librealsense: Frames didn't arrive error - after improper shutdown

Required Info
Camera Model	D435
Firmware Version	05.08.15.00
Operating System & Version	Ubuntu 16.04.3 LTS
Kernel Version (Linux Only)	4.13.0-32-generic
SDK Version	2.9.1

Hi all,

I am working on a project where I am using a realsense D435 sensor to get data about the position of some objects and process that using OpenCV.

Normally, the sensor works fine. But if the power is turned off to the computer (or the computer is reset) while the program is running, when I try to run the program after powerup, I get:

RealSense error calling rs2_pipeline_wait_for_frames(pipe:0x8ceea0):
Frame didn't arrived within 5000

The device is detected by query_devices() and I can read information from it using dev.get_info() but when I try to stream the depth data I get the error.

Plugging the cable out and then in again solves the issue. Just shutting down the computer, waiting a few minutes and powering up again, does not solve it.

Unfortunately, most of the shutdowns that I can expect will be improper ones (power failures) and plugging the cable out is not an option because the sensor is mounted on an automatic crane and it could takes hours until a technician gets to the power cabinet and re-plugs the cable.

When I try to run realsense-viewer, the device is detected, but when I try to stream the depth data it also fails:

 26/01 19:59:28,850 WARNING [140202273707776] (sensor.cpp:313) Unregistered Media formats : [ UYVY ]; Supported: [ ]
 26/01 19:59:28,852 WARNING [140202273707776] (backend-v4l2.cpp:1100) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
 26/01 19:59:28,852 WARNING [140202273707776] (sensor.cpp:313) Unregistered Media formats : [ RW16 ]; Supported: [ ]
 26/01 19:59:44,757 WARNING [140202240136960] (backend-v4l2.cpp:809) Empty frame has arrived.
 (empty frame has arrived repeats 31 times)
 26/01 19:59:49,776 WARNING [140202240136960] (backend-v4l2.cpp:827) Frames didn't arrived within 5 seconds
 26/01 19:59:49,787 WARNING [140202160944896] (backend-v4l2.cpp:827) Frames didn't arrived within 5 seconds
 26/01 19:59:54,781 WARNING [140202240136960] (backend-v4l2.cpp:827) Frames didn't arrived within 5 seconds
 26/01 19:59:54,792 WARNING [140202160944896] (backend-v4l2.cpp:827) Frames didn't arrived within 5 seconds
...

The udevadm monitor does not show anything when I run my program or realsense-viewer.

I have tried to use linux commands to replicate plugging the usb out and in again (like the ones presented here: https://askubuntu.com/questions/342061/power-on-off-usb-ports), but without any sucess.

So what should I try next?