i got a problem connecting my Intel Realsense D435 to my JetsonTX2. I followed the instructions from Jetsonhacks https://github.com/jetsonhacks/installRealSense2ROSTX with only one difference: In their description they are referencing to a repository jetsonhacks/installLibrealsense2TX but that is not existing. The repo is called jetsonhacks/buildLibrealsense2TX but that only by the way…
I think my install was done correctly.
- Jetson TX2 developer kit
- JetPack-L4T-3.2 (28.2)
- USB3 Cam: Intel Realsense D435
- Ubuntu 16.04 with ROS kinetic
On the official github repo https://github.com/intel-ros/realsense/#installation-instructions they say that i need to call this for starting a node:
roslaunch realsense2_camera rs_camera.launch
When i’m calling that line i got the following output:
nvidia@tegra-ubuntu:~/ros_catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/nvidia/.ros/log/08873502-700c-11e8-aa00-00044b8d1193/roslaunch-tegra-ubuntu-8387.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.188.24:46844/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: 1000 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: False * /camera/realsense2_camera/camera_aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/camera_aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/camera_aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/camera_aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/color_fps: 30 * /camera/realsense2_camera/color_height: 480 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: 640 * /camera/realsense2_camera/depth_fps: 30 * /camera/realsense2_camera/depth_height: 480 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: 640 * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye: True * /camera/realsense2_camera/enable_imu: True * /camera/realsense2_camera/enable_infra1: True * /camera/realsense2_camera/enable_infra2: True * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_sync: False * /camera/realsense2_camera/fisheye_fps: 30 * /camera/realsense2_camera/fisheye_height: 480 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: 640 * /camera/realsense2_camera/gyro_fps: 1000 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/infra1_fps: 30 * /camera/realsense2_camera/infra1_height: 480 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra1_width: 640 * /camera/realsense2_camera/infra2_fps: 30 * /camera/realsense2_camera/infra2_height: 480 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra2_width: 640 * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/serial_no: * /rosdistro: kinetic * /rosversion: 1.12.13 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid  ROS_MASTER_URI=http://localhost:11311 setting /run_id to 08873502-700c-11e8-aa00-00044b8d1193 process[rosout-1]: started with pid  started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid  process[camera/realsense2_camera-3]: started with pid  [ INFO] [1529005763.377829277]: Initializing nodelet with 6 worker threads. [ INFO] [1529005763.475965714]: RealSense ROS v2.0.3 [ INFO] [1529005763.476073811]: Running with LibRealSense v2.10.4 [ INFO] [1529005763.666268576]: getParameters... [ INFO] [1529005764.098358545]: setupDevice... [ INFO] [1529005764.099104308]: JSON file is not provided [ INFO] [1529005764.099601239]: ROS Node Namespace: camera [ INFO] [1529005764.100348090]: Device Name: Intel RealSense USB2 [ INFO] [1529005764.100702428]: Device Serial No: 817512071398 [ INFO] [1529005764.100957597]: Device FW version: 05.09.02.00 [ INFO] [1529005764.101192670]: Device Product ID: 0x0AD6 [ INFO] [1529005764.101422911]: Enable PointCloud: Off [ INFO] [1529005764.101651136]: Align Depth: Off [ INFO] [1529005764.102023842]: Sync Mode: Off [ INFO] [1529005764.105431090]: Device Sensors: [ INFO] [1529005764.106857145]: Stereo Module was found. [ INFO] [1529005764.108120223]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1529005764.108300640]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1529005764.108455201]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1529005764.108610594]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1529005764.108951843]: setupPublishers... [ INFO] [1529005764.133374232]: Expected frequency for depth = 30.00000 [ INFO] [1529005764.184719149]: Expected frequency for infra1 = 30.00000 [ INFO] [1529005764.216344645]: Expected frequency for infra2 = 30.00000 [ INFO] [1529005764.258567470]: setupStreams... 14/06 19:49:25,080 WARNING  (sensor.cpp:315) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ WARN] [1529005765.083717270]: Given stream configuration is not supported by the device! Stream: Depth, Stream Index: 0, Format: Z16, Width: 640, Height: 480, FPS: 30 [ WARN] [1529005765.084065464]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 1, Format: Y8, Width: 640, Height: 480, FPS: 30 [ WARN] [1529005765.084276793]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Format: Y8, Width: 640, Height: 480, FPS: 30 [ INFO] [1529005765.084706459]: publishStaticTransforms... [ERROR] [1529005765.085079325]: Given depth profile is not supported by current device! [FATAL] [1529005765.291423927]: Failed to load nodelet '/camera/realsense2_camera` of type `realsense2_camera/RealSenseNodeFactory` to manager `realsense2_camera_manager' [camera/realsense2_camera_manager-2] process has died [pid 8427, exit code 1, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/nvidia/.ros/log/08873502-700c-11e8-aa00-00044b8d1193/camera-realsense2_camera_manager-2.log]. log file: /home/nvidia/.ros/log/08873502-700c-11e8-aa00-00044b8d1193/camera-realsense2_camera_manager-2*.log [camera/realsense2_camera-3] process has died [pid 8428, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/nvidia/.ros/log/08873502-700c-11e8-aa00-00044b8d1193/camera-realsense2_camera-3.log]. log file: /home/nvidia/.ros/log/08873502-700c-11e8-aa00-00044b8d1193/camera-realsense2_camera-3*.log
I am wondering about that line
Device Name: Intel RealSense USB2
because its an USB3 device and i plugged it to the USB3 connector…
What is the problem? I used all defaults. I did nothing weird with the Jetson, just installed ROS, OpenCV3.4.1 and the LibRealSense packages with Jetsonhacks instructions!
Thanks for help!