TX2 board is not detecting ZR300 camera

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX2
1

Hello,

I need help for ZR300 driver support at Jetson TX2 development board.

I am trying to install Intel ZR300 camera from below link

I followed all the steps mentioned here but after installation, when I try to run the sample program given with Real Sense lib, I am getting the error “No camera detected”.

I am using:
Linux Ubuntu 6.04
ZR300 connected via USB 3.0 hub.

In the dmesg logs, I am to see that ZR300 camera is detected. below is the snapshot of dmesg log:

[ 292.772660] usb 2-1.4.2: new SuperSpeed USB device number 7 using xhci-tegra
[ 292.793475] usb 2-1.4.2: New USB device found, idVendor=0451, idProduct=8025
[ 292.800635] usb 2-1.4.2: New USB device strings: Mfr=0, Product=0, SerialNumber=0
[ 292.820964] hub 2-1.4.2:1.0: USB hub found
[ 292.825176] hub 2-1.4.2:1.0: 2 ports detected
[ 293.768861] usb 2-1.4.2.1: new SuperSpeed USB device number 8 using xhci-tegra
[ 293.796839] usb 2-1.4.2.1: New USB device found, idVendor=8086, idProduct=0acb
[ 293.804292] usb 2-1.4.2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 293.812192] usb 2-1.4.2.1: Product: Intel RealSense 3D Camera ZR300
[ 293.818778] usb 2-1.4.2.1: Manufacturer: Intel Corp
[ 293.824114] usb 2-1.4.2.1: SerialNumber: SN_4071801144
[ 293.831666] xhci-tegra 3530000.xhci: tegra_xhci_mbox_work mailbox command 6
[ 293.842386] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera ZR300 (8086:0acb)
[ 293.858050] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera ZR300 (8086:0acb)
[ 293.872638] uvcvideo: Unable to create debugfs 2-8 directory.
[ 293.880037] uvcvideo: Unknown video format 36315752-0000-0010-8000-00aa00389b71
[ 293.887532] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera ZR300 (8086:0acb)
[ 293.902539] uvcvideo: Unable to create debugfs 2-8 directory.
[ 293.909150] input: Intel RealSense 3D Camera ZR300 as /devices/3530000.xhci/usb2/2-1/2-1.4/2-1.4.2/2-1.4.2.1/2-1.4.2.1:1.4/input/input8
[ 294.120867] usb 2-1.4.2.2: new SuperSpeed USB device number 9 using xhci-tegra
[ 294.145464] usb 2-1.4.2.2: LPM exit latency is zeroed, disabling LPM.
[ 294.153565] usb 2-1.4.2.2: New USB device found, idVendor=8086, idProduct=0ad0
[ 294.161137] usb 2-1.4.2.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 294.168957] usb 2-1.4.2.2: Product: CX3-UVC
[ 294.173405] usb 2-1.4.2.2: Manufacturer: Cypress
[ 294.182549] uvcvideo: Unknown video format 38574152-1a66-a242-9065-d01814a8ef8a

[ 294.190530] uvcvideo: Found UVC 1.10 device CX3-UVC (8086:0ad0)
[ 294.388103] usb 1-2.4.2: new high-speed USB device number 7 using xhci-tegra
[ 294.497746] usb 1-2.4.2: New USB device found, idVendor=0451, idProduct=8027
[ 294.505032] usb 1-2.4.2: New USB device strings: Mfr=0, Product=0, SerialNumber=1
[ 294.512887] usb 1-2.4.2: SerialNumber: 720E005160B7
[ 294.520979] hub 1-2.4.2:1.0: USB hub found
[ 294.525286] hub 1-2.4.2:1.0: 2 ports detected
[ 298.472880] xhci-tegra 3530000.xhci: tegra_xhci_mbox_work mailbox command 5
[ 298.480036] xhci-tegra 3530000.xhci: tegra_xhci_mbox_work ignore firmware MBOX_CMD_DEC_SSPI_CLOCK request
nvidia@tegra-ubuntu:~$ sudo dmesg | tail -n 50

In the dmesg logs, there is log like “Unknown video format 36315752-0000-0010-8000-00aa00389b71” and “Unable to create debugfs 2-8 directory.” Are these messages linked with ZR300 camera detection.

2

What version of L4T are you using?

3

L4T3.1 latest one installed from Jetson.
Issue is observed with ROS Kinetic version and ROS RealSenseLibrary. Whenever ROS ZR300 default node is started, it never detects the camera -ZR300.

4

As noted in the article that you referenced, there is an updated article about installing on L4T 28.1:

However, note that the ZR300 is not tested.

Also note that the version of librealsense that is created will not match the expected librealsense version of ros-kinetic-librealsense in the ROS repositories, effectively causing ROS not to be able to see the driver.

Please build librealsense and check to see if it works with the supplied examples before using it with ROS to help narrow down the issue that you are experiencing.

5

Thanks for the reply.

I have followed the step that is mentioned at above link. Before installing the ROS, ZR300 works fine But after ROS and ROS Real Sense Lib., TX2 Stops detecting the camera even though dmesg logs shown that camera in plugged in.

Error is observed with NVidia TX2 but with Intel i5 and i7 ZR300 camera works fine.

Pls help to resolve it.

6

Hi
Please find the error logs below… (including the command used to start Ros camera node)
nvidia@tegra-ubuntu:~/catkin_ws/src$ roslaunch realsense_camera zr300_nodelet_rgbd.launch
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

SUMMARY

PARAMETERS

  • /camera/camera_nodelet_manager/num_worker_threads: 4
  • /camera/depth_rectify_depth/interpolation: 0
  • /camera/disparity_depth/max_range: 4.0
  • /camera/disparity_depth/min_range: 0.5
  • /camera/disparity_registered_sw/max_range: 4.0
  • /camera/disparity_registered_sw/min_range: 0.5
  • /camera/driver/base_frame_id: camera_link
  • /camera/driver/camera_type: ZR300
  • /camera/driver/color_fps: 30
  • /camera/driver/color_frame_id: camera_rgb_frame
  • /camera/driver/color_height: 480
  • /camera/driver/color_optical_frame_id: camera_rgb_optica…
  • /camera/driver/color_width: 640
  • /camera/driver/depth_fps: 30
  • /camera/driver/depth_frame_id: camera_depth_frame
  • /camera/driver/depth_height: 360
  • /camera/driver/depth_optical_frame_id: camera_depth_opti…
  • /camera/driver/depth_width: 480
  • /camera/driver/enable_color: True
  • /camera/driver/enable_depth: True
  • /camera/driver/enable_fisheye: True
  • /camera/driver/enable_imu: True
  • /camera/driver/enable_ir2: True
  • /camera/driver/enable_ir: True
  • /camera/driver/enable_pointcloud: False
  • /camera/driver/enable_tf: True
  • /camera/driver/ir2_frame_id: camera_ir2_frame
  • /camera/driver/ir_frame_id: camera_ir_frame
  • /camera/driver/mode: manual
  • /camera/driver/serial_no:
  • /camera/driver/usb_port_id:
  • /camera/points_xyzrgb_sw_registered/queue_size: 100
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [16642]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 889730c2-92fd-11e7-8348-00044b8ca4d9
process[rosout-1]: started with pid [16655]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [16673]
process[camera/driver-3]: started with pid [16674]
process[camera/rgb_debayer-4]: started with pid [16677]
process[camera/rgb_rectify_mono-5]: started with pid [16690]
process[camera/rgb_rectify_color-6]: started with pid [16700]
process[camera/ir_rectify_ir-7]: started with pid [16708]
[ INFO] [1504700328.558099680]: Initializing nodelet with 4 worker threads.
process[camera/depth_rectify_depth-8]: started with pid [16721]
process[camera/depth_metric_rect-9]: started with pid [16727]
process[camera/depth_metric-10]: started with pid [16749]
process[camera/depth_points-11]: started with pid [16757]
process[camera/register_depth_rgb-12]: started with pid [16763]
process[camera/points_xyzrgb_sw_registered-13]: started with pid [16783]
process[camera/depth_registered_sw_metric_rect-14]: started with pid [16793]
process[camera/disparity_depth-15]: started with pid [16799]
process[camera/disparity_registered_sw-16]: started with pid [16808]
[ERROR] [1504700328.957537359]: /camera/driver - No cameras detected!
[ INFO] [1504700328.957979096]: /camera/driver - Sleeping 5 seconds then retrying to connect
[ERROR] [1504700334.004569597]: /camera/driver - No cameras detected!
[ERROR] [1504700334.004808401]: /camera/driver - Error calling rs_create_context ( api_version:11201 ):
libusb_open(…) returned LIBUSB_ERROR_ACCESS

[FATAL] [1504700334.149766897]: Failed to load nodelet ‘/camera/rgb_rectify_colorof typeimage_proc/rectifyto managercamera_nodelet_manager’
[FATAL] [1504700334.149766897]: Failed to load nodelet ‘/camera/driverof typerealsense_camera/ZR300Nodeletto managercamera_nodelet_manager’
[FATAL] [1504700334.150121566]: Failed to load nodelet ‘/camera/rgb_rectify_monoof typeimage_proc/rectifyto managercamera_nodelet_manager’
[FATAL] [1504700334.150121566]: Failed to load nodelet ‘/camera/depth_rectify_depthof typeimage_proc/rectifyto managercamera_nodelet_manager’
[FATAL] [1504700334.150423183]: Failed to load nodelet ‘/camera/rgb_debayerof typeimage_proc/debayerto managercamera_nodelet_manager’
[FATAL] [1504700334.150603974]: Failed to load nodelet ‘/camera/depth_metricof typedepth_image_proc/convert_metricto managercamera_nodelet_manager’
[FATAL] [1504700334.150915989]: Failed to load nodelet ‘/camera/register_depth_rgbof typedepth_image_proc/registerto managercamera_nodelet_manager’
[FATAL] [1504700334.151125419]: Failed to load nodelet ‘/camera/points_xyzrgb_sw_registeredof typedepth_image_proc/point_cloud_xyzrgbto managercamera_nodelet_manager’
[FATAL] [1504700334.151535989]: Failed to load nodelet ‘/camera/depth_registered_sw_metric_rectof typedepth_image_proc/convert_metricto managercamera_nodelet_manager’
[FATAL] [1504700334.151683022]: Failed to load nodelet ‘/camera/disparity_registered_swof typedepth_image_proc/disparityto managercamera_nodelet_manager’
[FATAL] [1504700334.152070682]: Failed to load nodelet ‘/camera/ir_rectify_irof typeimage_proc/rectifyto managercamera_nodelet_manager’
[FATAL] [1504700334.152091545]: Failed to load nodelet ‘/camera/depth_metric_rectof typedepth_image_proc/convert_metricto managercamera_nodelet_manager’
[FATAL] [1504700334.152488612]: Failed to load nodelet ‘/camera/depth_pointsof typedepth_image_proc/point_cloud_xyzto managercamera_nodelet_manager’
[FATAL] [1504700334.153307994]: Failed to load nodelet ‘/camera/disparity_depthof typedepth_image_proc/disparityto managercamera_nodelet_manager’
[camera/register_depth_rgb-12] process has died [pid 16763, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-register_depth_rgb-12.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-register_depth_rgb-12*.log
[camera/driver-3] process has died [pid 16674, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/ZR300Nodelet camera_nodelet_manager depth:=depth color:=rgb ir:=ir ir2:=ir2 __name:=driver __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-driver-3.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-driver-3*.log
[camera/rgb_debayer-4] process has died [pid 16677, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/debayer camera_nodelet_manager --no-bond image_raw:=rgb/image_raw image_mono:=rgb/image_mono image_color:=rgb/image_color __name:=rgb_debayer __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_debayer-4.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_debayer-4*.log
[camera/rgb_rectify_mono-5] process has died [pid 16690, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_mono image_rect:=rgb/image_rect_mono __name:=rgb_rectify_mono __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_rectify_mono-5.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_rectify_mono-5*.log
[camera/rgb_rectify_color-6] process has died [pid 16700, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_rectify_color-6.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-rgb_rectify_color-6*.log
[camera/ir_rectify_ir-7] process has died [pid 16708, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=ir_rectify_ir __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-ir_rectify_ir-7.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-ir_rectify_ir-7*.log
[camera/depth_rectify_depth-8] process has died [pid 16721, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_rectify_depth-8.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_rectify_depth-8*.log
[camera/depth_metric_rect-9] process has died [pid 16727, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_metric_rect-9.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_metric_rect-9*.log
[camera/depth_metric-10] process has died [pid 16749, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_metric-10.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_metric-10*.log
[camera/depth_points-11] process has died [pid 16757, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_points-11.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_points-11*.log
[camera/points_xyzrgb_sw_registered-13] process has died [pid 16783, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-points_xyzrgb_sw_registered-13.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-points_xyzrgb_sw_registered-13*.log
[camera/depth_registered_sw_metric_rect-14] process has died [pid 16793, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_registered_sw_metric_rect-14.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-depth_registered_sw_metric_rect-14*.log
[camera/disparity_depth-15] process has died [pid 16799, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-disparity_depth-15.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-disparity_depth-15*.log
[camera/disparity_registered_sw-16] process has died [pid 16808, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-disparity_registered_sw-16.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-disparity_registered_sw-16*.log
[camera/camera_nodelet_manager-2] process has died [pid 16673, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-camera_nodelet_manager-2.log].
log file: /home/nvidia/.ros/log/889730c2-92fd-11e7-8348-00044b8ca4d9/camera-camera_nodelet_manager-2*.log