(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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Hi (@MartyG-RealSense), I am trying to acquire some RGB + depth image sequences with a Intel RealSense D435i device, but I got the same issue raised in this thread, when running roslaunch. I created a custom rs_cam.launch that also sets the parameter initial_reset:=true. Here details of my setup:
Note that installing RealSense-ROS with Method 1, I cannot see realsense-viewer from terminal. However, in a previous installation of the SDK followed by the installation of RealSense ROS, I could access realsense-viewer. The USB ports are all 3.2. Summary of the log is attached. FYI - I also tried all the procedure on a Dell All-in-One and I could acquired the images. So, the problem seems more specific to the laptop. Would you have any advise on how to fix the issue for the laptop, as I would need to acquire image sequences with some mobility? I am available to provide any addition information if needed. |
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Hi @kerolex Was your previous SDK and wrapper installation on the same Dell XPS 15 computer as your later installation with Method 1, please? If it was then because Method 1 installs both the SDK and wrapper from packages at the same time, you may now have two different SDK installations on the same computer (built from source and packages) that may be conflicting. For example, source and package builds on the same computer can result in a Multiple realsense udev-rules were found! warning. The udev rules are responsible for device handling. All RealSense SDK related packages on a Linux computer can be uninstalled with the command below: dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge |
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I had both installations on the same Dell XPS 15. I was reading the threads on the issues and also attempted the command you have just provided (dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge), followed by the reinstallation of only Method 1 for the ros wrapper. The current installation should still OK. |
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Thank you for the previous reply @MartyG-RealSense The problem was/is still there even after the removal of the double installation, and re-installation of only realsense-ros. P.S.: I also tried to reduce the frame resolution to 640x380, and framerate to 15 or 6 fps, with no success. |
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@kerolex As you were using a custom launch file rs_cam.launch, do you experience the same problem with the ROS wrapper's rs_camera.launch ? |
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I am using ROS Melodic and with ros wrapper 2.3.2 still encounter this problem. My system: Jetson AGX Xavier Jetpack 4.6 (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 |
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Hi @EuguneHayashida I note that you are using librealsense version 2.51.1. It is important to match a particular RealSense ROS wrapper version as closely as possible with the librealsense version listed on that particular wrapper's release notes. The correct librealsense version to match with ROS1 wrapper version 2.3.2 is 2.50.0 as there is not a ROS1 wrapper for the new 2.51.1 SDK. There are no longer updates of the ROS1 wrapper, as the RealSense ROS developer team's focus is now on the ros2_beta wrapper. Do you also experience the control_transfer returned warning with librealsense version 2.50.0? |
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Hi @MartyG-RealSense . I have changed to 2.50.0 sdk and wrapped it using ROS1 2.3.2. The problem still persist. |
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@EuguneHayashida Have you tried launching with the rs_rgbd ROS1 launch file using the instructions at #2454 (comment) please? |
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@MartyG-RealSense At first all failed to show raw color image, but I can show raw color image using this line. roslaunch realsense2_camera rs_camera.launch Initial_reset:=true color_fps:=30 |
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Thanks very much @EuguneHayashida for the update about your success in obtaining the color image. |
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Hi, I got the same type of error indicated in the title, with my D455 on Ubuntu 20.04, and eventually managed to find a solution, so I decided to share my story here. My feeling is that there needs to be a match between the firmware of the D455 (I used 5.12.15.50) and librealsense2 (I used 2.51) and the ROS wrapper. I tested this approach on a D435 and was successfull too. It worked on Ubuntu 20.04 native as well as a virtual image on VMWare Player 16. |
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Thanks so much @StefanT83 for sharing with the RealSense community the solution that worked for you! |
As a side note, downgrading librealsense version might be more stable. Upgrading firmware to 05.14 doesn't help. |
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Thanks so much @HanzhiC for sharing the knowledge of what worked for you in your own situation! |
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Hi, I got the same type of error. Ubuntu - Ubuntu 20.04.6 LTS I tried out all possible solutions from above threads, #2467 and all the relevant threads. Still i am unable to resolve my error. ` roslaunch realsense2_camera rs_camera.launch initial_reset:=true filters:=pointcloud started roslaunch server http://art-desktop:36905/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 8b9139e6-3326-11ef-b7f8-204ef6c5f2ab [ INFO] [1719342614.659057580]: Device with physical ID 2-3.1-4 was found. [ INFO] [1719342621.114510818]: Device with physical ID 2-3.1-4 was found. ` Thanks in advance. |
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Hi @snix00125 The camera firmware driver version listed in your log is 5.16.0.1. The librealsense SDK 2.50.0 that you are using with wrapper 2.3.2 requires the older firmware version 5.13.0.50, as firmwares are designed to work with specific librealsense versions. |
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Hi @MartyG-RealSense Below is my roslaunch rs_camera.launch output: `roslaunch realsense2_camera rs_camera.launch initial_reset:=true filters:=pointcloud started roslaunch server http://art-desktop:32895/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to ddfd6956-33c2-11ef-b8f0-204ef6c5f2ab [ INFO] [1719409759.314864892]: Device with physical ID 2-3.4-3 was found. [ INFO] [1719409765.974610200]: Device with physical ID 2-3.4-4 was found. |
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@snix00125 I note that you are enabling the pointcloud. The ROS1 wrapper has an alternative method of publishing a pointcloud with an RGBD launch instead of using rs_camera.launch if you have not tried it already. Instructions for an RGBD launch can be found at IntelRealSense/librealsense#10223 (comment) |
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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! |
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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