,760 WARNING [547440537984] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 9,
17/04 11:10:10,290 WARNING [547138564480] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 134 error: No such device, number: 19
17/04 11:10:10,290 ERROR [547138564480] (hid-device.cpp:153) failed to submit UVC request
17/04 11:10:10,290 WARNING [547432145280] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19
17/04 11:10:10,291 WARNING [547113386368] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
17/04 11:10:10,291 ERROR [547113386368] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,291 WARNING [547113386368] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
17/04 11:10:10,291 ERROR [547113386368] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,291 WARNING [546225090944] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
17/04 11:10:10,291 ERROR [546225090944] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,291 WARNING [547088208256] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
17/04 11:10:10,291 ERROR [547088208256] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,291 WARNING [547088208256] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
17/04 11:10:10,291 ERROR [547088208256] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,291 WARNING [546225090944] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
17/04 11:10:10,291 ERROR [546225090944] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
17/04 11:10:10,680 ERROR [547113386368] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
17/04 11:10:10,680 WARNING [547113386368] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
17/04 11:10:10,766 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
17/04 11:10:10,776 ERROR [547331498368] (error-handling.cpp:68) Error during polling error handler: usb device disconnected
17/04 11:10:10,867 ERROR [547088208256] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
17/04 11:10:10,867 WARNING [547088208256] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19
^C 17/04 11:10:11,122 WARNING [547432145280] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
17/04 11:10:11,133 ERROR [547448930688] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: usb device disconnected
[camera/realsense2_camera-3] killing on exit[camera/realsense2_camera_manager-2] killing on exit

^C 17/04 11:10:11,416 WARNING [547088208256] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
17/04 11:10:11,422 WARNING [547088208256] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
17/04 11:10:11,422 WARNING [547088208256] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19
17/04 11:10:11,432 WARNING [546225090944] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
17/04 11:10:11,434 WARNING [546225090944] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
17/04 11:10:11,434 WARNING [546225090944] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 131, error: No such device, number: 19
17/04 11:10:11,466 WARNING [547432145280] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 135 error: No such device, number: 19
17/04 11:10:11,497 WARNING [547113386368] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
17/04 11:10:11,497 WARNING [547113386368] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
17/04 11:10:11,502 WARNING [547113386368] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
17/04 11:10:11,556 WARNING [547138564480] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 134 error: No such device, number: 19
17/04 11:10:11,579 ERROR [548118739440] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICEL4T 32.3.1
JetPack 4.3
Requires librealsense v2.31.0
Installs RealSense ROS Version = 2.2.11
17/04 11:10:11,579 ERROR [548118739440] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE

I have follow https://github.com/JetsonHacksNano/installRealSenseROS step by step , but my D435i ros-wrapper cannot work well, error log as above.
realsense_viewer and rs-xxx cmd works well *
config as below:
R32 (release), REVISION: 3.1, GCID: 18186506, BOARD: t210ref, EABI: aarch64, DATE: Tue Dec 10 06:58:34 UTC 2019
RealSense ROS v2.2.11
LibRealSense v2.31.0

is there someone give some suggestion ?

Answer 1 · 2021-05-07T15:33:11.000Z

Hi, I have your same problem...did you find any solution?

Answer 2 · 2022-04-01T07:48:01.000Z

I had thath problem, there is more info in this thread: IntelRealSense/realsense-ros#2176
It seems the problem is building from source when OpenCV is compiled with CUDA.
You have 2 options:
1- You can compile the code using an OpenCV installation without CUDA.
2- Install realsense wrapper using sudo apt-get install ros-melodic-realsense2-camera and sudo apt-get install ros-melodic-realsense2-description with a OpenCV CUDA installation but without access to Realsense SDK CUDA capabilities.

Tested on Jetson Nano, Jetpack 4.4.1, librealsense v2.50.0, librealsense wrapper 2.3.2.