Realsense D435I

Hi, I am facing a problem with working Intel realsense D435 i camera on my nano board using ROS melodic , I installed ROS melodic following steps provided by ( https://www.jetsonhacks.com/2019/10/23/install-ros-on-jetson-nano/ ) , also I had done the same installing ( Librealsense) following this link
( https://www.jetsonhacks.com/2019/05/16/jetson-nano-realsense-depth-camera/ )

I asked Intel developers and modified some files in ros camera package based on this issue in github ( https://github.com/IntelRealSense/realsense-ros/pull/1088)
now after all of these I still can’t work the camera on ROS on the Nano board, so is there any solution ?

this is a copy of my terminal considering the error when launching the rs_camera launch file

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud unite_imu_method:=linear_interpolation align_depth:=true
… logging to /home/swarm/.ros/log/8ec3d74e-7cba-11ea-a4d6-00044be6a537/roslaunch-swarm-desktop-18985.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://192.168.1.2:44127/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti…
  • /camera/realsense2_camera/align_depth: True
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -2.0
  • /camera/realsense2_camera/color_fps: 15
  • /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: 640
  • /camera/realsense2_camera/depth_fps: 15
  • /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: 640
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: True
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: 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/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: 15
  • /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: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /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: 15
  • /camera/realsense2_camera/infra_height: 480
  • /camera/realsense2_camera/infra_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/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/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: odom_in
  • /camera/realsense2_camera/unite_imu_method: linear_interpolation
  • /camera/realsense2_camera/usb_port_id:
  • /rosdistro: melodic
  • /rosversion: 1.14.5

NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [19000]
process[camera/realsense2_camera-2]: started with pid [19001]
[ INFO] [1586695544.234080820]: Initializing nodelet with 4 worker threads.
[ INFO] [1586695544.668173810]: RealSense ROS v2.2.13
[ INFO] [1586695544.668282353]: Running with LibRealSense v2.32.1
[ INFO] [1586695544.761769709]:
12/04 14:45:45,310 WARNING [546961944960] (types.cpp:49) Accel Sensitivity:hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1586695545.363053047]: Device with serial number 943222073026 was found.

[ INFO] [1586695545.364129209]: Device with physical ID 2-1.3-3 was found.
[ INFO] [1586695545.364744114]: Device with name Intel RealSense D435I was found.
[ INFO] [1586695545.366602840]: Device with port number 2-1.3 was found.
[ INFO] [1586695545.371576926]: getParameters…
[ INFO] [1586695545.525959893]: setupDevice…
[ INFO] [1586695545.526058071]: JSON file is not provided
[ INFO] [1586695545.526114374]: ROS Node Namespace: camera
[ INFO] [1586695545.526168489]: Device Name: Intel RealSense D435I
[ INFO] [1586695545.526220834]: Device Serial No: 943222073026
[ INFO] [1586695545.526270835]: Device physical port: 2-1.3-3
[ INFO] [1586695545.526324169]: Device FW version: 05.12.02.100
[ INFO] [1586695545.526395680]: Device Product ID: 0x0B3A
[ INFO] [1586695545.526449952]: Enable PointCloud: On
[ INFO] [1586695545.526497505]: Align Depth: On
[ INFO] [1586695545.526545787]: Sync Mode: On
[ INFO] [1586695545.526785165]: Device Sensors:
[ INFO] [1586695545.526920480]: Stereo Module was found.
[ INFO] [1586695545.526990846]: RGB Camera was found.
[ INFO] [1586695545.527052201]: Motion Module was found.
[ INFO] [1586695545.527133817]: (Fisheye, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1586695545.527185432]: (Fisheye, 1) sensor isn’t supported by current device! – Skipping…
[ INFO] [1586695545.527236474]: (Fisheye, 2) sensor isn’t supported by current device! – Skipping…
[ INFO] [1586695545.527283298]: (Pose, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1586695545.527363924]: Add Filter: pointcloud
[ INFO] [1586695545.529134420]: num_filters: 1
[ INFO] [1586695545.529276870]: Setting Dynamic reconfig parameters.
[ INFO] [1586695551.163644583]: Done Setting Dynamic reconfig parameters.
[ INFO] [1586695551.205119795]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1586695551.205650740]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1586695551.206105747]: infra2 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1586695551.252659786]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1586695551.267765171]: setupPublishers…
[ INFO] [1586695551.276790777]: Expected frequency for depth = 15.00000
[ INFO] [1586695551.368180703]: Expected frequency for infra1 = 15.00000
[ INFO] [1586695551.428496513]: Expected frequency for aligned_depth_to_infra1 = 15.00000
[ INFO] [1586695551.486623696]: Expected frequency for infra2 = 15.00000
[ INFO] [1586695551.534821823]: Expected frequency for color = 15.00000
[ INFO] [1586695551.584175331]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1586695551.631019478]: Start publisher IMU
[ INFO] [1586695551.638524280]: setupStreams…
[ INFO] [1586695551.691953527]: insert Depth to Stereo Module
[ INFO] [1586695551.692140301]: insert Color to RGB Camera
[ INFO] [1586695551.692236031]: insert Infrared to Stereo Module
[ INFO] [1586695551.692331033]: insert Infrared to Stereo Module
[ INFO] [1586695551.692415096]: insert Gyro to Motion Module
[ INFO] [1586695551.692489473]: insert Accel to Motion Module
[ INFO] [1586695551.981750575]: SELECTED BASE:Depth, 0
12/04 14:45:51,994 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1586695552.091294371]: RealSense Node Is Up!
12/04 14:45:52,197 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,258 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,319 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,412 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,473 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,560 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,621 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ERROR] [1586695552.704371890]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
12/04 14:45:52,706 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,767 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:52,955 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:53,138 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:53,327 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:53,520 WARNING [546853343616] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
12/04 14:45:55,713 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:45:55,714 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:45:56,314 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:45:56,315 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:45:59,583 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:45:59,583 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:45:59,918 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:45:59,918 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:00,114 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:00,115 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:00,314 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:00,314 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:00,782 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:00,782 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:00,982 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:00,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:01,448 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:01,449 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:01,649 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:01,650 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:01,780 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:01,780 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:02,182 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:02,183 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:02,382 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:02,383 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:02,514 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:02,514 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:03,048 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:03,048 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:03,184 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:03,185 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:03,715 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:03,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:03,849 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:03,849 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:04,383 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:04,383 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:04,516 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:04,516 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:04,981 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:04,982 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:05,116 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:05,117 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:05,250 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:05,250 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:05,714 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:05,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:05,848 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:05,848 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:05,983 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:05,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:06,450 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:06,450 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:06,584 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:06,585 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:06,715 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:06,715 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:07,183 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:07,184 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:07,315 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:07,322 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:07,449 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:07,450 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:07,983 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:07,983 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
12/04 14:46:08,115 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:08,121 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
^C 12/04 14:46:08,648 WARNING [545720885632] (types.cpp:49) Out of frame resources!
12/04 14:46:08,649 ERROR [545720885632] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!

Did you check this camera can capture well by v4l2-ctl?

@ShaneCCC , sorry for the late reply , I used v4l2-ctl as you advised me , many thuings appeared but I can’t figure exactly what we are searching for , as the camera worked properly on my computer , I faced only this issue on the jetson nano

this is the command terminal when I used the command

swarm@swarm-desktop:~$ v4l2-ctl --all
Driver Info (not using libv4l2):
Driver name : uvcvideo
Card type : Intel® RealSense™ Depth Ca
Bus info : usb-70090000.xusb-1.4
Driver version: 4.9.140
Capabilities : 0x84200001
Video Capture
Streaming
Extended Pix Format
Device Capabilities
Device Caps : 0x04200001
Video Capture
Streaming
Extended Pix Format
Priority: 2
Video input : 0 (Camera 1: ok)
Format Video Capture:
Width/Height : 256/144
Pixel Format : 'Z16 ’
Field : None
Bytes per Line : 512
Size Image : 73728
Colorspace : Default
Transfer Function : Default (maps to Rec. 709)
YCbCr/HSV Encoding: Default (maps to ITU-R 601)
Quantization : Default (maps to Full Range)
Flags :
Crop Capability Video Capture:
Bounds : Left 0, Top 0, Width 256, Height 144
Default : Left 0, Top 0, Width 256, Height 144
Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 256, Height 144
Selection: crop_bounds, Left 0, Top 0, Width 256, Height 144
Streaming Parameters Video Capture:
Capabilities : timeperframe
Frames per second: 30.000 (30/1)
Read buffers : 0
gain 0x00980913 (int) : min=16 max=248 step=1 default=16 value=16

Can you try
v4l2-ctl --stream-mmap --stream-count=500

Hello, we are also facing the same problem, someones said that problem come from Kernel version of Ubuntu on Jetson nano, which has 4.9 version but this Camera only support for 4.8,10…etc. you can see here: https://github.com/IntelRealSense/realsense-ros/issues/1015
But now we are confusing about how to change kernel version follow that requirement. I think if we can change the Kernel version, our problem can be solved.

Hi @ahmedakka97 and @hieu.phamnt39,

We have tested ROS and the Intel RealSense D435 and D415 cameras on Jetson TX2 and Jetson Nano. We have worked successfully with kernel 4.9. You might give a try to the following guide:

https://developer.ridgerun.com/wiki/index.php?title=Robot_Operating_System_(ROS)on_Jetson(TX2,_Xavier,_Nano)

Regards,
Fabian
www.ridgerun.com

@ShaneCCC when I tried
( v4l2-ctl --stream-mmap --stream-count=500 )
without the camera it gave me that
swarm@swarm-desktop:~$ v4l2-ctl --stream-mmap --stream-count=500
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<

but when in another terminal i tried (roslaunch realsense2_camera rs_camera.launch filters:=pointcloud unite_imu_method:=linear_interpolation align_depth:=true
)
i looked on (v4l2-ctl --stream-mmap --stream-count=500 )
it gave me
swarm@swarm-desktop:~$ v4l2-ctl --stream-mmap --stream-count=500
Failed to open /dev/video0: No such file or directory

@fabian.solano , I opened the link and i discovered that I had already made most of steps but i do have a question
this command ( v4l2-ctl --device /dev/video3 --list-formats-ext) don’t work with me
this is copy of terminal
swarm@swarm-desktop:~$ v4l2-ctl --device /dev/video3 --list-formats-ext
Failed to open /dev/video3: No such file or directory

so i tried this
swarm@swarm-desktop:~$ v4l2-ctl --list-devices
Intel® RealSense™ Depth Ca (usb-70090000.xusb-1.2):
/dev/video0
/dev/video1
/dev/video2

now seeing the format on each of these give me a settings , for an example
swarm@swarm-desktop:~$ v4l2-ctl --device /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'Z16 ’
Name : 16-bit Depth
Size: Discrete 256x144
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 424x240
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 480x270
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x360
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 848x100
Interval: Discrete 0.010s (100.000 fps)
Size: Discrete 848x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 1280x720
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)

Index       : 1
Type        : Video Capture
Pixel Format: ''
Name        : 00000050-0000-0010-8000-00aa003
	Size: Discrete 256x144
		Interval: Discrete 0.011s (90.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 480x270
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 848x100
		Interval: Discrete 0.010s (100.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)

swarm@swarm-desktop:~$ v4l2-ctl --device /dev/video1 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: ‘’
Name : 00000032-0000-0010-8000-00aa003
Size: Discrete 256x144
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 424x240
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 480x270
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x360
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 848x100
Interval: Discrete 0.010s (100.000 fps)
Size: Discrete 848x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 1280x720
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)

Index       : 1
Type        : Video Capture
Pixel Format: 'UYVY'
Name        : UYVY 4:2:2
	Size: Discrete 256x144
		Interval: Discrete 0.011s (90.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 480x270
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 848x100
		Interval: Discrete 0.010s (100.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)

Index       : 2
Type        : Video Capture
Pixel Format: 'GREY'
Name        : 8-bit Greyscale
	Size: Discrete 256x144
		Interval: Discrete 0.011s (90.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 480x270
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 848x100
		Interval: Discrete 0.010s (100.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)

Index       : 3
Type        : Video Capture
Pixel Format: 'Y8I '
Name        : Interleaved 8-bit Greyscale
	Size: Discrete 256x144
		Interval: Discrete 0.011s (90.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 480x270
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 848x100
		Interval: Discrete 0.010s (100.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.011s (90.000 fps)
		Interval: Discrete 0.017s (60.000 fps)
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.167s (6.000 fps)
	Size: Discrete 1280x800
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.067s (15.000 fps)

Index       : 4
Type        : Video Capture
Pixel Format: 'Y12I'
Name        : Interleaved 12-bit Greyscale
	Size: Discrete 640x400
		Interval: Discrete 0.040s (25.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
	Size: Discrete 1280x800
		Interval: Discrete 0.040s (25.000 fps)
		Interval: Discrete 0.067s (15.000 fps)

swarm@swarm-desktop:~$ v4l2-ctl --device /dev/video2 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: ‘YUYV’
Name : YUYV 4:2:2
Size: Discrete 320x180
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 320x240
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 424x240
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x360
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 640x480
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 848x480
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 960x540
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 1280x720
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 1920x1080
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)

Index       : 1
Type        : Video Capture
Pixel Format: ''
Name        : 36315752-1a66-a242-9065-d01814a
	Size: Discrete 1920x1080
		Interval: Discrete 0.033s (30.000 fps)

I am now stuck with this step at the link you provided Apply correct settings to all available modes at:

sudo vim /opt/ros/melodic/share/realsense2_camera/launch/rs_camera.launch
For example for depth mode, introduce correct width and height and true to enable camera stream:




i don’t know what should I do ?
thanks for your help and time

Hi @ahmedakka97,

From the commands you provided you can get the correct settings that should be applied to the rs_camera.launch.

For example:

swarm@swarm-desktop:~$ v4l2-ctl --device /dev/video2 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: ‘YUYV’
Name : YUYV 4:2:2
Size: Discrete 320x180
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.167s (6.000 fps)

With that information you can run the command:

sudo vim /opt/ros/melodic/share/realsense2_camera/launch/rs_camera.launch

Then you should select correct width and height for each camera mode:

  <arg name="depth_width"         default="320"/>
  <arg name="depth_height"        default="180"/>
  <arg name="enable_depth"        default="true"/>

In that file you should also look for the framerate settings for each mode (depth, RGB, infrared), and apply the correct settings, which in this example the framerate could be 60,30 or 6.

Regards,
Fabian
www.ridgerun.com

Hello Fabian,
Can you explain why we must choose these parameters for the camera?
(depth_width = 320, depth_height = 180)
I want to know about the way these parameters can affect to the camera output?

Many thanks.

Hi @hieu.phamnt39,

Those parameters were just an example of the resolutions supported by your camera. You can change them according to your needs as long as they are supported (List of supported resolutions is available with the previous command: v4l2-ctl --device /dev/video2 --list-formats-ext)

These settings will change the output size of the image for each buffer the camera gets.

Regards,
Fabian
www.ridgerun.com

Thank you for the explanation, Fabian.
Can I know what happened if I using the resolution which is not supported? My Intel Realsense D435 can not get the point cloud when running on Jetson Nano. Is it has the relative with the resolution?

If you set a resolution that is not supported by your camera, then ROS might not configure the camera node so it won’t show pointcloud, rgb image, depth image or any other due configuration mismatch.

Regards,
Fabian
www.ridgerun.com

1 Like

@fabian.solano, First of all I want to thank you for your time and help ,
I modified the width and height as you said, but I also modified the FPS , and when I tried to launch the camera, I discovered that not all topics all published for an example ( /camera/aligned_depth_to_color/image_raw) isn’t published and I don’t know why
this is my terminal
swarm@swarm-desktop:~/catkin_ws$ rostopic hz /camera/aligned_depth_to_color/image_raw
subscribed to [/camera/aligned_depth_to_color/image_raw]
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
^Cno new messages
swarm@swarm-desktop:~/catkin_ws$ rostopic hz /camera/color/image_raw
subscribed to [/camera/color/image_raw]
average rate: 14.965
min: 0.065s max: 0.069s std dev: 0.00090s window: 14
average rate: 14.949
min: 0.065s max: 0.069s std dev: 0.00063s window: 29
average rate: 14.943
min: 0.065s max: 0.069s std dev: 0.00054s window: 44
^Caverage rate: 14.941
min: 0.065s max: 0.069s std dev: 0.00053s window: 49
swarm@swarm-desktop:~/catkin_ws$ rostopic hz /camera/color/camera_info
subscribed to [/camera/color/camera_info]
average rate: 14.927
min: 0.066s max: 0.068s std dev: 0.00047s window: 14
average rate: 14.927
min: 0.066s max: 0.068s std dev: 0.00042s window: 29
^Caverage rate: 14.932
min: 0.065s max: 0.069s std dev: 0.00056s window: 41
swarm@swarm-desktop:~/catkin_ws$

I have seen that not all resolutions support exporting all topics. But not sure which ones work for this specific camera.

Regards,
Fabian
www.ridgerun.com

@fabian.solano so is there a way to know what resolutions support what topics ? or what criteria to follow so to choose the correct resolution ?

I do not have an answer for that, because I am not sure whether it is an error from ROS or from the camera. In the past I had to do several tests to get to a combination that fit the project I was working on.

Regards,
Fabian
www.ridgerun.com