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 ( Install ROS on Jetson Nano - JetsonHacks ) , also I had done the same installing ( Librealsense) following this link
( Jetson Nano - RealSense Depth Camera - JetsonHacks )
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!