realsense-ros: (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
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.launch or roslaunch realsense2_camera rs_rgbd.launch, whatever the parameters used I never get Pose, odom nor tf publication.
Two errors seem to be the problem :
control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
and
(messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
Does anyone have any idea what is causing this problem?
Thanks in advance.
Some terminal outputs:
$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/hugo/.ros/log/6193d680-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-50095.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:38211/ 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: 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) auto-starting new master process[master]: started with pid [50103] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 6193d680-f07f-11ec-bc70-611a233072b6 process[rosout-1]: started with pid [50113] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [50120] process[camera/realsense2_camera-3]: started with pid [50121] [ INFO] [1655719043.618976587]: Initializing nodelet with 12 worker threads. [ INFO] [1655719043.697765201]: RealSense ROS v2.3.2 [ INFO] [1655719043.697793064]: Built with LibRealSense v2.50.0 [ INFO] [1655719043.697804124]: Running with LibRealSense v2.50.0 [ INFO] [1655719043.721419188]: [ INFO] [1655719043.813751303]: Device with serial number 146222254421 was found. [ INFO] [1655719043.813779576]: Device with physical ID 4-2-8 was found. [ INFO] [1655719043.813790968]: Device with name Intel RealSense D455 was found. [ INFO] [1655719043.814196131]: Device with port number 4-2 was found. [ INFO] [1655719043.814233491]: Device USB type: 3.2 [ INFO] [1655719043.815413134]: getParameters... [ INFO] [1655719043.839399186]: setupDevice... [ INFO] [1655719043.839434553]: JSON file is not provided [ INFO] [1655719043.839444772]: ROS Node Namespace: camera [ INFO] [1655719043.839458798]: Device Name: Intel RealSense D455 [ INFO] [1655719043.839468517]: Device Serial No: 146222254421 [ INFO] [1655719043.839478556]: Device physical port: 4-2-8 [ INFO] [1655719043.839493504]: Device FW version: 05.13.00.50 [ INFO] [1655719043.839506108]: Device Product ID: 0x0B5C [ INFO] [1655719043.839522138]: Enable PointCloud: Off [ INFO] [1655719043.839535663]: Align Depth: Off [ INFO] [1655719043.839548938]: Sync Mode: Off [ INFO] [1655719043.839586249]: Device Sensors: [ INFO] [1655719043.949740456]: Stereo Module was found. [ INFO] [1655719043.958216042]: RGB Camera was found. [ INFO] [1655719043.958368679]: Motion Module was found. [ INFO] [1655719043.958437729]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1655719043.958491771]: num_filters: 0 [ INFO] [1655719043.958518682]: Setting Dynamic reconfig parameters. [ INFO] [1655719046.892749434]: Done Setting Dynamic reconfig parameters. [ INFO] [1655719046.893254876]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1655719046.894264638]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1655719046.894295607]: setupPublishers... [ INFO] [1655719046.895967526]: Expected frequency for depth = 30.00000 [ INFO] [1655719046.916838180]: Expected frequency for color = 30.00000 [ INFO] [1655719046.930221941]: setupStreams... 20/06 11:57:27,183 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,243 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,294 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,344 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1655719047.394704697]: SELECTED BASE:Depth, 0 20/06 11:57:27,394 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1655719047.400798075]: RealSense Node Is Up! [ WARN] [1655719047.561433373]: 20/06 11:57:27,562 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,612 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,662 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,713 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,763 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,814 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:27,964 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:28,015 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:28,266 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 11:57:28,617 WARNING [140600822843136] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
$ 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/color/metadata /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/depth/metadata /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
$ roslaunch realsense2_camera rs_rgbd.launch ... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-51666.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:33301/ 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: 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: -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: 30 * /camera/realsense2_camera/confidence_height: 480 * /camera/realsense2_camera/confidence_width: 640 * /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: True * /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: -1 * /camera/realsense2_camera/infra_height: -1 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: -1 * /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: camera/odom_in * /camera/realsense2_camera/unite_imu_method: none * /camera/realsense2_camera/usb_port_id: * /camera/realsense2_camera/wait_for_device_timeout: -1.0 * /rosdistro: noetic * /rosversion: 1.15.14 NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [51680] process[camera/realsense2_camera-2]: started with pid [51681] process[camera/color_rectify_color-3]: started with pid [51682] process[camera/points_xyzrgb_hw_registered-4]: started with pid [51683] [ INFO] [1655719232.773097383]: Initializing nodelet with 12 worker threads. [ INFO] [1655719232.857057027]: RealSense ROS v2.3.2 [ INFO] [1655719232.857086743]: Built with LibRealSense v2.50.0 [ INFO] [1655719232.857097854]: Running with LibRealSense v2.50.0 [ INFO] [1655719232.887910396]: 20/06 12:00:32,950 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1655719233.022537081]: Device with serial number 146222254421 was found. [ INFO] [1655719233.022571526]: Device with physical ID 4-2-8 was found. [ INFO] [1655719233.022581365]: Device with name Intel RealSense D455 was found. [ INFO] [1655719233.022808112]: Device with port number 4-2 was found. [ INFO] [1655719233.022833650]: Device USB type: 3.2 [ INFO] [1655719233.023957187]: getParameters... [ INFO] [1655719233.049798574]: setupDevice... [ INFO] [1655719233.049828110]: JSON file is not provided [ INFO] [1655719233.049839321]: ROS Node Namespace: camera [ INFO] [1655719233.049864588]: Device Name: Intel RealSense D455 [ INFO] [1655719233.049921355]: Device Serial No: 146222254421 [ INFO] [1655719233.049946112]: Device physical port: 4-2-8 [ INFO] [1655719233.049966270]: Device FW version: 05.13.00.50 [ INFO] [1655719233.050112716]: Device Product ID: 0x0B5C [ INFO] [1655719233.050155236]: Enable PointCloud: Off [ INFO] [1655719233.050173240]: Align Depth: On [ INFO] [1655719233.050192927]: Sync Mode: On [ INFO] [1655719233.050368327]: Device Sensors: [ INFO] [1655719233.145114190]: Stereo Module was found. [ INFO] [1655719233.152365018]: RGB Camera was found. [ INFO] [1655719233.152504281]: Motion Module was found. [ INFO] [1655719233.152549145]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1655719233.152814084]: num_filters: 1 [ INFO] [1655719233.152830876]: Setting Dynamic reconfig parameters. 20/06 12:00:34,906 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:35,502 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:35,934 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:36,054 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1655719236.199447079]: Done Setting Dynamic reconfig parameters. [ INFO] [1655719236.200029285]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1655719236.201069274]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1655719236.202189244]: setupPublishers... [ INFO] [1655719236.203874108]: Expected frequency for depth = 30.00000 [ INFO] [1655719236.218644561]: Expected frequency for color = 30.00000 [ INFO] [1655719236.232832827]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1655719236.247574666]: setupStreams... 20/06 12:00:36,450 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1655719236.510626917]: SELECTED BASE:Depth, 0 [ INFO] [1655719236.516470936]: RealSense Node Is Up! 20/06 12:00:36,601 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:36,651 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:36,802 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ WARN] [1655719236.831714639]: 20/06 12:00:36,852 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:36,903 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:36,953 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:37,004 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:37,054 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:37,105 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:37,356 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 20/06 12:00:38,109 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:38,360 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:40,411 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:47,464 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:49,514 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:00:55,567 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:01:00,619 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:01:01,670 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 20/06 12:01:03,721 WARNING [140685741999872] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
$ roslaunch realsense2_camera rs_rgbd.launch ... logging to /home/hugo/.ros/log/a106dcb8-f07f-11ec-bc70-611a233072b6/roslaunch-hugo-victus-pc-52216.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:41133/ 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: 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: -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: 30 * /camera/realsense2_camera/confidence_height: 480 * /camera/realsense2_camera/confidence_width: 640 * /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: True * /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: -1 * /camera/realsense2_camera/infra_height: -1 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: -1 * /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: camera/odom_in * /camera/realsense2_camera/unite_imu_method: none * /camera/realsense2_camera/usb_port_id: * /camera/realsense2_camera/wait_for_device_timeout: -1.0 * /rosdistro: noetic * /rosversion: 1.15.14 NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [52230] process[camera/realsense2_camera-2]: started with pid [52231] process[camera/color_rectify_color-3]: started with pid [52232] process[camera/points_xyzrgb_hw_registered-4]: started with pid [52233] [ INFO] [1655719357.713582827]: Initializing nodelet with 12 worker threads. [ INFO] [1655719357.797301898]: RealSense ROS v2.3.2 [ INFO] [1655719357.797330432]: Built with LibRealSense v2.50.0 [ INFO] [1655719357.797341182]: Running with LibRealSense v2.50.0 [ INFO] [1655719357.823514144]: 20/06 12:02:37,894 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1655719357.969311322]: Device with serial number 146222254421 was found. [ INFO] [1655719357.969352961]: Device with physical ID 4-2-8 was found. [ INFO] [1655719357.969365114]: Device with name Intel RealSense D455 was found. [ INFO] [1655719357.969620094]: Device with port number 4-2 was found. [ INFO] [1655719357.969641053]: Device USB type: 3.2 [ INFO] [1655719357.971709960]: getParameters... [ INFO] [1655719358.001388085]: setupDevice... [ INFO] [1655719358.001423652]: JSON file is not provided [ INFO] [1655719358.001451484]: ROS Node Namespace: camera [ INFO] [1655719358.001466302]: Device Name: Intel RealSense D455 [ INFO] [1655719358.001479627]: Device Serial No: 146222254421 [ INFO] [1655719358.001493674]: Device physical port: 4-2-8 [ INFO] [1655719358.001508382]: Device FW version: 05.13.00.50 [ INFO] [1655719358.001523811]: Device Product ID: 0x0B5C [ INFO] [1655719358.001539240]: Enable PointCloud: Off [ INFO] [1655719358.001562213]: Align Depth: On [ INFO] [1655719358.001576831]: Sync Mode: On [ INFO] [1655719358.001672170]: Device Sensors: [ INFO] [1655719358.069747033]: Stereo Module was found. [ INFO] [1655719358.076997270]: RGB Camera was found. [ INFO] [1655719358.077154977]: Motion Module was found. [ INFO] [1655719358.077214429]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1655719358.077528180]: num_filters: 1 [ INFO] [1655719358.077548017]: Setting Dynamic reconfig parameters. 20/06 12:02:40,658 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 20/06 12:02:40,886 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1655719361.034560985]: Done Setting Dynamic reconfig parameters. [ INFO] [1655719361.035223343]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1655719361.036286215]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1655719361.037466729]: setupPublishers... [ INFO] [1655719361.039351048]: Expected frequency for depth = 30.00000 [ INFO] [1655719361.054745647]: Expected frequency for color = 30.00000 [ INFO] [1655719361.069088985]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1655719361.085369122]: setupStreams... 20/06 12:02:41,142 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 20/06 12:02:41,254 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 20/06 12:02:41,394 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,453 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,504 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,554 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [ INFO] [1655719361.604797989]: SELECTED BASE:Depth, 0 20/06 12:02:41,604 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 [ INFO] [1655719361.611420584]: RealSense Node Is Up! [ WARN] [1655719361.773317819]: 20/06 12:02:41,774 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,824 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,874 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,925 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:41,975 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:42,026 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:42,177 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0 20/06 12:02:42,227 WARNING [139763623151360] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
With
roslaunch realsense2_camera opensource_tracking.launchI get good publications in\tfduring a few seconds, then I only get completely wrong publication publication. Here is the terminal output:[ INFO] [1655716881.541122980]: Odom: quality=223, std dev=0.007723m|0.059663rad, update time=0.073466s [ INFO] [1655716881.633912988]: Odom: quality=219, std dev=0.005451m|0.043116rad, update time=0.083607s [ INFO] [1655716881.636205547]: rtabmap (17): Rate=1.00s, Limit=0.000s, Conversion=0.0024s, RTAB-Map=0.0923s, Maps update=0.0001s pub=0.0000s (local map=9, WM=9) [ INFO] [1655716881.715021101]: Odom: quality=247, std dev=0.007634m|0.046331rad, update time=0.079402s [ INFO] [1655716881.787832155]: Odom: quality=243, std dev=0.005919m|0.047716rad, update time=0.069998s [ INFO] [1655716881.867734818]: Odom: quality=233, std dev=0.005909m|0.041195rad, update time=0.078300s [ INFO] [1655716881.940044086]: Odom: quality=251, std dev=0.005565m|0.043116rad, update time=0.070582s [ INFO] [1655716882.016142643]: Odom: quality=263, std dev=0.007160m|0.059663rad, update time=0.074729s [ INFO] [1655716882.105024539]: Odom: quality=257, std dev=0.006092m|0.038960rad, update time=0.086667s [ INFO] [1655716882.184952770]: Odom: quality=220, std dev=0.008399m|0.048989rad, update time=0.078436s [ INFO] [1655716882.269464154]: Odom: quality=222, std dev=0.008890m|0.051274rad, update time=0.083031s [ INFO] [1655716882.351976643]: Odom: quality=209, std dev=0.009655m|0.059663rad, update time=0.081362s [ INFO] [1655716882.437525541]: Odom: quality=201, std dev=0.007615m|0.055097rad, update time=0.083349s [ INFO] [1655716882.516818214]: Odom: quality=168, std dev=0.009176m|0.071745rad, update time=0.076736s [ INFO] [1655716882.600764534]: Odom: quality=199, std dev=0.010326m|0.057516rad, update time=0.081679s [ INFO] [1655716882.687249045]: Odom: quality=192, std dev=0.008734m|0.056744rad, update time=0.083682s [ INFO] [1655716882.708794379]: rtabmap (18): Rate=1.00s, Limit=0.000s, Conversion=0.0029s, RTAB-Map=0.1046s, Maps update=0.0001s pub=0.0000s (local map=10, WM=10) [ INFO] [1655716882.771998417]: Odom: quality=187, std dev=0.010102m|0.055097rad, update time=0.083160s [ INFO] [1655716882.854897453]: Odom: quality=196, std dev=0.008572m|0.053288rad, update time=0.081562s [ INFO] [1655716882.935566830]: Odom: quality=210, std dev=0.009652m|0.053288rad, update time=0.079059s [ INFO] [1655716883.018423627]: Odom: quality=186, std dev=0.008817m|0.051274rad, update time=0.080251s [ INFO] [1655716883.100368927]: Odom: quality=192, std dev=0.009802m|0.054216rad, update time=0.080279s [ INFO] [1655716883.177848725]: Odom: quality=168, std dev=0.010775m|0.065522rad, update time=0.076022s [ INFO] [1655716883.266737586]: Odom: quality=162, std dev=0.008985m|0.060330rad, update time=0.087199s [ INFO] [1655716883.347113419]: Odom: quality=132, std dev=0.009735m|0.063929rad, update time=0.078926s [ INFO] [1655716883.432341864]: Odom: quality=148, std dev=0.009752m|0.058258rad, update time=0.082856s [ INFO] [1655716883.499896446]: Odom: quality=54, std dev=0.015196m|0.068844rad, update time=0.066040s [ INFO] [1655716883.581964117]: Odom: quality=29, std dev=0.017413m|0.070545rad, update time=0.080086s [ INFO] [1655716883.669493876]: Odom: quality=45, std dev=0.023501m|0.067480rad, update time=0.085069s [ WARN] (2022-06-20 11:21:23.739) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 18/20 (matches=266) between -1 and 229" (guess=xyz=0.007288,0.016034,-0.040770 rpy=-0.036146,0.048548,-0.059732) [ WARN] (2022-06-20 11:21:23.739) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.007288,0.016034,-0.040770 rpy=-0.036146,0.048548,-0.059732), trying again without a guess. [ INFO] [1655716883.797431693]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0027s, RTAB-Map=0.1249s, Maps update=0.0001s pub=0.0000s (local map=11, WM=11) [ WARN] (2022-06-20 11:21:23.817) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail. [ WARN] (2022-06-20 11:21:23.817) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=100) between -1 and 229" (guess=xyz=0.007288,0.016034,-0.040770 rpy=-0.036146,0.048548,-0.059732) [ INFO] [1655716883.819452954]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.148276s [ WARN] (2022-06-20 11:21:23.918) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=128) between -1 and 230" [ INFO] [1655716883.919374977]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.098378s [ WARN] (2022-06-20 11:21:24.013) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=110) between -1 and 231" [ INFO] [1655716884.014773549]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.093892s [ WARN] (2022-06-20 11:21:24.107) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=112) between -1 and 232" [ INFO] [1655716884.107737405]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.091086s [ WARN] (2022-06-20 11:21:24.201) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=111) between -1 and 233" [ INFO] [1655716884.202253946]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.093437s [ WARN] (2022-06-20 11:21:24.287) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=96) between -1 and 234" [ INFO] [1655716884.287855292]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.083892s [ WARN] (2022-06-20 11:21:24.384) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=94) between -1 and 235" [ INFO] [1655716884.385659897]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.096478s [ WARN] (2022-06-20 11:21:24.481) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=82) between -1 and 236" [ INFO] [1655716884.482607256]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095535s [ WARN] (2022-06-20 11:21:24.581) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=96) between -1 and 237" [ INFO] [1655716884.582290459]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.097877s [ WARN] (2022-06-20 11:21:24.676) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=92) between -1 and 238" [ INFO] [1655716884.677128425]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.093180s [ WARN] (2022-06-20 11:21:24.770) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=87) between -1 and 239" [ INFO] [1655716884.771422667]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.092631s [ERROR] (2022-06-20 11:21:24.773) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 607 is ignored! [ INFO] [1655716884.773435338]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0016s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=11, WM=11) [ WARN] (2022-06-20 11:21:24.867) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=86) between -1 and 240" [ INFO] [1655716884.869162048]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095756s [ WARN] (2022-06-20 11:21:24.963) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=81) between -1 and 241" [ INFO] [1655716884.966205499]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095124s [ WARN] (2022-06-20 11:21:25.056) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=93) between -1 and 242" [ INFO] [1655716885.056710213]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.088823s [ WARN] (2022-06-20 11:21:25.149) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=98) between -1 and 243" [ INFO] [1655716885.149890075]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.091411s [ WARN] (2022-06-20 11:21:25.241) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=110) between -1 and 244" [ INFO] [1655716885.241869196]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.090804s [ WARN] (2022-06-20 11:21:25.340) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=105) between -1 and 245" [ INFO] [1655716885.341199164]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.097723s [ WARN] (2022-06-20 11:21:25.436) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=92) between -1 and 246" [ INFO] [1655716885.437088340]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.093939s [ WARN] (2022-06-20 11:21:25.534) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=95) between -1 and 247" [ INFO] [1655716885.535575840]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.097187s [ WARN] (2022-06-20 11:21:25.624) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=89) between -1 and 248" [ INFO] [1655716885.625547620]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.088747s [ WARN] (2022-06-20 11:21:25.733) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=95) between -1 and 249" [ INFO] [1655716885.734145576]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.100148s [ WARN] (2022-06-20 11:21:25.835) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=85) between -1 and 250" [ INFO] [1655716885.836490613]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.100000s [ERROR] (2022-06-20 11:21:25.838) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 639 is ignored! [ INFO] [1655716885.838836772]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0020s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=11, WM=11) [ WARN] (2022-06-20 11:21:25.936) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=84) between -1 and 251" [ INFO] [1655716885.936707641]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.098461s [ WARN] (2022-06-20 11:21:26.038) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=84) between -1 and 252" [ INFO] [1655716886.038966847]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.101214s [ WARN] (2022-06-20 11:21:26.135) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=81) between -1 and 253" [ INFO] [1655716886.136475223]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.096497s
About this issue
- Original URL
- State: closed
- Created 2 years ago
- Comments: 64
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. Step1. removed any previous install related to ‘realsense’: $ dpkg -l | grep “realsense” | cut -d " " -f 3 | xargs sudo dpkg --purge Step2. installed librealsense2 according to https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md > Installing the packages Make sure to unplug the sensor at the end, wait 10 seconds, then plug it back again. Test $realsense-viewer and saw the depth camera is operational. Step3. Check version of librealsense that was just installed:
$dpkg -l|grep realsense where I got 2.51 Step4. Firmware upgrade/downgrade of the D455 to match the librealsense 2.51 Now my interpretation is that we need to check the column ‘SDK ver’ on https://dev.intelrealsense.com/docs/firmware-releases and match that to, in my case, librealsense 2.51 Save the bin file and flash it to the D455 using https://www.intelrealsense.com/developers/ > Firmware update guide > ‘Firmware Update Tool (rs-fw-update)’ Make sure to unplug the sensor, wait 10 seconds, then plug it back again. Step5. Install RealSense Wrapper https://github.com/IntelRealSense/realsense-ros > Method 2 Step6. Test in ROS: $roslaunch realsense2_camera rs_camera.launch Troubleshooting: in case of errors, unplug the sensor, wait 10 seconds, then plug it back again.
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. Cheers!
@MartyG-RealSense I found the problem. Since I’ve been working with realsense-ros for a really long time, somewhere along the way, I installed the packages through both methods 1 and 2(viz. through apt-get instructions on the wrapper documentation and through these instructions)
So I uninstalled everything related to realsense and reinstalled it just using this method. The apt-get method definitely has many problems, but this method works fine now.
The control_transfer error is gone and both the viewer and the roslaunch file are running smoothly. You may now close this issue, I’ll raise a new one if I run into any further problems. Thanks for all the help. 😃
As a side note, downgrading librealsense version might be more stable. Upgrading firmware to 05.14 doesn’t help. While I succeed with firmware version of 05.13.00.50 and librealsense version 2.50.00. Put here as a reference
Hi @MariamFdil That’s excellent news that you achieved a solution 😃 Thanks for the update!
@MartyG-RealSense Another very important problem I forgot to mention(might be because of the same error) is that 2 out of 5 times when I run the driver launch file, the whole system freezes, nothing I do unfreezes it and I’ve to hard restart my PC. Please let me know how this can be fixed as well. Thanks.
@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.