realsense-ros: D435i issues IMU calibration and topics missing

I am running Ubuntu 18.04 and ROS MELODIC

D435i version:

rs-fw-update -l
connected devices:
1) Name: Intel RealSense D435I, serial number: 021222071136, update serial number: 020323050717, firmware version: 05.12.07.100, USB type: 3.2

I installed all the packages following the instructions provided here: https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

My first problem is coming when I started realsense-viewer and activated motion, looks like the IMU is not calibrated but I though it was “factory calibrated”? So does it mean that I have to calibrate it myself?

fabrice@fabrice-desktop:~$ realsense-viewer 
 08/09 10:19:49,180 WARNING [140415000639232] (backend-v4l2.cpp:1269) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
 08/09 10:20:06,106 WARNING [140415205071808] (ds5-motion.cpp:480) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 08/09 10:20:06,275 WARNING [140414117984000] (sensor.cpp:970) HID timestamp not found, switching to Host timestamps.

Second issue is coming when I launch

 fabrice@fabrice-desktop:~/catkin_rs435_ws$ roslaunch realsense2_camera rs_camera.launch unite_imu_method:=linear_interpolation enable_infra1:=true enable_infra2:=true
... logging to /home/fabrice/.ros/log/d5309f1c-f1b0-11ea-bd3f-88b1116f16c5/roslaunch-fabrice-desktop-9264.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://fabrice-desktop:33089/

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: 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: 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: True
 * /camera/realsense2_camera/enable_infra2: True
 * /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: 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_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: odom_in
 * /camera/realsense2_camera/unite_imu_method: linear_interpolation
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.6

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

auto-starting new master
process[master]: started with pid [9274]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d5309f1c-f1b0-11ea-bd3f-88b1116f16c5
process[rosout-1]: started with pid [9285]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9292]
process[camera/realsense2_camera-3]: started with pid [9293]
[ INFO] [1599555238.933248403]: Initializing nodelet with 4 worker threads.
[ INFO] [1599555239.028863163]: RealSense ROS v2.2.16
[ INFO] [1599555239.028898343]: Built with LibRealSense v2.37.0
[ INFO] [1599555239.028933018]: Running with LibRealSense v2.37.0
[ INFO] [1599555239.038584951]:  
[ INFO] [1599555239.433861098]: Device with serial number 021222071136 was found.

[ INFO] [1599555239.433924949]: Device with physical ID 3-2-7 was found.
[ INFO] [1599555239.433972364]: Device with name Intel RealSense D435I was found.
[ INFO] [1599555239.434682305]: Device with port number 3-2 was found.
[ INFO] [1599555239.437071378]: getParameters...
[ INFO] [1599555239.480740066]: setupDevice...
[ INFO] [1599555239.480778694]: JSON file is not provided
[ INFO] [1599555239.480809368]: ROS Node Namespace: camera
[ INFO] [1599555239.480836076]: Device Name: Intel RealSense D435I
[ INFO] [1599555239.480857685]: Device Serial No: 021222071136
[ INFO] [1599555239.480871319]: Device physical port: 3-2-7
[ INFO] [1599555239.480883833]: Device FW version: 05.12.07.100
[ INFO] [1599555239.480903054]: Device Product ID: 0x0B3A
[ INFO] [1599555239.480917925]: Enable PointCloud: Off
[ INFO] [1599555239.480935631]: Align Depth: Off
[ INFO] [1599555239.480953007]: Sync Mode: Off
[ INFO] [1599555239.481001227]: Device Sensors: 
[ INFO] [1599555239.520265469]: Stereo Module was found.
[ INFO] [1599555239.558069087]: RGB Camera was found.
[ INFO] [1599555239.558561257]: Motion Module was found.
[ INFO] [1599555239.558634874]: num_filters: 0
[ INFO] [1599555239.558687864]: Setting Dynamic reconfig parameters.
[ INFO] [1599555244.757420061]: Done Setting Dynamic reconfig parameters.
[ INFO] [1599555244.758385502]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1599555244.758709359]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1599555244.759049275]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1599555244.759887657]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1599555244.759952905]: setupPublishers...
[ INFO] [1599555244.762940994]: Expected frequency for depth = 30.00000
[ INFO] [1599555244.794549327]: Expected frequency for infra1 = 30.00000
[ INFO] [1599555244.808492549]: Expected frequency for infra2 = 30.00000
[ INFO] [1599555244.824622487]: Expected frequency for color = 30.00000
[ INFO] [1599555244.839348017]: setupStreams...
[ INFO] [1599555244.890619441]: insert Depth to Stereo Module
[ INFO] [1599555244.890708209]: insert Color to RGB Camera
[ INFO] [1599555244.890764162]: insert Infrared to Stereo Module
[ INFO] [1599555244.890817080]: insert Infrared to Stereo Module
[ INFO] [1599555245.168824156]: SELECTED BASE:Depth, 0
[ INFO] [1599555245.205263547]: RealSense Node Is Up!
 08/09 10:54:05,285 WARNING [139849532888832] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/09 10:54:05,345 WARNING [139849532888832] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/09 10:54:05,426 WARNING [139849532888832] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/09 10:54:05,507 WARNING [139849532888832] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 08/09 10:54:05,568 WARNING [139849532888832] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61

Then I look at the published topics and found that many are missing (related to IMU,infra1, infra2…):

 fabrice@fabrice-desktop:~$ rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

Can you help me to understand where is the problems?

I would like to understand also what is the meaning if these messages when I tried to update the firmware:

08/09 11:00:21,528 WARNING [139805786609408] (ds5-factory.cpp:1119) DS5 group_devices is empty.
 08/09 11:00:21,633 WARNING [139805786609408] (ds5-factory.cpp:1119) DS5 group_devices is empty.
 08/09 11:00:22,023 ERROR [139805841159936] (types.h:313) map_device_descriptor Cannot open '/dev/video0 Last Error: No such file or directory
 08/09 11:00:22,023 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: map_device_descriptor Cannot open '/dev/video0 Last Error: No such file or directory
 08/09 11:00:23,023 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:23,023 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:24,023 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:24,023 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:25,024 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:25,024 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:26,024 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:26,024 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:26,978 ERROR [139806402825152] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 08/09 11:00:26,978 ERROR [139806402825152] (fw-update-device.cpp:128) access failed for 8086:adb uid: 3-2-9
 08/09 11:00:26,978 WARNING [139806402825152] (rs.cpp:304) null pointer passed for argument "device"
 08/09 11:00:27,024 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:27,024 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:28,025 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:28,025 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:29,025 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:29,026 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:30,026 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:30,026 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:31,027 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:31,027 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:32,027 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:32,027 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:33,028 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:33,028 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:34,028 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:34,028 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:35,028 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:35,029 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:36,029 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:36,029 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:37,029 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:37,029 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:38,030 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:38,030 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:39,030 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:39,030 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:40,030 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:40,030 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:41,031 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:41,031 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:42,031 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:42,031 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:43,031 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:43,032 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:44,032 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:44,032 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:45,032 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:45,032 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:46,032 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:46,033 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:47,033 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:47,033 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:48,033 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:48,034 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:49,034 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:49,034 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:50,034 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:50,034 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:51,034 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:51,035 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:52,035 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:52,035 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:53,036 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:53,036 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:54,036 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:54,036 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:55,037 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:55,037 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:56,037 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:56,037 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:57,037 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:57,038 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:57,415 WARNING [139806402825152] (backend-v4l2.cpp:1269) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
 08/09 11:00:58,038 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:58,038 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:59,038 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:00:59,038 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:00,038 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:00,038 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:01,039 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:01,039 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:02,039 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:02,039 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:03,039 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:03,039 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:04,039 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:04,040 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:05,040 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:05,040 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:06,040 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:06,040 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:07,040 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:07,040 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:08,041 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:08,041 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:09,041 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:09,041 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:10,041 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:10,042 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:11,042 ERROR [139805841159936] (types.h:313) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:11,042 ERROR [139805841159936] (error-handling.cpp:68) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Bad file descriptor
 08/09 11:01:33,238 WARNING [139806402825152] (ds5-motion.cpp:480) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 08/09 11:01:33,241 WARNING [139806107051776] (backend-hid.cpp:681) HID set_power 1 failed for /sys/devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.5/0003:8086:0B3A.000A/HID-SENSOR-200073.3.auto/iio:device0/buffer/enable

Thank you very much for your support