realsense-ros: In Jetson Nano with L515, the point cloud from depth is slow with 'control_transfer returned error'

Hello, I report a problem on Jetson Nano with L515.

Error

In Jetson Nano with L515, the point cloud output from depth is slow with the following error continuously happening:

WARNING [139819288090368] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 (For reference, #1663 is a similar issue with the same error)

But, by realsense-viewer, the output is displayed fast and fluently on Jetson Nano with L515.

Symptoms

If depth resolution is set to 1024 x 768 maximally, the point cloud topic, /camera/depth/color/points, is not output as reported at #1741. If depth resolution is set to 640 x 480, the point cloud topic is published at the rate of from about 10 to 25 Hz (usually 10 Hz) while the above error messages appearing continuously. But, after some period, the publication is stopped of itself. If depth resolution is set to 320 x 240, it is published at the rate of from about 10 to 25 Hz (usually 10 Hz) while the error messages appearing continuously. But during about 30 minutes, the publication was not stopped. So it may be used. But the publication rate is low and fluctuated.

Condition

Only realsense-ros application is executed on the Jetson Nano. Major parameters for L515 are as below: enable_depth: true enable_fisheye: false enable_infra/1/2: false enable_color: true (resolution 1280 x 768) depth_fps: 30 enable_pointcloud: true All other parameters are default values.

Environment

Jetson Nano ARM64 4GB RAM Ubuntu 18.04 ROS melodic L515 firmware v1.5.4.1 realsense-ros v2.2.22 librealsense2 v2.42.0

Build

I’ve built librealsense2 SDK and realsense-ros package all from source codes as written in #1289 and succeeded. Thanks.

About this issue

  • Original URL
  • State: closed
  • Created 3 years ago
  • Comments: 22 (5 by maintainers)

Most upvoted comments

I’m facing the same issue on Jetson Xavier with L515. I followed ros-realsense installation guide and then simply executed: “roslaunch realsense2_camera rs_camera.launch”

In the logs I see a lot of warnings “Resource temporarily unavailable” and after a few minutes publication of depth stopped. There is also a warning about the frame’s time domain: “frame’s time domain is HARDWARE_CLOCK. Timestamps may reset periodically.” What is the reason of this warning?

When I replace L515 with D435i it works fine. So it must be something specific to L515.

L515 firmware: v1.5.4.1

[ INFO] [1617030903.157307647]: Initializing nodelet with 8 worker threads. [ INFO] [1617030903.897582369]: RealSense ROS v2.2.22 [ INFO] [1617030903.897788328]: Built with LibRealSense v2.42.0 [ INFO] [1617030903.897928205]: Running with LibRealSense v2.42.0 [ INFO] [1617030903.998100334]: 29/03 15:15:04,244 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1617030904.903422752]: Device with serial number f0221773 was found. [ INFO] [1617030904.903741451]: Device with physical ID 2-4-3 was found. [ INFO] [1617030904.903879983]: Device with name Intel RealSense L515 was found. [ INFO] [1617030904.907249474]: Device with port number 2-4 was found. [ INFO] [1617030904.907490987]: Device USB type: 3.2 [ INFO] [1617030904.918013586]: getParameters… [ INFO] [1617030905.163100002]: setupDevice… [ INFO] [1617030905.163429102]: JSON file is not provided [ INFO] [1617030905.163548210]: ROS Node Namespace: camera [ INFO] [1617030905.163679798]: Device Name: Intel RealSense L515 [ INFO] [1617030905.163817659]: Device Serial No: f0221773 [ INFO] [1617030905.163993825]: Device physical port: 2-4-3 [ INFO] [1617030905.164147462]: Device FW version: 01.05.04.01 [ INFO] [1617030905.164285771]: Device Product ID: 0x0B64 [ INFO] [1617030905.164396559]: Enable PointCloud: Off [ INFO] [1617030905.164532275]: Align Depth: Off [ INFO] [1617030905.164624247]: Sync Mode: Off [ INFO] [1617030905.164867679]: Device Sensors: [ INFO] [1617030905.195110247]: L500 Depth Sensor was found. [ INFO] [1617030905.226888228]: RGB Camera was found. [ INFO] [1617030905.228237874]: Motion Module was found. [ INFO] [1617030905.228533180]: num_filters: 0 [ INFO] [1617030905.228662944]: Setting Dynamic reconfig parameters. [ INFO] [1617030905.616701629]: Done Setting Dynamic reconfig parameters. [ INFO] [1617030905.619673731]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1617030905.624229566]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1617030905.624715887]: setupPublishers… [ INFO] [1617030905.638833713]: Expected frequency for depth = 30.00000 [ INFO] [1617030905.746801142]: Expected frequency for color = 30.00000 [ INFO] [1617030905.829610272]: setupStreams… [ INFO] [1617030905.855295693]: insert Depth to L500 Depth Sensor [ INFO] [1617030905.855610488]: insert Color to RGB Camera 29/03 15:15:06,153 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:06,294 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:06,345 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1617030906.354529555]: SELECTED BASE:Depth, 0 29/03 15:15:06,396 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:06,448 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 [ INFO] [1617030906.501151963]: RealSense Node Is Up! [ WARN] [1617030906.515367328]: [ WARN] [1617030906.515698923]: frame’s time domain is HARDWARE_CLOCK. Timestamps may reset periodically. 29/03 15:15:07,005 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:07,348 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:07,704 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:08,600 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 29/03 15:15:09,853 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:11,105 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:12,358 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:13,611 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:14,864 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:16,116 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:17,368 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:18,621 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:19,874 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:21,126 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:22,379 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:23,631 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:24,883 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:26,136 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:27,388 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:28,641 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:29,893 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:31,145 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 29/03 15:15:32,397 WARNING [547294364032] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

+2
alexart13 on Mar 31, 2021

@doronhi is there anything I can do to try to solve the issue? This problem blocks us to some extent. On our robot we would like to replace D435i with L515, because we need more accurate depth data. But we can’t do that due to the issue.

+1
alexart13 on Apr 8, 2021
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