Hi, I am trying to set up Visual SLAM using an Intel RealSense Depth Camera D457 on a Jetson AGX Orin 32GB running JetPack 5.1.2, as per the Nvidia Isaac ROS tutorial. I’m encountering issues with the camera initialization as detailed below:
https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/tutorial_realsense.html
- Device: Jetson AGX Orin 32GB
- Camera: Intel RealSense Depth Camera D457 (connected via USB3.2)
- Operating System: JetPack 5.1.2
- Error Messages:
[realsense2_camera_node-2] [ERROR] [timestamp] [camera.camera]: The requested device with is NOT found. Will Try again.[realsense2_camera_node-2] [WARN] [timestamp] [camera.camera]: Device 1/1 failed with exception: failed to set power state
The camera seems not to be recognized or fails to initialize properly. Additionally, when I attempt to check the publishing frequency of the /camera/infra1/image_rect_raw topic in ROS2, no output is displayed.
Has anyone encountered similar issues or can provide insights on how to troubleshoot or resolve this?
Thank you
[Terminal 1]
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-05-09-13-56-36-947896-ubuntu-118828
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [118840]
[INFO] [realsense2_camera_node-2]: process started with pid [118842]
[realsense2_camera_node-2] [INFO] [1715230597.483986889] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-2] [INFO] [1715230597.484192525] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-2] [INFO] [1715230597.484213965] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-2] [WARN] [1715230597.506660944] [camera.camera]: Device 1/1 failed with exception: failed to set power state
[realsense2_camera_node-2] [ERROR] [1715230597.506755538] [camera.camera]: The requested device with is NOT found. Will Try again.
[component_container-1] [INFO] [1715230597.522037977] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container-1] [INFO] [1715230597.653230828] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1715230597.659607194] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1715230597.743339644] [visual_slam_node]: cuVSLAM version: 11.4
[component_container-1] [INFO] [1715230599.864577513] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 2.119811
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[realsense2_camera_node-2] [WARN] [1715230603.540656668] [camera.camera]: Device 1/1 failed with exception: failed to set power state
[realsense2_camera_node-2] [ERROR] [1715230603.541224965] [camera.camera]: The requested device with is NOT found. Will Try again.
[Terminal 2]
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 topic hz /camera/infra1/image_rect_raw --window 20
Hi @sakamaki
and welcome to the Isaac ROS forum. Looking your error can be fixed following our troubleshooting page
There are two ways to solve:
-
Solution
Before starting the isaac_ros-dev Docker container using run_dev.sh, run setup_udev_rules.sh from librealsense in a terminal outside Docker.
-
Solution
- Check if the
99-realsense-libusb.rules file exists in /etc/udev/rules.d/.
- If not, disconnect the camera, copy this file to
/etc/udev/rules.d/, then reconnect the camera.
Hi @Raffaello
Thank you for the advice on troubleshooting the camera initialization issues with my RealSense D457 on a Jetson AGX Orin . Following your suggestions, the errors related to the camera’s state and device recognition have been resolved.
However, I am still facing an issue where there is no output from the /camera/infra1/image_rect_raw topic. The topic doesn’t seem to be publishing any data.
I am continuing to work on ensuring that the camera starts publishing data on this topic.
Thank you for your help!
[Terminal 1]
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-05-14-08-45-58-138537-ubuntu-12898
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [12909]
[INFO] [realsense2_camera_node-2]: process started with pid [12911]
[component_container-1] [INFO] [1715643958.866977585] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[realsense2_camera_node-2] [INFO] [1715643959.019817198] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-2] [INFO] [1715643959.019996401] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-2] [INFO] [1715643959.020019153] [camera.camera]: Running with LibRealSense v2.55.1
[component_container-1] [INFO] [1715643959.134120910] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1715643959.134249264] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1715643959.194412737] [visual_slam_node]: cuVSLAM version: 11.4
[realsense2_camera_node-2] [INFO] [1715643959.680497908] [camera.camera]: Device with serial number 220422302040 was found.
[realsense2_camera_node-2]
[realsense2_camera_node-2] [INFO] [1715643959.680635479] [camera.camera]: Device with physical ID 2-3.2-3 was found.
[realsense2_camera_node-2] [INFO] [1715643959.680649335] [camera.camera]: Device with name Intel RealSense D455 was found.
[realsense2_camera_node-2] [INFO] [1715643959.681101982] [camera.camera]: Device with port number 2-3.2 was found.
[realsense2_camera_node-2] [INFO] [1715643959.681131007] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-2] [INFO] [1715643959.685690569] [camera.camera]: getParameters...
[realsense2_camera_node-2] [INFO] [1715643959.686356691] [camera.camera]: JSON file is not provided
[realsense2_camera_node-2] [INFO] [1715643959.686390516] [camera.camera]: Device Name: Intel RealSense D455
[realsense2_camera_node-2] [INFO] [1715643959.686404116] [camera.camera]: Device Serial No: 220422302040
[realsense2_camera_node-2] [INFO] [1715643959.686414612] [camera.camera]: Device physical port: 2-3.2-3
[realsense2_camera_node-2] [INFO] [1715643959.686423061] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-2] [INFO] [1715643959.686432757] [camera.camera]: Device Product ID: 0x0B5C
[realsense2_camera_node-2] [INFO] [1715643959.686460789] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-2] [WARN] [1715643966.947363962] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-2] [WARN] [1715643967.936479198] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-2] [INFO] [1715643967.949178659] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1715643968.254217689] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1715643968.358725003] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 640, Height: 360, FPS: 90
[realsense2_camera_node-2] [INFO] [1715643968.358875437] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 640, Height: 360, FPS: 90
[realsense2_camera_node-2] [INFO] [1715643968.358989903] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-2] [INFO] [1715643968.494274013] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-2] [INFO] [1715643968.753910960] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-2] [INFO] [1715643968.754054418] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-2] [INFO] [1715643968.818686235] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-2] [WARN] [1715643969.347019953] [camera.camera]:
[component_container-1] [INFO] [1715643974.428119565] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 15.233617
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container-1] [INFO] [1715643974.443561397] [visual_slam_node]: left_pose_right reading from CameraInfo
[component_container-1] [INFO] [1715643974.443654198] [visual_slam_node]: Baseline is : 0.095032
[component_container-1] [INFO] [1715643974.443686039] [visual_slam_node]: left_camera_pose_imu reading from TF Tree
[component_container-1] [INFO] [1715643974.443912250] [visual_slam_node]: Use use_gpu: true
[component_container-1] [INFO] [1715643974.443953435] [visual_slam_node]: Enable IMU Fusion: true
[component_container-1] [INFO] [1715643974.443967995] [visual_slam_node]: gyroscope_noise_density: 0.000244
[component_container-1] [INFO] [1715643974.443981947] [visual_slam_node]: gyroscope_random_walk: 0.000019
[component_container-1] [INFO] [1715643974.443992603] [visual_slam_node]: accelerometer_noise_density: 0.001862
[component_container-1] [INFO] [1715643974.444003451] [visual_slam_node]: accelerometer_random_walk: 0.003000
[component_container-1] [INFO] [1715643974.444012731] [visual_slam_node]: frequency: 200.000000
[component_container-1] [INFO] [1715643974.484641789] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.040615
[Terminal 2]
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 topic hz /camera/infra1/image_rect_raw --window 20
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