Realsense D430i and Isaac ROS Visual SLAM

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello,

I am currently working on a project using the following setup:

  • Jetson AGX Orin 64GB Developer Kit
  • Jetpack 6.1
  • Isaac ROS 3.1
  • Isaac_ros_example 3.2
  • Isaac_ros_visual_slam 3.1
  • Realsense-ros 4.55.1
  • Librealsense 2.55.1
  • cuVSLAM 12.6

My goal is to use the Realsense D430i camera for visual SLAM. To enable compatibility, I updated the Realsense-ros version to 4.55.1 and used the isaac_ros_visual_slam_multirealsense.launch.py file to run the camera.

However, I frequently encounter the following error:

[component_container_mt-3]  21/01 15:47:30,944 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

While the setup occasionally works fine, this error occurs most of the time.

Could you please provide any suggestions or guidance to resolve this issue? Additionally, is there a plan to officially support the Realsense D430i in a future update?

Thank you in advance for your assistance!

Below is the detailed log output:

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-21-15-47-11-864406-ubuntu-152571
[INFO] [launch]: Default logging verbosity is set to INFO
camera_name:  camera1
camera_name:  camera2
[INFO] [foxglove_bridge-1]: process started with pid [152582]
[INFO] [robot_state_publisher-2]: process started with pid [152584]
[INFO] [component_container_mt-3]: process started with pid [152586]
[robot_state_publisher-2] [INFO] [1737442032.235130524] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1737442032.235321180] [robot_state_publisher]: got segment camera1_link
[robot_state_publisher-2] [INFO] [1737442032.235338972] [robot_state_publisher]: got segment camera2_link
[foxglove_bridge-1] [INFO] [1737442032.244188175] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
[foxglove_bridge-1] [INFO] [1737442032.254960064] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-1] [INFO] [1737442032.255029504] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-1] [INFO] [1737442032.260589592] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.2@) with WebSocket++/0.8.2
[foxglove_bridge-1] [INFO] [1737442032.261885559] [foxglove_bridge]: [WS] Server running without TLS
[foxglove_bridge-1] [INFO] [1737442032.262319414] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[foxglove_bridge-1] [INFO] [1737442032.262333814] [foxglove_bridge]: [WS] WebSocket server run loop started
[component_container_mt-3] [INFO] [1737442032.445830740] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-3] [INFO] [1737442032.558639637] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737442032.559602900] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737442032.589077835] [camera1]: RealSense ROS v4.55.1
[component_container_mt-3] [INFO] [1737442032.589147466] [camera1]: Built with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera1' in container 'visual_slam_launch_container'
[component_container_mt-3] [INFO] [1737442032.589163562] [camera1]: Running with LibRealSense v2.55.1
[component_container_mt-3] [INFO] [1737442032.590363401] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container_mt-3] [INFO] [1737442032.651632915] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container_mt-3] [INFO] [1737442032.651728658] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container_mt-3] [INFO] [1737442032.664277313] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-3] [INFO] [1737442032.668684187] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-3] [INFO] [1737442032.673793427] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-3] [INFO] [1737442032.679498827] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-3] 2025-01-21 15:47:12.693 WARN  external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-3] [INFO] [1737442032.693847543] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-3] [INFO] [1737442032.702264619] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737442032.703997705] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737442032.705623335] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737442032.707135525] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737442032.730420644] [visual_slam_node]: cuVSLAM version: 12.2
[component_container_mt-3] [INFO] [1737442032.806619417] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.076131
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container_mt-3] [INFO] [1737442032.816230667] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737442032.816299115] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737442032.829142809] [camera2]: RealSense ROS v4.55.1
[component_container_mt-3] [INFO] [1737442032.829375545] [camera2]: Built with LibRealSense v2.55.1
[component_container_mt-3] [INFO] [1737442032.829403097] [camera2]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera2' in container 'visual_slam_launch_container'
[component_container_mt-3]  21/01 15:47:12,953 WARNING [281470020217056] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:12,963 WARNING [281470020217056] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:13,076 WARNING [281471632337120] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:13,175 WARNING [281470020217056] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:13,185 WARNING [281470020217056] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:13,261 WARNING [281471632337120] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:13,272 WARNING [281471632337120] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3] [INFO] [1737442033.394348171] [camera1]: Device with serial number 239722073302 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737442033.394477867] [camera1]: Device with physical ID 2-2-24 was found.
[component_container_mt-3] [INFO] [1737442033.394495051] [camera1]: Device with name Intel RealSense D435I was found.
[component_container_mt-3] [INFO] [1737442033.394774282] [camera1]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737442033.689685621] [camera2]: Device with serial number 239722073302 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737442033.689804565] [camera2]: Device with physical ID 2-2-24 was found.
[component_container_mt-3] [INFO] [1737442033.689817973] [camera2]: Device with name Intel RealSense D435I was found.
[component_container_mt-3] [INFO] [1737442033.690097397] [camera2]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737442033.690118101] [camera2]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737442033.690128597] [camera2]: Resetting device...
[component_container_mt-3] [INFO] [1737442034.087807061] [camera1]: Device with serial number 239722072275 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737442034.087923221] [camera1]: Device with physical ID 2-3.2-22 was found.
[component_container_mt-3] [INFO] [1737442034.087937653] [camera1]: Device with name Intel RealSense D435I was found.
[component_container_mt-3] [INFO] [1737442034.088248084] [camera1]: Device with port number 2-3.2 was found.
[component_container_mt-3] [INFO] [1737442034.088271892] [camera1]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737442034.088352852] [camera1]: Resetting device...
[component_container_mt-3]  21/01 15:47:20,219 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,229 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,325 WARNING [281469456869600] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,335 WARNING [281469456869600] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,346 ERROR [281469456869600] (handle-libusb.h:125) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
[component_container_mt-3]  21/01 15:47:20,347 ERROR [281470037125344] (uvc-sensor.cpp:412) acquire_power failed: failed to set power state
[component_container_mt-3]  21/01 15:47:20,347 WARNING [281470037125344] (d400-factory.cpp:717) Cannot read RGB calibration table
[component_container_mt-3]  21/01 15:47:20,347 WARNING [281470037125344] (d400-factory.cpp:833) invalid RGB extrinsic was identified, recovery routine was invoked
[component_container_mt-3]  21/01 15:47:20,443 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,453 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,581 WARNING [281469456869600] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,591 WARNING [281469456869600] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,700 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,711 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,717 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,722 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,728 WARNING [281469599541472] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 15:47:20,733 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,738 ERROR [281469599541472] (handle-libusb.h:125) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
[component_container_mt-3]  21/01 15:47:20,738 ERROR [281471693613280] (uvc-sensor.cpp:412) acquire_power failed: failed to set power state
[component_container_mt-3]  21/01 15:47:20,739 ERROR [281471693613280] (rs.cpp:237) [rs2_create_device( info_list:0xffff34042290, index:0 ) UNKNOWN] failed to set power state
[component_container_mt-3]  21/01 15:47:20,739 ERROR [281471693613280] (rs.cpp:237) [rs2_delete_device( device:nullptr ) UNKNOWN] null pointer passed for argument "device"
[component_container_mt-3]  21/01 15:47:20,739 WARNING [281471693613280] (rs.cpp:373) null pointer passed for argument "device"
[component_container_mt-3] [WARN] [1737442040.739708862] [camera1]: Device 1/2 failed with exception: failed to set power state
[component_container_mt-3]  21/01 15:47:20,743 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,754 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Device or resource busy, number: 16
[component_container_mt-3]  21/01 15:47:20,789 WARNING [281470037125344] (d400-factory.cpp:859) RGB stream extrinsic successfully recovered
[component_container_mt-3] [INFO] [1737442040.927449702] [camera2]: Device with serial number 239722073302 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737442040.927556486] [camera2]: Device with physical ID 2-2-25 was found.
[component_container_mt-3] [INFO] [1737442040.927570886] [camera2]: Device with name Intel RealSense D435I was found.
[component_container_mt-3] [INFO] [1737442040.927844613] [camera2]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737442040.927865445] [camera2]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737442040.927986437] [camera2]: getParameters...
[component_container_mt-3] [INFO] [1737442040.930169443] [camera2]: JSON file is not provided
[component_container_mt-3] [INFO] [1737442040.930236323] [camera2]: Device Name: Intel RealSense D435I
[component_container_mt-3] [INFO] [1737442040.930251618] [camera2]: Device Serial No: 239722073302
[component_container_mt-3] [INFO] [1737442040.930261954] [camera2]: Device physical port: 2-2-25
[component_container_mt-3] [INFO] [1737442040.930269410] [camera2]: Device FW version: 5.13.0.50
[component_container_mt-3] [INFO] [1737442040.930276930] [camera2]: Device Product ID: 0x0B3A
[component_container_mt-3] [INFO] [1737442040.930283810] [camera2]: Sync Mode: On
[component_container_mt-3] [INFO] [1737442041.622518647] [camera1]: Device with serial number 239722072275 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737442041.622641655] [camera1]: Device with physical ID 2-3.2-26 was found.
[component_container_mt-3] [INFO] [1737442041.622657271] [camera1]: Device with name Intel RealSense D435I was found.
[component_container_mt-3] [INFO] [1737442041.622931798] [camera1]: Device with port number 2-3.2 was found.
[component_container_mt-3] [INFO] [1737442041.622955254] [camera1]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737442041.623015702] [camera1]: getParameters...
[component_container_mt-3] [INFO] [1737442041.624734196] [camera1]: JSON file is not provided
[component_container_mt-3] [INFO] [1737442041.624803156] [camera1]: Device Name: Intel RealSense D435I
[component_container_mt-3] [INFO] [1737442041.624817492] [camera1]: Device Serial No: 239722072275
[component_container_mt-3] [INFO] [1737442041.624826996] [camera1]: Device physical port: 2-3.2-26
[component_container_mt-3] [INFO] [1737442041.624834900] [camera1]: Device FW version: 5.13.0.50
[component_container_mt-3] [INFO] [1737442041.624841940] [camera1]: Device Product ID: 0x0B3A
[component_container_mt-3] [INFO] [1737442041.624848756] [camera1]: Sync Mode: On
[component_container_mt-3] [WARN] [1737442048.274766163] [camera2]: re-enable the stream for the change to take effect.
[component_container_mt-3] [WARN] [1737442048.781493283] [camera1]: re-enable the stream for the change to take effect.
[component_container_mt-3] [WARN] [1737442048.985843848] [camera2]: re-enable the stream for the change to take effect.
[component_container_mt-3] [INFO] [1737442048.996680638] [camera2]: Stopping Sensor: Depth Module
[component_container_mt-3] [INFO] [1737442049.244579234] [camera2]: Starting Sensor: Depth Module
[component_container_mt-3] [INFO] [1737442049.326102585] [camera2]: Open profile: stream_type: Infra(1), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3] [INFO] [1737442049.326210937] [camera2]: Open profile: stream_type: Infra(2), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3]  21/01 15:47:29,327 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [INFO] [1737442049.329744182] [camera2]: RealSense Node Is Up!
[component_container_mt-3]  21/01 15:47:29,338 WARNING [281469456869600] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [WARN] [1737442049.524614409] [camera1]: re-enable the stream for the change to take effect.
[component_container_mt-3] [INFO] [1737442049.537477726] [camera1]: Stopping Sensor: Depth Module
[component_container_mt-3] [INFO] [1737442049.742094408] [camera1]: Starting Sensor: Depth Module
[component_container_mt-3] [INFO] [1737442049.834790710] [camera1]: Open profile: stream_type: Infra(1), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3] [INFO] [1737442049.834902198] [camera1]: Open profile: stream_type: Infra(2), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3]  21/01 15:47:29,836 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [INFO] [1737442049.837194324] [camera1]: RealSense Node Is Up!
[component_container_mt-3]  21/01 15:47:29,847 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [INFO] [1737442049.956494250] [visual_slam_node]: Initializing cuVSLAM.
[component_container_mt-3] [INFO] [1737442049.956749770] [visual_slam_node]: Use use_gpu: true
[component_container_mt-3] [INFO] [1737442049.956774250] [visual_slam_node]: Enable IMU Fusion: false
[component_container_mt-3] [INFO] [1737442049.979195702] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.022407
[component_container_mt-3] [INFO] [1737442049.979811125] [visual_slam_node]: cuVSLAM tracker was successfully initialized.
[component_container_mt-3] [WARN] [1737442050.288073932] [visual_slam_node]: Delta between current and previous frame [34.128662 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737442050.322470478] [visual_slam_node]: Delta between current and previous frame [34.153321 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737442050.357557232] [visual_slam_node]: Delta between current and previous frame [34.177978 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737442050.389068309] [visual_slam_node]: Delta between current and previous frame [34.051270 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737442050.421977656] [visual_slam_node]: Delta between current and previous frame [34.048584 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737442050.455221916] [visual_slam_node]: Delta between current and previous frame [34.046386 ms] is above threshold [34.000000 ms]
[component_container_mt-3]  21/01 15:47:30,879 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,890 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,900 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,911 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,922 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,933 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 15:47:30,944 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
2

To resolve the error you’re encountering with the Realsense D430i camera while using Visual SLAM on Jetson AGX Orin, there are a few steps and considerations that might help. The warning [component_container_mt-3] 21/01 15:47:30,944 WARNING [281469439961312] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 typically points to USB communication issues, often related to the camera interface being busy or incorrectly handled. One possible solution is to ensure the camera is connected to a high-speed USB port, preferably a USB 3.0 or 3.1 port, as the D430i requires significant bandwidth for data transmission. Additionally, you may want to check that no other processes are using the camera simultaneously. If the error persists, try rebooting the system or re-plugging the camera to reset the USB interface. Another recommendation is to try using the latest firmware for both the Realsense camera and the USB drivers, as these updates often fix bugs related to USB communication. Lastly, you could explore modifying the launch parameters or using a different launch file like isaac_ros_visual_slam_realsense.launch.py if it better suits your configuration. Regarding future support, official integration of the Realsense D430i into Isaac ROS may depend on updates from NVIDIA and Intel, so keeping an eye on release notes for both Isaac ROS and Realsense-ROS is important for tracking new compatibility features.

1 Like
3

Thank you for sharing such helpful information!

I tried the solutions you recommended, but unfortunately, they didn’t resolve the issue. The errors continue to appear intermittently. While the camera itself functions, the Visual SLAM does not always work as expected.

For example:

  • In some cases, the cuVSLAM initialization completes, but the following warning appears, and Visual SLAM does not proceed:
[component_container_mt-3]  21/01 17:52:20,586 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
  • At other times, the Visual SLAM fails to initialize entirely, even though the camera is recognized.

Would you happen to have any insights or solutions for these issues?

Below is the detailed log output:

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-21-17-51-53-001269-j-OMEN-by-HP-Gaming-Laptop-16-wf0xxx-75211
[INFO] [launch]: Default logging verbosity is set to INFO
camera_name:  camera1
camera_name:  camera2
[INFO] [foxglove_bridge-1]: process started with pid [75222]
[INFO] [robot_state_publisher-2]: process started with pid [75224]
[INFO] [component_container_mt-3]: process started with pid [75226]
[robot_state_publisher-2] [INFO] [1737449513.147407114] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1737449513.147505858] [robot_state_publisher]: got segment camera1_link
[robot_state_publisher-2] [INFO] [1737449513.147518070] [robot_state_publisher]: got segment camera2_link
[foxglove_bridge-1] [INFO] [1737449513.154100547] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
[foxglove_bridge-1] [INFO] [1737449513.159731172] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-1] [INFO] [1737449513.159747686] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-1] [INFO] [1737449513.161985666] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.2@) with WebSocket++/0.8.2
[foxglove_bridge-1] [INFO] [1737449513.162566250] [foxglove_bridge]: [WS] Server running without TLS
[foxglove_bridge-1] [INFO] [1737449513.162779055] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[foxglove_bridge-1] [INFO] [1737449513.162808117] [foxglove_bridge]: [WS] WebSocket server run loop started
[component_container_mt-3] [INFO] [1737449513.374171305] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-3] [INFO] [1737449513.410569007] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737449513.410625632] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737449513.418595275] [camera1]: RealSense ROS v4.55.1
[component_container_mt-3] [INFO] [1737449513.418619177] [camera1]: Built with LibRealSense v2.55.1
[component_container_mt-3] [INFO] [1737449513.418624842] [camera1]: Running with LibRealSense v2.55.1
[component_container_mt-3] [INFO] [1737449513.419152787] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera1' in container 'visual_slam_launch_container'
[component_container_mt-3] [INFO] [1737449513.467092861] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container_mt-3] [INFO] [1737449513.467146948] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container_mt-3] [INFO] [1737449513.472948306] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-3] [INFO] [1737449513.475680619] [camera1]: Device with serial number 238722071455 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737449513.475714239] [camera1]: Device with physical ID 2-2-46 was found.
[component_container_mt-3] [INFO] [1737449513.475719614] [camera1]: Device with name Intel RealSense D430I was found.
[component_container_mt-3] [INFO] [1737449513.475866857] [camera1]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737449513.476619118] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-3] [INFO] [1737449513.479519572] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-3] [INFO] [1737449513.482996940] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-3] 2025-01-21 17:51:53.492 WARN  external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-3] [INFO] [1737449513.492628103] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-3] [INFO] [1737449513.497269302] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737449513.498076033] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737449513.498840875] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737449513.499488641] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-3] [INFO] [1737449513.512814783] [visual_slam_node]: cuVSLAM version: 12.2
[component_container_mt-3] [INFO] [1737449513.596167378] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.083321
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container_mt-3] [INFO] [1737449513.600918870] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737449513.600969418] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-3] [INFO] [1737449513.605782818] [camera2]: RealSense ROS v4.55.1
[component_container_mt-3] [INFO] [1737449513.605809114] [camera2]: Built with LibRealSense v2.55.1
[component_container_mt-3] [INFO] [1737449513.605815542] [camera2]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera2' in container 'visual_slam_launch_container'
[component_container_mt-3] [INFO] [1737449513.677887501] [camera2]: Device with serial number 238722071455 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737449513.677990321] [camera2]: Device with physical ID 2-2-46 was found.
[component_container_mt-3] [INFO] [1737449513.678030865] [camera2]: Device with name Intel RealSense D430I was found.
[component_container_mt-3] [INFO] [1737449513.678282758] [camera2]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737449513.678302890] [camera2]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737449513.678314974] [camera2]: Resetting device...
[component_container_mt-3] [INFO] [1737449514.284979636] [camera1]: Device with serial number 238722072094 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737449514.285064976] [camera1]: Device with physical ID 4-2-54 was found.
[component_container_mt-3] [INFO] [1737449514.285082459] [camera1]: Device with name Intel RealSense D430I was found.
[component_container_mt-3] [INFO] [1737449514.285355811] [camera1]: Device with port number 4-2 was found.
[component_container_mt-3] [INFO] [1737449514.285386387] [camera1]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737449514.285401922] [camera1]: Resetting device...
[component_container_mt-3] [INFO] [1737449519.745167249] [camera2]: Device with serial number 238722071455 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737449519.745225386] [camera2]: Device with physical ID 2-2-47 was found.
[component_container_mt-3] [INFO] [1737449519.745231579] [camera2]: Device with name Intel RealSense D430I was found.
[component_container_mt-3] [INFO] [1737449519.745386447] [camera2]: Device with port number 2-2 was found.
[component_container_mt-3] [INFO] [1737449519.745393676] [camera2]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737449519.745446005] [camera2]: getParameters...
[component_container_mt-3] [INFO] [1737449519.746222854] [camera2]: JSON file is not provided
[component_container_mt-3] [INFO] [1737449519.746245998] [camera2]: Device Name: Intel RealSense D430I
[component_container_mt-3] [INFO] [1737449519.746252498] [camera2]: Device Serial No: 238722071455
[component_container_mt-3] [INFO] [1737449519.746257631] [camera2]: Device physical port: 2-2-47
[component_container_mt-3] [INFO] [1737449519.746264149] [camera2]: Device FW version: 5.13.0.50
[component_container_mt-3] [INFO] [1737449519.746270211] [camera2]: Device Product ID: 0x0B4B
[component_container_mt-3] [INFO] [1737449519.746276352] [camera2]: Sync Mode: On
[component_container_mt-3]  21/01 17:52:00,109 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 17:52:00,305 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3]  21/01 17:52:00,310 WARNING [129510687114816] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 17:52:00,320 WARNING [129510687114816] (handle-libusb.h:110) failed to claim usb interface, interface 0, is busy - retrying...
[component_container_mt-3]  21/01 17:52:00,330 ERROR [129510687114816] (handle-libusb.h:125) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
[component_container_mt-3]  21/01 17:52:00,331 ERROR [129511465158208] (uvc-sensor.cpp:412) acquire_power failed: failed to set power state
[component_container_mt-3]  21/01 17:52:00,331 ERROR [129511465158208] (rs.cpp:237) [rs2_create_device( info_list:0x75c9d404ac50, index:0 ) UNKNOWN] failed to set power state
[component_container_mt-3]  21/01 17:52:00,331 ERROR [129511465158208] (rs.cpp:237) [rs2_delete_device( device:nullptr ) UNKNOWN] null pointer passed for argument "device"
[component_container_mt-3]  21/01 17:52:00,331 WARNING [129511465158208] (rs.cpp:373) null pointer passed for argument "device"
[component_container_mt-3] [WARN] [1737449520.331374780] [camera1]: Device 1/2 failed with exception: failed to set power state
[component_container_mt-3]  21/01 17:52:00,357 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [INFO] [1737449520.385114952] [camera1]: Device with serial number 238722072094 was found.
[component_container_mt-3] 
[component_container_mt-3] [INFO] [1737449520.385160629] [camera1]: Device with physical ID 4-2-55 was found.
[component_container_mt-3] [INFO] [1737449520.385166306] [camera1]: Device with name Intel RealSense D430I was found.
[component_container_mt-3] [INFO] [1737449520.385328982] [camera1]: Device with port number 4-2 was found.
[component_container_mt-3] [INFO] [1737449520.385336400] [camera1]: Device USB type: 3.2
[component_container_mt-3] [INFO] [1737449520.385364019] [camera1]: getParameters...
[component_container_mt-3] [INFO] [1737449520.386544310] [camera1]: JSON file is not provided
[component_container_mt-3] [INFO] [1737449520.386585047] [camera1]: Device Name: Intel RealSense D430I
[component_container_mt-3] [INFO] [1737449520.386603218] [camera1]: Device Serial No: 238722072094
[component_container_mt-3] [INFO] [1737449520.386617969] [camera1]: Device physical port: 4-2-55
[component_container_mt-3] [INFO] [1737449520.386631781] [camera1]: Device FW version: 5.13.0.50
[component_container_mt-3] [INFO] [1737449520.386645742] [camera1]: Device Product ID: 0x0B4B
[component_container_mt-3] [INFO] [1737449520.386659067] [camera1]: Sync Mode: On
[component_container_mt-3]  21/01 17:52:00,394 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [WARN] [1737449520.434939929] [camera2]: re-enable the stream for the change to take effect.
[component_container_mt-3] [INFO] [1737449520.438732031] [camera2]: Stopping Sensor: Depth Module
[component_container_mt-3] [INFO] [1737449520.477704458] [camera2]: Starting Sensor: Depth Module
[component_container_mt-3] [INFO] [1737449520.484746504] [camera2]: Open profile: stream_type: Infra(1), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3] [INFO] [1737449520.484798306] [camera2]: Open profile: stream_type: Infra(2), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3]  21/01 17:52:00,484 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [INFO] [1737449520.485929211] [camera2]: RealSense Node Is Up!
[component_container_mt-3]  21/01 17:52:00,495 WARNING [129510085232192] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-3] [WARN] [1737449521.026248222] [camera1]: re-enable the stream for the change to take effect.
[component_container_mt-3] [INFO] [1737449521.036483101] [camera1]: Stopping Sensor: Depth Module
[component_container_mt-3] [INFO] [1737449521.067708786] [camera1]: Starting Sensor: Depth Module
[component_container_mt-3] [INFO] [1737449521.073672562] [camera1]: Open profile: stream_type: Infra(1), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3] [INFO] [1737449521.073751338] [camera1]: Open profile: stream_type: Infra(2), Format: Y8, Width: 424, Height: 240, FPS: 30
[component_container_mt-3]  21/01 17:52:01,073 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3] [INFO] [1737449521.075077268] [camera1]: RealSense Node Is Up!
[component_container_mt-3]  21/01 17:52:01,084 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3] [INFO] [1737449521.194048983] [visual_slam_node]: Initializing cuVSLAM.
[component_container_mt-3] [INFO] [1737449521.194200415] [visual_slam_node]: Use use_gpu: true
[component_container_mt-3] [INFO] [1737449521.194207862] [visual_slam_node]: Enable IMU Fusion: false
[component_container_mt-3] [INFO] [1737449521.394097022] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.199884
[component_container_mt-3] [INFO] [1737449521.394342868] [visual_slam_node]: cuVSLAM tracker was successfully initialized.
[component_container_mt-3] [WARN] [1737449521.671326971] [visual_slam_node]: Delta between current and previous frame [272.762207 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737449521.673965258] [visual_slam_node]: Delta between current and previous frame [34.156006 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737449521.675434756] [visual_slam_node]: Delta between current and previous frame [34.172119 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737449521.676705738] [visual_slam_node]: Delta between current and previous frame [34.074707 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737449521.679859264] [visual_slam_node]: Delta between current and previous frame [34.070801 ms] is above threshold [34.000000 ms]
[component_container_mt-3] [WARN] [1737449521.693228118] [visual_slam_node]: Delta between current and previous frame [34.066650 ms] is above threshold [34.000000 ms]
[component_container_mt-3]  21/01 17:52:20,522 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,533 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,544 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,554 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,565 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,576 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[component_container_mt-3]  21/01 17:52:20,586 WARNING [129510676629056] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
4

Hi @jmin2

The response from @sitecountryy closely resembles my suggestion. This issue is related to the sensors rather than Isaac ROS.

Best,
Raffaello

1 Like
5

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