realsense-ros: control_transfer returned error, index: 768, error: No data available, number: 61

Required Info
Camera Model D435i
Firmware Version 05.12.07.100
Operating System & Version Ubuntu 18.04 LTS
Kernel Version (Linux Only) 4.9.140-tegra
Platform Nvidia Jetson Xavier
SDK Version 2.38.1
Language C++

when I run roslaunch rs_camera.launch I get the following errors: 02/11 18:42:56,885 WARNING [546962383232] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61

When I open the realsense-viewer I get the following error: UNKNOWN in rs2_create_device(info_list:0x55a7a85640, index:0): failed to set power state

When I run rs-enumerate-devices I get the following error: 02/11 18:46:45,465 ERROR [547522572064] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY Could not create device - failed to set power state . Check SDK logs for details

Finally when I run dmesg --follow I get the following results: [27624.311310] input: Intel(R) RealSense(TM) Depth Ca as /devices/3610000.xhci/usb2/2-3/2-3:1.0/input/input27 [27624.311976] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a [27624.311986] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a) [27624.314470] uvcvideo: Unable to create debugfs 2-6 directory. [27624.314685] uvcvideo 2-3:1.3: Entity type for entity Processing 7 was not initialized! [27624.314866] uvcvideo 2-3:1.3: Entity type for entity Extension 8 was not initialized! [27624.315003] uvcvideo 2-3:1.3: Entity type for entity Camera 6 was not initialized! [27624.376319] hid-sensor-hub 0003:8086:0B3A.0016: No report with id 0xffffffff found

Any idea what my error could be?

About this issue

  • Original URL
  • State: closed
  • Created 4 years ago
  • Comments: 15

Most upvoted comments

Hi Marty,

I am facing the same issue and I have tried these steps but I am not able to troubleshoot where I am wrong. Can you please help me as well? Below I am stating my error:

roslaunch realsense2_camera rs_rgbd.launch filters:=colorizer
... logging to /home/kuka-ai/.ros/log/7eab505c-404c-11eb-8825-4fa03bac19fa/roslaunch-kukaai-ROG-Zephyrus-G15-GA502IU-GA502IU-17402.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://kukaai-ROG-Zephyrus-G15-GA502IU-GA502IU:46357/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /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: -1.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: 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: True
 * /camera/realsense2_camera/filters: colorizer
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: noetic
 * /rosversion: 1.15.9

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

auto-starting new master
process[master]: started with pid [17410]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7eab505c-404c-11eb-8825-4fa03bac19fa
process[rosout-1]: started with pid [17420]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [17427]
process[camera/realsense2_camera-3]: started with pid [17428]
process[camera/color_rectify_color-4]: started with pid [17429]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [17430]
[ INFO] [1608198285.803544853]: Initializing nodelet with 16 worker threads.
[ INFO] [1608198285.879061436]: RealSense ROS v2.2.18
[ INFO] [1608198285.879090251]: Built with LibRealSense v2.40.0
[ INFO] [1608198285.879100410]: Running with LibRealSense v2.40.0
[ INFO] [1608198285.897752418]:  
[ INFO] [1608198286.114176573]: Device with serial number 026322072776 was found.

[ INFO] [1608198286.114221848]: Device with physical ID 6-2-2 was found.
[ INFO] [1608198286.114231416]: Device with name Intel RealSense D435I was found.
[ INFO] [1608198286.114569854]: Device with port number 6-2 was found.
[ INFO] [1608198286.117720198]: getParameters...
[ INFO] [1608198286.167675147]: setupDevice...
[ INFO] [1608198286.167716314]: JSON file is not provided
[ INFO] [1608198286.167734098]: ROS Node Namespace: camera
[ INFO] [1608198286.167760898]: Device Name: Intel RealSense D435I
[ INFO] [1608198286.167783140]: Device Serial No: 026322072776
[ INFO] [1608198286.167801425]: Device physical port: 6-2-2
[ INFO] [1608198286.167832924]: Device FW version: 05.12.09.00
[ INFO] [1608198286.167849615]: Device Product ID: 0x0B3A
[ INFO] [1608198286.167866147]: Enable PointCloud: Off
[ INFO] [1608198286.167880273]: Align Depth: On
[ INFO] [1608198286.167903397]: Sync Mode: On
[ INFO] [1608198286.167969992]: Device Sensors: 
[ INFO] [1608198286.187184811]: Stereo Module was found.
[ INFO] [1608198286.199529105]: RGB Camera was found.
[ INFO] [1608198286.199661315]: Motion Module was found.
[ INFO] [1608198286.199682545]: Add Filter: colorizer
[ INFO] [1608198286.200409614]: num_filters: 1
[ INFO] [1608198286.200423791]: Setting Dynamic reconfig parameters.
[ INFO] [1608198286.715037746]: Done Setting Dynamic reconfig parameters.
[ INFO] [1608198286.715677651]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1608198286.716179957]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1608198286.717695282]: setupPublishers...
[ INFO] [1608198286.720227272]: Expected frequency for depth = 30.00000
[ INFO] [1608198286.739280145]: Expected frequency for color = 30.00000
[ INFO] [1608198286.748967745]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1608198286.763182554]: setupStreams...
[ INFO] [1608198286.775722738]: insert Depth to Stereo Module
[ INFO] [1608198286.775827866]: insert Color to RGB Camera
[ INFO] [1608198286.854717784]: SELECTED BASE:Depth, 0
[ INFO] [1608198286.872840084]: RealSense Node Is Up!
 17/12 09:44:47,003 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 17/12 09:44:47,054 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,110 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,285 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,336 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,488 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,539 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,690 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,741 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,892 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:44:47,942 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:45:29,727 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 17/12 09:45:29,778 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 17/12 09:53:20,198 WARNING [140544013498112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
+4
ranjitkathiriya on Dec 17, 2020

If the topics are publishing correctly in RViz and performance does not seem to be degraded then it is likely safe to ignore the control_transfer returned errors. If they only appear at launch, or appear one or two times a minute after launch, then they should not be a problem.

+2
MartyG-RealSense on Nov 4, 2020
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