nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c ‘. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch’
… logging to /root/.ros/log/4cfa2990-a95a-11ea-a0a4-48b02d0350f4/roslaunch-nvidia-desktop-54.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://nvidia-desktop:41187/
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: False
- /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: 30
- /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: 30
- /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:
- /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: 30
- /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: 30
- /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:
- /camera/realsense2_camera/usb_port_id:
- /rosdistro: melodic
- /rosversion: 1.14.5
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [64]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 4cfa2990-a95a-11ea-a0a4-48b02d0350f4
process[rosout-1]: started with pid [75]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [82]
[ INFO] [1591601594.250968059]: Initializing nodelet with 2 worker threads.
process[camera/realsense2_camera-3]: started with pid [83]
[ INFO] [1591601595.148787481]: RealSense ROS v2.2.13
[ INFO] [1591601595.148919226]: Running with LibRealSense v2.32.1
[ INFO] [1591601595.200532185]:
[ INFO] [1591601595.678417039]: Device with serial number 825312071783 was found.
[ INFO] [1591601595.678666705]: Device with physical ID 2-3.2-3 was found.
[ INFO] [1591601595.678816562]: Device with name Intel RealSense D435 was found.
[ INFO] [1591601595.681712039]: Device with port number 2-3.2 was found.
[ INFO] [1591601595.696257619]: getParameters…
[ INFO] [1591601595.837237192]: setupDevice…
[ INFO] [1591601595.839596249]: JSON file is not provided
[ INFO] [1591601595.841406855]: ROS Node Namespace: camera
[ INFO] [1591601595.843275669]: Device Name: Intel RealSense D435
[ INFO] [1591601595.844972865]: Device Serial No: 825312071783
[ INFO] [1591601595.846097162]: Device physical port: 2-3.2-3
[ INFO] [1591601595.847552788]: Device FW version: 05.12.05.00
[ INFO] [1591601595.848972959]: Device Product ID: 0x0B07
[ INFO] [1591601595.851522866]: Enable PointCloud: Off
[ INFO] [1591601595.852831580]: Align Depth: Off
[ INFO] [1591601595.854155141]: Sync Mode: Off
[ INFO] [1591601595.855578896]: Device Sensors:
[ INFO] [1591601595.857146844]: Stereo Module was found.
[ INFO] [1591601595.858564518]: RGB Camera was found.
[ INFO] [1591601595.860049265]: (Fisheye, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.861430139]: (Fisheye, 1) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.863235017]: (Fisheye, 2) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.864654867]: (Gyro, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.866020733]: (Accel, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.867431720]: (Pose, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.868868466]: num_filters: 0
[ INFO] [1591601595.870311741]: Setting Dynamic reconfig parameters.
[ INFO] [1591601601.918476182]: Done Setting Dynamic reconfig parameters.
[ INFO] [1591601601.981960461]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1591601601.982609874]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1591601601.983321367]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1591601602.075757700]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1591601602.075952901]: setupPublishers…
[ INFO] [1591601602.085389003]: Expected frequency for depth = 30.00000
[ INFO] [1591601602.186371704]: Expected frequency for infra1 = 30.00000
[ INFO] [1591601602.248021761]: Expected frequency for infra2 = 30.00000
[ INFO] [1591601602.309479272]: Expected frequency for color = 30.00000
[ INFO] [1591601602.424839167]: setupStreams…
[ INFO] [1591601602.553719738]: insert Depth to Stereo Module
[ INFO] [1591601602.556525359]: insert Color to RGB Camera
[ INFO] [1591601602.558680159]: insert Infrared to Stereo Module
[ INFO] [1591601602.560987440]: insert Infrared to Stereo Module
[ INFO] [1591601602.859537621]: SELECTED BASE:Depth, 0
[ INFO] [1591601602.923007659]: RealSense Node Is Up!
08/06 00:33:22,965 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:22,974 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:22,994 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,026 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,035 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:23,059 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,081 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,092 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,112 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,119 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:23,125 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,144 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,158 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera’
[sudo] password for nvidia:
[INFO] [RealSenseCameraNode]: RealSense ROS v2. 0.1
[INFO] [RealSenseCameraNode]: Running with LibRealSense v2.16.5
[INFO] [RealSenseCameraNode]: getParameters…
[INFO] [RealSenseCameraNode]: setupDevice…
[INFO] [RealSenseCameraNode]: Device Name: Intel RealSense D435
[INFO] [RealSenseCameraNode]: Device Serial No: 825312071783
[INFO] [RealSenseCameraNode]: Device FW version: 05.12.05.00
[INFO] [RealSenseCameraNode]: Device Product ID: 0B07
[INFO] [RealSenseCameraNode]: Sync Mode: On
[INFO] [RealSenseCameraNode]: Device Sensors:
[INFO] [RealSenseCameraNode]: Stereo Module was found.
[INFO] [RealSenseCameraNode]: RGB Camera was found.
[INFO] [RealSenseCameraNode]: Fisheye sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: Gyro sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: Accel sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: setupPublishers…
[INFO] [RealSenseCameraNode]: setupStreams…
[INFO] [RealSenseCameraNode]: depth stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: infra2 stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: color stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: RealSense Node Is Up!
08/06 00:38:32,775 ERROR [547109052192] (source.cpp:127) Exception was thrown during user callback!
^CInterrupt Signal is received! Terminate RealSense Node…
^Cnvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket -ap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera’
[INFO] [RealSenseCameraNode]: RealSense ROS v2. 0.1
[INFO] [RealSenseCameraNode]: Running with LibRealSense v2.16.5
[INFO] [RealSenseCameraNode]: getParameters…
[INFO] [RealSenseCameraNode]: setupDevice…
[ERROR] [RealSenseCameraNode]: No RealSense devices were found! Terminate RealSense Node…
/bin/bash: line 1: 1006 Segmentation fault (core dumped) realsense_ros2_camera