Jetson Xavier NX, Intel RealSense D435i, camera stop transmit data after a time

Hi everyone !

I have an issue with Jetson Xavier NX, a Intel’s camera D435i and rtabmap_ros, robot_localization and realsense_ros for apply SLAM. The config is as follow : Ubuntu 18.04, ros melodic.
So, I use the opensource_tracking.launch file given by the realsense_ros package. I modified the topics accordingly to those of the D435i.
The program and the camera work fine on my PC (Ubuntu 20.04, ROS noetic).
Following the output of the launch and my explanations :

nvidia@nvidia-desktop:~/catkin/src/realsense-ros/realsense2_camera/launch$ roslaunch opensource_tracking_corrige.launch 
... logging to /home/nvidia/.ros/log/be57c870-e253-11ec-9c5b-0242054ad58a/roslaunch-nvidia-desktop-9722.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://nvidia-desktop:33779/

SUMMARY
========

CLEAR PARAMETERS
 * /points_xyzrgb/
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rgbd_sync/
 * /rtabmap/rtabmap/
 * /ukf_se/

PARAMETERS
 * /ImuFilter/_publish_tf: False
 * /ImuFilter/_world_frame: enu
 * /ImuFilter/use_mag: False
 * /camera/realsense2_camera/accel_fps: 100
 * /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: ~/HighAccuracy.json
 * /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: 848
 * /camera/realsense2_camera/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 848
 * /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: 848
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /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: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: True
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: pointcloud
 * /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: 848
 * /camera/realsense2_camera/gyro_fps: 200
 * /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: True
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 1.0
 * /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: 30.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: linear_interpolation
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /points_xyzrgb/approx_sync: True
 * /points_xyzrgb/decimation: 4.0
 * /points_xyzrgb/voxel_size: 0.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: 
 * /rtabmap/rgbd_odometry/ground_truth_frame_id: 
 * /rtabmap/rgbd_odometry/guess_frame_id: 
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/keep_color: False
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 30
 * /rtabmap/rgbd_odometry/subscribe_rgbd: True
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: True
 * /rtabmap/rgbd_sync/approx_sync: True
 * /rtabmap/rgbd_sync/decimation: 1.0
 * /rtabmap/rgbd_sync/depth_scale: 1.0
 * /rtabmap/rgbd_sync/queue_size: 30
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_frame_id_init: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 30
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /rtabmap/rtabmap/subscribe_rgbd: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /ukf_se/acceleration_gains: [0.8, 0.0, 0.0, 0...
 * /ukf_se/acceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ukf_se/alpha: 0.001
 * /ukf_se/base_link_frame: camera_link
 * /ukf_se/beta: 2
 * /ukf_se/control_config: [True, False, Fal...
 * /ukf_se/control_timeout: 0.2
 * /ukf_se/debug: False
 * /ukf_se/debug_out_file: /path/to/debug/fi...
 * /ukf_se/deceleration_gains: [1.0, 0.0, 0.0, 0...
 * /ukf_se/deceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ukf_se/frequency: 300
 * /ukf_se/imu0: /imu/data
 * /ukf_se/imu0_config: [False, False, Fa...
 * /ukf_se/imu0_differential: True
 * /ukf_se/imu0_linear_acceleration_rejection_threshold: 0.8
 * /ukf_se/imu0_nodelay: False
 * /ukf_se/imu0_pose_rejection_threshold: 0.8
 * /ukf_se/imu0_queue_size: 5
 * /ukf_se/imu0_relative: False
 * /ukf_se/imu0_remove_gravitational_acceleration: True
 * /ukf_se/imu0_twist_rejection_threshold: 0.8
 * /ukf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /ukf_se/kappa: 0
 * /ukf_se/map_frame: map
 * /ukf_se/odom0: rtabmap/odom
 * /ukf_se/odom0_config: [True, True, True...
 * /ukf_se/odom0_differential: False
 * /ukf_se/odom0_nodelay: False
 * /ukf_se/odom0_pose_rejection_threshold: 10000000
 * /ukf_se/odom0_queue_size: 2
 * /ukf_se/odom0_relative: True
 * /ukf_se/odom0_twist_rejection_threshold: 10000000
 * /ukf_se/odom_frame: odom
 * /ukf_se/permit_corrected_publication: False
 * /ukf_se/print_diagnostics: True
 * /ukf_se/process_noise_covariance: [0.05, 0, 0, 0, 0...
 * /ukf_se/publish_acceleration: flase
 * /ukf_se/publish_tf: True
 * /ukf_se/sensor_timeout: 0.1
 * /ukf_se/stamped_control: False
 * /ukf_se/transform_time_offset: 0.0
 * /ukf_se/transform_timeout: 0.0
 * /ukf_se/two_d_mode: False
 * /ukf_se/use_control: False
 * /ukf_se/world_frame: odom

NODES
  /
    ImuFilter (imu_filter_madgwick/imu_filter_node)
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)
    ukf_se (robot_localization/ukf_localization_node)
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rgbd_sync (nodelet/nodelet)
    rtabmap (rtabmap_ros/rtabmap)

auto-starting new master
process[master]: started with pid [9733]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to be57c870-e253-11ec-9c5b-0242054ad58a
process[rosout-1]: started with pid [9746]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9768]
process[camera/realsense2_camera-3]: started with pid [9769]
process[ImuFilter-4]: started with pid [9770]
process[rtabmap/rgbd_sync-5]: started with pid [9781]
type is rtabmap_ros/rgbd_sync
process[rtabmap/rgbd_odometry-6]: started with pid [9804]
process[rtabmap/rtabmap-7]: started with pid [9819]
[ INFO] [1654160989.239060434]: Initializing nodelet with 6 worker threads.
process[rviz-8]: started with pid [9837]
process[points_xyzrgb-9]: started with pid [9846]
process[ukf_se-10]: started with pid [9865]
type is rtabmap_ros/point_cloud_xyzrgb
[ INFO] [1654160990.106346542]: RealSense ROS v2.3.2
[ INFO] [1654160990.106635406]: Built with LibRealSense v2.50.0
[ INFO] [1654160990.106763118]: Running with LibRealSense v2.50.0
[ INFO] [1654160990.323022689]:  
[ WARN] [1654160990.361709252]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities
[ INFO] [1654160990.370437491]: Device with serial number 135222071239 was found.

[ INFO] [1654160990.370867347]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0 was found.
[ INFO] [1654160990.370950771]: Device with name Intel RealSense D435I was found.
[ INFO] [1654160990.373940185]: Device with port number 2-3.3 was found.
[ INFO] [1654160990.374096377]: Device USB type: 3.2
[ INFO] [1654160990.374261145]: Resetting device...
[ INFO] [1654160990.593261521]: Starting node...
[ INFO] [1654160990.744236788]: Initializing nodelet with 6 worker threads.
[ INFO] [1654160990.749328732]: Initializing nodelet with 6 worker threads.
[ INFO] [1654160990.832024298]: /rtabmap/rgbd_sync: approx_sync = true
[ INFO] [1654160990.850386570]: /rtabmap/rgbd_sync: queue_size  = 30
[ INFO] [1654160990.850513386]: /rtabmap/rgbd_sync: depth_scale = 1.000000
[ INFO] [1654160990.850606058]: /rtabmap/rgbd_sync: decimation = 1
[ INFO] [1654160990.850681386]: /rtabmap/rgbd_sync: compressed_rate = 0.000000
[ WARN] [1654160990.944436555]: Failed to meet update rate! Took 0.0072769500000000007789
[ WARN] [1654160990.972952636]: Failed to meet update rate! Took 0.015846185000000002213
[ WARN] [1654160990.973604989]: Failed to meet update rate! Took 0.013173365000000001115
[ WARN] [1654160991.003537552]: Failed to meet update rate! Took 0.0070128330000000004343
[ WARN] [1654160991.017084711]: Failed to meet update rate! Took 0.0072287720000000004958
[ INFO] [1654160991.039751630]: 
/rtabmap/rgbd_sync subscribed to (approx sync):
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info
[ INFO] [1654160991.268869651]: Approximate time sync = true
[ INFO] [1654160991.406087932]: Odometry: frame_id               = camera_link
[ INFO] [1654160991.406339965]: Odometry: odom_frame_id          = odom
[ INFO] [1654160991.406485341]: Odometry: publish_tf             = true
[ INFO] [1654160991.406578301]: Odometry: wait_for_transform     = true
[ INFO] [1654160991.406663133]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1654160991.406838110]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1654160991.406918686]: Odometry: ground_truth_frame_id  = 
[ INFO] [1654160991.406995774]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1654160991.407079678]: Odometry: config_path            = 
[ INFO] [1654160991.407160670]: Odometry: publish_null_when_lost = true
[ INFO] [1654160991.407235902]: Odometry: guess_frame_id         = 
[ INFO] [1654160991.407341374]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1654160991.407429727]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1654160991.407503839]: Odometry: guess_min_time         = 0.000000
[ INFO] [1654160991.407599871]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1654160991.407677311]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1654160991.407761151]: Odometry: wait_imu_to_init       = true
[ INFO] [1654160991.407904607]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ WARN] [1654160991.410754372]: Failed to meet update rate! Took 0.0075783550000000001606
[ WARN] [1654160991.678024138]: Failed to meet update rate! Took 0.0081617690000000010092
[ INFO] [1654160991.692307747]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1654160991.692482851]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1654160991.692570275]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1654160991.692636515]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1654160991.692714563]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1654160991.692781219]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1654160991.692862180]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1654160991.692928132]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ WARN] [1654160991.766642689]: Failed to meet update rate! Took 0.01010419000000000074
[ WARN] [1654160991.767671107]: Failed to meet update rate! Took 0.0078579630000000007944
[ WARN] [1654160991.850567248]: Failed to meet update rate! Took 0.0070107630000000005846
[ WARN] [1654160991.934512638]: Failed to meet update rate! Took 0.0076316290000000008842
[ INFO] [1654160992.139625433]: rtabmap: frame_id      = camera_link
[ INFO] [1654160992.139898809]: rtabmap: map_frame_id  = map
[ INFO] [1654160992.139998361]: rtabmap: use_action_for_goal  = false
[ INFO] [1654160992.140119770]: rtabmap: tf_delay      = 0.050000
[ INFO] [1654160992.140201114]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1654160992.140277978]: rtabmap: odom_sensor_sync   = false
[ INFO] [1654160992.148985704]: rtabmap: gen_scan  = false
[ INFO] [1654160992.149324073]: rtabmap: gen_depth  = false
[ WARN] [1654160992.205700200]: Failed to meet update rate! Took 0.0088171380000000004057
[ WARN] [1654160992.215164312]: Failed to meet update rate! Took 0.0082846750000000000252
[ WARN] [1654160992.294886846]: Failed to meet update rate! Took 0.0080067690000000003858
[ WARN] [1654160992.774991431]: Failed to meet update rate! Took 0.0080759130000000005356
[ INFO] [1654160994.866124638]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1654160994.869755972]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] [1654160995.173726104]: Failed to meet update rate! Took 0.0068212910000000001598
[ WARN] [1654160995.190631892]: Failed to meet update rate! Took 0.0070849250000000005972
[ WARN] [1654160995.530324160]: Failed to meet update rate! Took 0.0067086200000000002081
[ WARN] [1654160996.040533667]: /rtabmap/rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. 
/rtabmap/rgbd_sync subscribed to (approx sync):
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info
[ INFO] [1654160996.452023903]:  
[ INFO] [1654160996.480529357]: Device with serial number 135222071239 was found.

[ INFO] [1654160996.480863022]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0 was found.
[ INFO] [1654160996.481260111]: Device with name Intel RealSense D435I was found.
[ INFO] [1654160996.483333554]: Device with port number 2-3.3 was found.
[ INFO] [1654160996.483446226]: Device USB type: 3.2
[ INFO] [1654160996.507306265]: getParameters...
[ INFO] [1654160997.536474391]: setupDevice...
[ INFO] [1654160997.537892858]: JSON file is not provided
[ INFO] [1654160997.538209818]: ROS Node Namespace: camera
[ INFO] [1654160997.538405594]: Device Name: Intel RealSense D435I
[ INFO] [1654160997.538490427]: Device Serial No: 135222071239
[ INFO] [1654160997.538597595]: Device physical port: /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.0/video4linux/video0
[ INFO] [1654160997.538700731]: Device FW version: 05.13.00.50
[ INFO] [1654160997.538818619]: Device Product ID: 0x0B3A
[ INFO] [1654160997.538885307]: Enable PointCloud: On
[ INFO] [1654160997.538948379]: Align Depth: On
[ INFO] [1654160997.539027995]: Sync Mode: On
[ INFO] [1654160997.539232316]: Device Sensors: 
[ INFO] [1654160997.560135453]: Stereo Module was found.
[ INFO] [1654160997.601297280]: RGB Camera was found.
[ INFO] [1654160997.602144961]: Motion Module was found.
[ INFO] [1654160997.602391745]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1654160997.603638723]: Add Filter: pointcloud
[ INFO] [1654160997.605915175]: num_filters: 2
[ INFO] [1654160997.606067111]: Setting Dynamic reconfig parameters.
[ INFO] [1654160997.615805751]: odometry: Subscribing to IMU topic /imu/data
[ INFO] [1654160997.672469554]: RGBDOdometry: approx_sync    = true
[ INFO] [1654160997.672978387]: RGBDOdometry: queue_size     = 30
[ INFO] [1654160997.673295571]: RGBDOdometry: subscribe_rgbd = true
[ INFO] [1654160997.673421908]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1654160997.673522804]: RGBDOdometry: keep_color     = false
[ INFO] [1654160997.716815129]: 
/rtabmap/rgbd_odometry subscribed to:
   /rtabmap/rgbd_image
[ WARN] [1654160997.956985788]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1654160998.093824790]: Done Setting Dynamic reconfig parameters.
[ INFO] [1654160998.095879162]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1654160998.098380414]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8
[ INFO] [1654160998.103742118]: gyro stream is enabled - fps: 200
[ INFO] [1654160998.103925414]: accel stream is enabled - fps: 100
[ INFO] [1654160998.104023335]: setupPublishers...
[ INFO] [1654160998.126610667]: Expected frequency for depth = 30.00000
[ INFO] [1654160998.361695073]: Expected frequency for color = 30.00000
[ INFO] [1654160998.567775081]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1654160998.774612531]: Start publisher IMU
[ INFO] [1654160998.783342241]: setupStreams...
[ INFO] [1654160998.869968779]: SELECTED BASE:Depth, 0
[ WARN] [1654160998.888956137]: 
[ WARN] [1654160998.963192767]: Publishing dynamic camera transforms (/tf) at 30 Hz
[ INFO] [1654160998.983887936]: RealSense Node Is Up!
[ WARN] [1654160999.027722726]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654160999.028321959]: Could not obtain transform from camera_imu_optical_frame to camera_link. Error was Could not find a connection between 'camera_link' and 'camera_imu_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1654160999.233085578]: odometry: Could not get transform from camera_link to camera_imu_optical_frame (stamp=1654160999.011900) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past.  Requested time 1654160999.011900425 but the earliest data is at time 1654160999.031867266, when looking up transform from frame [camera_imu_optical_frame] to frame [camera_link]. canTransform returned after 0.201709 timeout was 0.2."
[ERROR] [1654160999.233354155]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1654160999.011900
[ WARN] [1654160999.267764769]: Failed to meet update rate! Took 0.0075649200000000001512
[ WARN] [1654160999.271819143]: Failed to meet update rate! Took 0.0083122969999999997415
[ WARN] [1654160999.343886425]: Failed to meet update rate! Took 0.0070177410000000000831
[ WARN] [1654160999.384636441]: Failed to meet update rate! Took 0.0073770090000000003438
[ WARN] [1654160999.434951817]: odometry: Could not get transform from camera_link to camera_imu_optical_frame (stamp=1654160999.016892) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past.  Requested time 1654160999.016892433 but the earliest data is at time 1654160999.031867266, when looking up transform from frame [camera_imu_optical_frame] to frame [camera_link]. canTransform returned after 0.200903 timeout was 0.2."
[ERROR] [1654160999.435464554]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1654160999.016892
[ WARN] [1654160999.636662855]: odometry: Could not get transform from camera_link to camera_imu_optical_frame (stamp=1654160999.021883) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past.  Requested time 1654160999.021883488 but the earliest data is at time 1654160999.031867266, when looking up transform from frame [camera_imu_optical_frame] to frame [camera_link]. canTransform returned after 0.200865 timeout was 0.2."
[ERROR] [1654160999.637133160]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1654160999.021883
[ WARN] [1654160999.840795786]: odometry: Could not get transform from camera_link to camera_imu_optical_frame (stamp=1654160999.026875) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past.  Requested time 1654160999.026874781 but the earliest data is at time 1654160999.031867266, when looking up transform from frame [camera_imu_optical_frame] to frame [camera_link]. canTransform returned after 0.201063 timeout was 0.2."
[ WARN] [1654160999.841173354]: Failed to meet update rate! Took 0.0070654710000000002512
[ERROR] [1654160999.841180970]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1654160999.026875
[ WARN] (2022-06-02 11:09:59.905) Odometry.cpp:316::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=-0.002730,0.015626,-1.571481 with IMU orientation
[ INFO] [1654161000.074979866]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.164978s
[ WARN] [1654161000.170773904]: Failed to meet update rate! Took 0.0066691900000000001875
[ WARN] [1654161000.175117975]: Failed to meet update rate! Took 0.0072899430000000001173
[ INFO] [1654161000.360445497]: Odom: quality=232, std dev=0.002995m|0.056744rad, update time=0.269262s
[ WARN] [1654161000.376668722]: Failed to meet update rate! Took 0.0092279430000000006035
[ WARN] [1654161000.379143702]: Failed to meet update rate! Took 0.0083633179999999997939
[ INFO] [1654161000.425962911]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1654161000.430469894]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1654161000.430702791]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB).
[ INFO] [1654161000.632134530]: rtabmap: Database version = "0.20.18".
[ INFO] [1654161000.632841923]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ WARN] [1654161000.851786841]: rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false.
[ INFO] [1654161000.872323481]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1654161000.872738522]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1654161000.872851770]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1654161000.872952890]: /rtabmap/rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[ INFO] [1654161000.873067771]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1654161000.873148155]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1654161000.873211771]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1654161000.873283931]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1654161000.873348091]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1654161000.873448667]: /rtabmap/rtabmap: queue_size    = 30
[ INFO] [1654161000.873522779]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1654161000.873699516]: Setup rgbd callback
[ INFO] [1654161000.996140539]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161001.035944889]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161001.608601552]: Failed to meet update rate! Took 0.0069546240000000003958
[ WARN] [1654161001.675923193]: Failed to meet update rate! Took 0.0075936050000000006668
[ WARN] [1654161001.699203549]: Failed to meet update rate! Took 0.0075565980000000003078
[ WARN] [1654161002.166319886]: Failed to meet update rate! Took 0.0079591469999999997498
[ INFO] [1654161002.252671091]: rtabmap 0.20.18 started...
[ WARN] [1654161003.045585044]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161005.047254377]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161005.996694675]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161006.035924237]: Failed to meet update rate! Took 0.0075836290000000005848
[ WARN] [1654161007.048661766]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161009.051700783]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161010.997112815]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161011.053924416]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161013.056226683]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161013.242104316]: Failed to meet update rate! Took 0.010378935000000000591
[ WARN] [1654161013.243248510]: Failed to meet update rate! Took 0.0082661480000000009394
[ WARN] [1654161014.182586641]: Failed to meet update rate! Took 0.010112817000000001375
[ WARN] [1654161014.185018100]: Failed to meet update rate! Took 0.0092470390000000003
[ WARN] [1654161014.311114369]: Failed to meet update rate! Took 0.0068067460000000006709
[ WARN] [1654161015.060498276]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161015.997981822]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161017.063601688]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161019.066003480]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161019.175489639]: Failed to meet update rate! Took 0.0077998570000000003177
[ WARN] [1654161020.998423788]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161021.070735817]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161021.531979769]: Failed to meet update rate! Took 0.0076680360000000004697
[ WARN] [1654161023.073467781]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161024.741595121]: Failed to meet update rate! Took 0.013959207000000001253
[ WARN] [1654161024.743056819]: Failed to meet update rate! Took 0.012110964000000000104
[ WARN] [1654161025.076232625]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161025.302946729]: Failed to meet update rate! Took 0.0072570810000000002954
[ WARN] [1654161025.999435717]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161027.079897070]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161029.083844252]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161030.999845045]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161031.086731611]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161033.090176908]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161033.109051874]: Failed to meet update rate! Took 0.0066842430000000003024
[ WARN] [1654161034.542448801]: Failed to meet update rate! Took 0.016773004000000001079
[ WARN] [1654161034.543936419]: Failed to meet update rate! Took 0.014940633000000001773
[ WARN] [1654161034.557049010]: Failed to meet update rate! Took 0.0076412220000000004652

So, in this first part of the output, I launch the program and as you can see, I got many warning like :

[ WARN] [1654161025.302946729]: Failed to meet update rate! Took 0.0072570810000000002954
[ WARN] [1654161025.999435717]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rtabmap/rgbd_image \
   /rtabmap/odom_info
[ WARN] [1654161027.079897070]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

I think that warning means that data of the camera don’t go to the rtabmap_ros node. Also, in rviz, I can’t see any image, point cloud, map graph… For example, I have the message : No image receives.
To solve the problem, I discover that I can unplug and replug the camera on the Jetson USB3 port.
When I do that, I have the following output :

 02/06 11:11:38,204 ERROR [546652017024] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:38,205 ERROR [546652017024] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:38,222 ERROR [545987928448] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:38,222 ERROR [545987928448] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
[ERROR] [1654161098.318064871]: The device has been disconnected!
 02/06 11:11:38,320 ERROR [546912612736] (librealsense-exception.h:52) xioctl(VIDIOC_STREAMOFF) failed for buf_type=1 Last Error: No such device
 02/06 11:11:38,321 ERROR [546912612736] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_STREAMOFF) failed for buf_type=1 Last Error: No such device
[ERROR] [1654161098.473302976]: Exception: Failed to enable_sensor /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-2000e1.3.auto/enable_sensor Last Error: No such file or directory
 02/06 11:11:38,471 ERROR [546417119616] (backend-v4l2.cpp:329) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 35 error: No such device
 02/06 11:11:38,471 ERROR [546912612736] (librealsense-exception.h:52) xioctl(VIDIOC_STREAMOFF) failed for buf_type=1 Last Error: No such device
 02/06 11:11:38,471 ERROR [546912612736] (librealsense-exception.h:52) xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:38,471 ERROR [546912612736] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:38,472 WARNING [546459083136] (backend-hid.h:48) write_fs_attribute with 0 failed. The specified path /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-200073.1.auto/iio:device1/buffer/enable is not valid
 02/06 11:11:38,472 WARNING [546459083136] (backend-hid.cpp:715) HID set_power 0 failed for /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-200073.1.auto/iio:device1/buffer/enable
 02/06 11:11:38,472 WARNING [546450690432] (backend-hid.h:48) write_fs_attribute with 0 failed. The specified path /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-200076.2.auto/iio:device2/buffer/enable is not valid
 02/06 11:11:38,472 WARNING [546450690432] (backend-hid.cpp:715) HID set_power 0 failed for /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-200076.2.auto/iio:device2/buffer/enable
 02/06 11:11:38,473 ERROR [546912612736] (librealsense-exception.h:52) Failed to enable_sensor /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-2000e1.3.auto/enable_sensor Last Error: No such file or directory
 02/06 11:11:38,622 ERROR [546879041920] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:38,622 ERROR [546879041920] (librealsense-exception.h:52) xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:38,622 ERROR [546879041920] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:38,623 ERROR [546879041920] (error-handling.cpp:78) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
[ERROR] [1654161098.706968678]: Exception: acquire: Cannot open '/dev/video0 Last Error: No such file or directory
 02/06 11:11:38,706 ERROR [546912612736] (librealsense-exception.h:52) acquire: Cannot open '/dev/video0 Last Error: No such file or directory
 02/06 11:11:38,706 ERROR [546912612736] (librealsense-exception.h:52) xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:38,706 ERROR [546912612736] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:39,205 ERROR [546652017024] (librealsense-exception.h:52) acquire: Cannot open '/dev/video0 Last Error: No such file or directory
 02/06 11:11:39,205 ERROR [546652017024] (librealsense-exception.h:52) xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:39,206 ERROR [546652017024] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:39,206 ERROR [546652017024] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: acquire: Cannot open '/dev/video0 Last Error: No such file or directory
 02/06 11:11:39,623 ERROR [546879041920] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:39,623 ERROR [546879041920] (librealsense-exception.h:52) xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:39,623 ERROR [546879041920] (sensor.cpp:596) release_power failed: xioctl(VIDIOC_REQBUFS) failed Last Error: No such device
 02/06 11:11:39,623 ERROR [546879041920] (error-handling.cpp:78) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such device
 02/06 11:11:39,832 ERROR [547433189760] (librealsense-exception.h:52) Failed to enable_sensor /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-2000e1.3.auto/enable_sensor Last Error: No such file or directory
 02/06 11:11:39,832 ERROR [547433189760] (sensor.cpp:1123) An error has occurred while stop_streaming()!
 02/06 11:11:39,833 ERROR [547433189760] (librealsense-exception.h:52) Failed to enable_sensor /sys/devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.5/0003:8086:0B3A.000B/HID-SENSOR-2000e1.3.auto/enable_sensor Last Error: No such file or directory
 02/06 11:11:39,833 ERROR [547433189760] (sensor.cpp:747) An error has occurred while stop_streaming()!
 02/06 11:11:39,833 ERROR [547433189760] (librealsense-exception.h:52) open() failed with all retries! Last Error: No such file or directory
 02/06 11:11:39,834 ERROR [547433189760] (librealsense-exception.h:52) open() failed with all retries! Last Error: No such file or directory
[ WARN] [1654161099.883851266]: No RealSense devices were found!
[ WARN] [1654161100.329312572]: Failed to meet update rate! Took 0.0070579060000000000755
[ WARN] [1654161100.786102492]: Failed to meet update rate! Took 0.0071790290000000008333
[ INFO] [1654161105.903531533]:  
[ INFO] [1654161105.923910296]: Device with serial number 135222071239 was found.

[ INFO] [1654161105.924061112]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.0/video4linux/video0 was found.
[ INFO] [1654161105.924130424]: Device with name Intel RealSense D435I was found.
[ INFO] [1654161105.925988793]: Device with port number 2-3.4 was found.
[ INFO] [1654161105.926160473]: Device USB type: 3.2
[ INFO] [1654161105.926261081]: Resetting device...
[ INFO] [1654161111.950523487]:  
[ INFO] [1654161111.968301671]: Device with serial number 135222071239 was found.

[ INFO] [1654161111.968434792]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.0/video4linux/video0 was found.
[ INFO] [1654161111.968530856]: Device with name Intel RealSense D435I was found.
[ INFO] [1654161111.970065032]: Device with port number 2-3.4 was found.
[ INFO] [1654161111.970174344]: Device USB type: 3.2
[ INFO] [1654161111.987154161]: getParameters...
[ INFO] [1654161112.374639980]: setupDevice...
[ INFO] [1654161112.374813100]: JSON file is not provided
[ INFO] [1654161112.374930476]: ROS Node Namespace: camera
[ INFO] [1654161112.375007372]: Device Name: Intel RealSense D435I
[ INFO] [1654161112.375115373]: Device Serial No: 135222071239
[ INFO] [1654161112.375191213]: Device physical port: /sys/devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.0/video4linux/video0
[ INFO] [1654161112.375253677]: Device FW version: 05.13.00.50
[ INFO] [1654161112.375315885]: Device Product ID: 0x0B3A
[ INFO] [1654161112.375396333]: Enable PointCloud: On
[ INFO] [1654161112.375460237]: Align Depth: On
[ INFO] [1654161112.375518765]: Sync Mode: On
[ INFO] [1654161112.375624077]: Device Sensors: 
[ INFO] [1654161112.384811025]: Stereo Module was found.
[ INFO] [1654161112.405928027]: RGB Camera was found.
[ INFO] [1654161112.406623196]: Motion Module was found.
[ INFO] [1654161112.406760028]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1654161112.407980700]: Add Filter: pointcloud
[ INFO] [1654161112.412320863]: num_filters: 2
[ INFO] [1654161112.412684351]: Setting Dynamic reconfig parameters.
[ WARN] [1654161112.632255881]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1654161112.714738801]: Done Setting Dynamic reconfig parameters.
[ INFO] [1654161112.716456210]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1654161112.719200851]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8
[ INFO] [1654161112.724432693]: gyro stream is enabled - fps: 200
[ INFO] [1654161112.724642742]: accel stream is enabled - fps: 100
[ INFO] [1654161112.724723030]: setupPublishers...
[ INFO] [1654161112.731677305]: Expected frequency for depth = 30.00000
[ INFO] [1654161112.880559201]: Expected frequency for color = 30.00000
[ INFO] [1654161113.012296289]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1654161113.129760857]: Start publisher IMU
[ INFO] [1654161113.135766076]: setupStreams...
[ INFO] [1654161113.220783748]: SELECTED BASE:Depth, 0
[ WARN] [1654161113.280877441]: Publishing dynamic camera transforms (/tf) at 30 Hz
[ INFO] [1654161113.291168326]: RealSense Node Is Up!
Warning: TF_OLD_DATA ignoring data from the past for frame camera_imu_optical_frame at time 1.65416e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame camera_imu_optical_frame at time 1.65416e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1654161113.351602787]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

Warning: TF_OLD_DATA ignoring data from the past for frame camera_imu_optical_frame at time 1.65416e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1654161113.554189764]: odometry: Could not get transform from camera_link to camera_imu_optical_frame (stamp=1654161098.144038) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past.  Requested time 1654161098.144038439 but the earliest data is at time 1654161103.552265882, when looking up transform from frame [camera_imu_optical_frame] to frame [camera_link]. canTransform returned after 0.202191 timeout was 0.2."
[ERROR] [1654161113.554470020]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1654161098.144038
[ WARN] (2022-06-02 11:11:53.907) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.102292,1.430444,-1.568015) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:53.907) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->8). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.118801,1.414534,0.020281)
[ WARN] (2022-06-02 11:11:53.908) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.118801,1.414534,0.020281), trying again without a guess.
[ WARN] (2022-06-02 11:11:54.090) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:54.090) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 8" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.118801,1.414534,0.020281)
[ INFO] [1654161114.094942149]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.240841s
[ERROR] (2022-06-02 11:11:54.100) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 3 is ignored!
[ INFO] [1654161114.101078152]: rtabmap (0): Rate=1.00s, Limit=0.000s, Conversion=0.0025s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1654161114.103991402]: Failed to meet update rate! Took 0.0084607800000000010776
[ WARN] [1654161114.105617994]: Failed to meet update rate! Took 0.0067599590000000002801
[ WARN] (2022-06-02 11:11:54.156) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.103915,1.430441,-1.567740) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:54.157) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->9). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.120395,1.414530,0.020529)
[ WARN] (2022-06-02 11:11:54.158) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.120395,1.414530,0.020529), trying again without a guess.
[ WARN] [1654161114.204305593]: Failed to meet update rate! Took 0.00876800500000000059
[ WARN] [1654161114.206632570]: Failed to meet update rate! Took 0.0077804650000000002974
[ WARN] (2022-06-02 11:11:54.331) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:54.331) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 9" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.120395,1.414530,0.020529)
[ INFO] [1654161114.336492663]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.235448s
[ WARN] (2022-06-02 11:11:54.387) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.104165,1.430427,-1.568273) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:54.388) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->10). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.120698,1.414518,0.020049)
[ WARN] (2022-06-02 11:11:54.388) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.120698,1.414518,0.020049), trying again without a guess.
[ WARN] [1654161114.533522964]: Failed to meet update rate! Took 0.0078750340000000012414
[ WARN] [1654161114.535848405]: Failed to meet update rate! Took 0.0068613820000000000712
[ WARN] [1654161114.546571962]: Failed to meet update rate! Took 0.010821793000000001425
[ WARN] [1654161114.551275357]: Failed to meet update rate! Took 0.012226447000000001397
[ WARN] (2022-06-02 11:11:54.560) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:54.560) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 10" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.120698,1.414518,0.020049)
[ INFO] [1654161114.566228964]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.217372s
[ WARN] [1654161114.834008866]: Failed to meet update rate! Took 0.0071894310000000004671
[ WARN] [1654161115.017488377]: Failed to meet update rate! Took 0.0073568750000000005668
[ WARN] [1654161115.021882811]: Failed to meet update rate! Took 0.0084255920000000008446
[ WARN] (2022-06-02 11:11:55.047) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.069557,1.423872,-1.576594) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:55.047) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->11). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.086247,1.407983,0.011865)
[ WARN] (2022-06-02 11:11:55.048) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.086247,1.407983,0.011865), trying again without a guess.
[ WARN] [1654161115.178082499]: Failed to meet update rate! Took 0.0069959280000000002159
[ WARN] [1654161115.181483941]: Failed to meet update rate! Took 0.007034437000000000155
[ WARN] [1654161115.184414502]: Failed to meet update rate! Took 0.0066956970000000004539
[ WARN] (2022-06-02 11:11:55.223) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:55.223) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=59) between -1 and 11" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.086247,1.407983,0.011865)
[ INFO] [1654161115.227858779]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.237516s
[ERROR] (2022-06-02 11:11:55.241) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 26 is ignored!
[ INFO] [1654161115.242216577]: rtabmap (0): Rate=1.00s, Limit=0.000s, Conversion=0.0104s, RTAB-Map=0.0004s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1654161115.278254994]: Failed to meet update rate! Took 0.0071744810000000007813
[ WARN] [1654161115.282013044]: Failed to meet update rate! Took 0.0076239340000000006131
[ WARN] (2022-06-02 11:11:55.296) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.066277,1.423389,-1.577185) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:55.297) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->12). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.082976,1.407501,0.011283)
[ WARN] (2022-06-02 11:11:55.297) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.082976,1.407501,0.011283), trying again without a guess.
[ WARN] [1654161115.318676037]: Failed to meet update rate! Took 0.0074180690000000002252
[ WARN] [1654161115.321505990]: Failed to meet update rate! Took 0.0069164810000000003648
[ WARN] [1654161115.359604568]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161115.361285913]: Failed to meet update rate! Took 0.0067329200000000007445
[ WARN] (2022-06-02 11:11:55.469) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:55.470) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=62) between -1 and 12" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.082976,1.407501,0.011283)
[ INFO] [1654161115.474832910]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.234287s
[ WARN] (2022-06-02 11:11:55.531) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.067163,1.423574,-1.577411) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:55.532) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->13). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.083903,1.407688,0.011097)
[ WARN] (2022-06-02 11:11:55.534) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.083903,1.407688,0.011097), trying again without a guess.
[ WARN] [1654161115.591585636]: Failed to meet update rate! Took 0.006780698000000000801
[ WARN] [1654161115.655090082]: Failed to meet update rate! Took 0.0071054490000000006603
[ WARN] [1654161115.689048273]: Failed to meet update rate! Took 0.011137690999999999911
[ WARN] [1654161115.692552371]: Failed to meet update rate! Took 0.011169288000000001174
[ WARN] (2022-06-02 11:11:55.701) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:55.701) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=60) between -1 and 13" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.083903,1.407688,0.011097)
[ INFO] [1654161115.706702714]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.219364s
[ WARN] (2022-06-02 11:11:55.758) RegistrationVis.cpp:1142::computeTransformationImpl() All projected points are outside the camera. Guess (xyz=0.000249,0.000436,0.000282 rpy=0.059210,1.421428,-1.579082) is wrong or images are not overlapping.
[ WARN] (2022-06-02 11:11:55.759) OdometryF2M.cpp:529::computeTransform() Registration failed: "Missing correspondences for registration (-1->14). fromWords = 0 fromImageEmpty=1 toWords = 0 toImageEmpty=0" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.075895,1.405547,0.009366)
[ WARN] (2022-06-02 11:11:55.760) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=0.075895,1.405547,0.009366), trying again without a guess.
[ WARN] (2022-06-02 11:11:55.943) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail.
[ WARN] (2022-06-02 11:11:55.943) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 7/20 (matches=56) between -1 and 14" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.075895,1.405547,0.009366)
[ INFO] [1654161115.950432875]: Odom: quality=7, std dev=0.000000m|0.000000rad, update time=0.229789s

Here data seems to be published in the topics and I can see all data I want on Rviz.
My biggest problem is that after few seconds suddenly the data of the camera stop to be send and I have again the following output :

[ WARN] [1654161165.296621630]: Failed to meet update rate! Took 0.0074836130000000000706
[ WARN] [1654161165.473820613]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161165.489197576]: Failed to meet update rate! Took 0.0066988220000000001098
[ WARN] [1654161166.140837689]: Failed to meet update rate! Took 0.011720109000000001123
[ WARN] [1654161166.142914969]: Failed to meet update rate! Took 0.010465303999999999926
[ WARN] [1654161167.477598523]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161168.833422651]: Failed to meet update rate! Took 0.0078418170000000009257
[ WARN] [1654161169.483928643]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161171.490160378]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

[ WARN] [1654161172.462981882]: Failed to meet update rate! Took 0.0073752350000000008179
[ WARN] [1654161173.494355970]: Transform from camera_imu_optical_frame to camera_link was unavailable for the time requested. Using latest instead.

So, I don’t really know where the problem come from, if there is nothing to do on this forum just tell me and I will post on another forum.
This issue can come from several places, but I suspect the USB connection between Jetson and the camera. I recall that the camera and the program work fine on my PC (which does not have the same config as the Jetson, so it could come from there too).

Tell me if you want more information or other.
Thanks for any advice or solution !
Quentin

Hi,
Please share more information. Do you connect one camera or multiple cameras? Which release version do you use?

Hi, I use only one D435i.
ROS version is 1.14.13 ; L4T version is 32.6.1 ; Realsense ROS version is 2.3.2 for librealsense version 2.50.0.
Did you need more information ?

Hi,
Do you observe the issue in running realsense-viewer? Or it is specific to running ROS?

Hi,
I have no issue when I running realsense-viewer, all works fine. It’s only when I use ROS that the problem occurs.

xusb_sil_rel_fw-60.13 (126 KB)
Hi,

Here is the new usb firmware. You need to update it by open the initrd on your host machine, replace the firmware in the initrd fs and then flash the initrd back to the system again.

 mkdir initrd; cd initrd;
   sudo gunzip -c ../l4t_initrd.img.orig | sudo  cpio -i
   sudo cp ../xusb_sil_prod_fw-new lib/firmware/tegra19x_xusb_firmware
   sudo find . | sudo cpio --quiet -H newc -o | sudo gzip -9 -n > ../l4t_initrd.img

If the usb fw is updated correctly, the dmesg will show a new version. New version should be 60.13.

Hi ! Thanks for your reply !
In fact, I’m beginner with JetPack environment, where can I find the folder (or file ?) initrd please ?

Hi,
If you use SDKManager to flash system image, the default path is

~/nvidia/nvidia_sdk

Please check the folder

The exact path of initrd should be Linux_for_Tegra/bootloader/initrd.

This file is the l4t_initrd.img.orig in the steps I shared.

Hi,
from what I see, I don’t have ~/nvidia/nvidia_sdk nor Linux_for_Tegra on my Jetson. Is this possible ? Should I reflash my Jetson ?

On your x86 host. Not jetson. If you ever used sdkmanager before, then you would know what we are talking about.

Hi !
So, I update the usb firmware by flashing the Jetson. Unfortunately the problem persists.
Have you any other idea where the problem can come from ?

UPDATE :
I have found that if I reduce fps of the different video (depth, color, etc) to 15, the program works but I still have many warnings like : Failed to meet update rate!

Thanks

Hi,
The pre-release firmware is the latest version and it fixes instability of running realsense cameras. If it does not help your use-case, we would suggest reduce the frame rate as a quick solution for this use-case. On Xavier NX developer kit, the maximum current for USB ports are 2A. Probably while running the camera in ROS, it drains more than 2A and triggers the instability.

After a recheck of the usb firmware, it’s version is 60.09
I don’t know why, I thought I followed the instructions correctly.
There is a method to update the usb firmware without flash the jetson ?

Hi,
The path of initrd is

~/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra/bootloader/l4t_initrd.img

Please make sure you overwrite the new one to correct path and do clean re-flash.

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