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Even after enabling gyro, accel values along with unite_imu argument neither is any data published in gyro or accel topics nor are the accel and gyro values are united as a single topic called IMU. about realsense-ros HOT 11 CLOSED

AjayAdit avatar AjayAdit commented on August 22, 2024
Even after enabling gyro, accel values along with unite_imu argument neither is any data published in gyro or accel topics nor are the accel and gyro values are united as a single topic called IMU.

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Comments (11)

MartyG-RealSense avatar MartyG-RealSense commented on August 22, 2024

Hi @AjayAdit On ROS1 the unite_imu_method parameter uses 'linear_interpolation' instead of '2'.

unite_imu_method:=linear_interpolation

The warning control_transfer returned indicates that there is a communication problem between the camera and the computer, likely in the USB system (the USB port or the cable). Sometimes though the streams will be displayed correctly in RViz even if the control_transfer returned warning is generating continuously in the log.

Does it make a difference if you reset the camera at launch by adding to the roslaunch instruction initial_reset:=true

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AjayAdit avatar AjayAdit commented on August 22, 2024

Hi @MartyG-RealSense, Thanks for the heads up adding linear_interpolation merged gyro and accel into IMU as a single topic but it still does not publish imu data.

Additionally I did try to out the reset command but the same error of control_transfer returned error appears.

New command I gave is:
roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation initial_reset:=true

launch file logs:


roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation initial_reset:=true
... logging to /home/ml/.ros/log/fbd63b56-129d-11ef-a689-9176d4dd17dd/roslaunch-ml-20-4517.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://ml-20:35855/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /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: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: 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: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /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_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: True
 * /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/ordered_pc: False
 * /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/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /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: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

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

auto-starting new master
process[master]: started with pid [4525]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fbd63b56-129d-11ef-a689-9176d4dd17dd
process[rosout-1]: started with pid [4535]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [4542]
process[camera/realsense2_camera-3]: started with pid [4543]
[ INFO] [1715765522.049546312]: Initializing nodelet with 20 worker threads.
[ INFO] [1715765522.117939834]: RealSense ROS v2.3.2
[ INFO] [1715765522.117958861]: Built with LibRealSense v2.50.0
[ INFO] [1715765522.117966135]: Running with LibRealSense v2.50.0
[ INFO] [1715765522.135931251]:  
[ INFO] [1715765522.166132776]: Device with serial number 943222071082 was found.

[ INFO] [1715765522.166161965]: Device with physical ID 2-2-4 was found.
[ INFO] [1715765522.166173404]: Device with name Intel RealSense D435I was found.
[ INFO] [1715765522.166543009]: Device with port number 2-2 was found.
[ INFO] [1715765522.166560202]: Device USB type: 3.2
[ INFO] [1715765522.166576900]: Resetting device...
[ INFO] [1715765528.193095345]:  
[ INFO] [1715765528.231873769]: Device with serial number 943222071082 was found.

[ INFO] [1715765528.231944586]: Device with physical ID 2-2-5 was found.
[ INFO] [1715765528.231966956]: Device with name Intel RealSense D435I was found.
[ INFO] [1715765528.232575226]: Device with port number 2-2 was found.
[ INFO] [1715765528.232606418]: Device USB type: 3.2
[ INFO] [1715765528.236134522]: getParameters...
[ INFO] [1715765528.276618347]: setupDevice...
[ INFO] [1715765528.276629471]: JSON file is not provided
[ INFO] [1715765528.276634824]: ROS Node Namespace: camera
[ INFO] [1715765528.276641755]: Device Name: Intel RealSense D435I
[ INFO] [1715765528.276647441]: Device Serial No: 943222071082
[ INFO] [1715765528.276652893]: Device physical port: 2-2-5
[ INFO] [1715765528.276658078]: Device FW version: 05.16.00.01
[ INFO] [1715765528.276663255]: Device Product ID: 0x0B3A
[ INFO] [1715765528.276668494]: Enable PointCloud: Off
[ INFO] [1715765528.276673592]: Align Depth: Off
[ INFO] [1715765528.276679505]: Sync Mode: Off
[ INFO] [1715765528.276695463]: Device Sensors: 
[ INFO] [1715765528.291259890]: Stereo Module was found.
[ INFO] [1715765528.303085124]: RGB Camera was found.
[ INFO] [1715765528.303239170]: Motion Module was found.
[ INFO] [1715765528.303263100]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1715765528.303281980]: num_filters: 0
[ INFO] [1715765528.303293335]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1715765528.776190010]: Done Setting Dynamic reconfig parameters.
[ INFO] [1715765528.777055676]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1715765528.779149906]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1715765528.779214472]: gyro stream is enabled - fps: 200
[ INFO] [1715765528.779240429]: accel stream is enabled - fps: 63
[ INFO] [1715765528.779266023]: setupPublishers...
[ INFO] [1715765528.781865642]: Expected frequency for depth = 30.00000
[ INFO] [1715765528.809520867]: Expected frequency for color = 30.00000
[ INFO] [1715765528.817838921]: Start publisher IMU
[ INFO] [1715765528.818394054]: setupStreams...
 15/05 15:02:08,867 WARNING [139849252181760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1715765528.918994798]: SELECTED BASE:Depth, 0
[ INFO] [1715765528.936981600]: RealSense Node Is Up!
 15/05 15:02:09,170 WARNING [139849252181760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
 15/05 15:02:09,425 WARNING [139849252181760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
 15/05 15:02:55,587 WARNING [139849252181760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b

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MartyG-RealSense avatar MartyG-RealSense commented on August 22, 2024

If librealsense SDK 2.50.0 is being used then the camera firmware version should be 5.13.0.50 instead of 5.16.0.1. Using newer firmwares with old SDK versions can result in errors.

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AjayAdit avatar AjayAdit commented on August 22, 2024

Hi, actually was trying to implement the above suggestion for sometime now but faced the following issues. In order to ensure the compatibility of firmware and SKD in my case either the camera firmware should be downgraded or the SDK's should be updated.

As realsense viewer only has an option for camera firmware upgrade not downgrade so explored the other possibility of upgrading the SKD to latest release. Then I found out that the binary installation is always little behind the latest SDK release so I tried mannual installation and build by following this documentation.

The last instruction in the above documentation is to build the librealsense using cmake ../ but I am face the following error.

The terminal log of trying to build librealsense is:


ml@ml-20:~/Downloads/librealsense-2.55.1/build$ cmake ../
-- Checking internet connection...
-- Internet connection identified
-- Info: REALSENSE_VERSION_STRING=2.55.1
-- Setting Unix configurations
-- No output directory set; using /home/ml/Downloads/librealsense-2.55.1/build/Release/
-- CHECK_FOR_UPDATES depends on BUILD_GRAPHICAL_EXAMPLES flag, turning it off..
-- using RS2_USE_V4L2_BACKEND
-- Fetching nlohmann/json...
Cloning into 'json'...

Ps: I am trying to build the librealsense-2.55.1 version which is in my download folder.
Screenshot from 2024-05-17 12-02-16

I have tried to double check all the process I have done all seems to be in order not sure what went wrong please suggest if other methods.

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MartyG-RealSense avatar MartyG-RealSense commented on August 22, 2024

The firmware version can be downgraded in the Viewer by first downloading a firmware .bin file from the link below and then going to the 'More' option near the top of the Viewer's options side-panel and selecting Upgrade Firmware from its drop-down menu to bring up a file selector that you can use to select the downloaded .bin and initiate the downgrade.

https://dev.intelrealsense.com/docs/firmware-releases-d400

However, RealSense cameras have a limit of 20 downgrades before downgrade becomes permanently locked and then you can only upgrade to a newer firmware than the currently installed one.

I cannot see anything wrong in your build procedure. As 2.55.1 is not a suitable librealsense version to use with the 2.3.2 ROS1 wrapper though, it may be better to download the firmware bin file for 5.13.0.50 and then install it in your camera with the Viewer's 'Update Firmware' option.

image

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Yrazu avatar Yrazu commented on August 22, 2024

Hi @MartyG-RealSense and @AjayAdit,

My issue was almost exactly the same as @AjayAdit.

My current Ubuntu version is 18.04, ROS is Melodic.
Camera : D435i

@MartyG-RealSense, I fixed my issue with your previous comment on pushing the Hardware Firmware back to 5.12.0.50 for librealsense v2.50.0 and Realsense ROS Wrapper 2.3.2.

I am now seeing data being published on /camera/gyro/sample and /camera/accel/sample and when I use

roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation

I see data on /camera/imu data stream.

@AjayAdit I recommend what @MartyG-RealSense said with making sure you librealsense and ROS wrapper are correct version. (I did a clean install to make sure nothing conflicted) and then push your hardware firmware back to what he suggested.

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MartyG-RealSense avatar MartyG-RealSense commented on August 22, 2024

Hi @Yrazu Thanks so much for sharing with @AjayAdit what worked for you!

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AjayAdit avatar AjayAdit commented on August 22, 2024

Hi Marty,
Downgrading the camera hardware solved the issues, thanks for the support. I really appreciate @Yrazu for the reassurance.

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AjayAdit avatar AjayAdit commented on August 22, 2024

I had actually run the below command and got the following response:

roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation initial_reset:=true

The launch log is:

roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation initial_reset:=true
... logging to /home/ml/.ros/log/f3546eee-1667-11ef-b3fc-17c9df78b9a1/roslaunch-ml-20-59146.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://ml-20:46465/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /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: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: 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: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /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_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: True
 * /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/ordered_pc: False
 * /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/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /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: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

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

auto-starting new master
process[master]: started with pid [59154]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f3546eee-1667-11ef-b3fc-17c9df78b9a1
process[rosout-1]: started with pid [59164]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [59171]
process[camera/realsense2_camera-3]: started with pid [59172]
[ INFO] [1716182119.615273028]: Initializing nodelet with 20 worker threads.
[ INFO] [1716182119.687078317]: RealSense ROS v2.3.2
[ INFO] [1716182119.687097806]: Built with LibRealSense v2.50.0
[ INFO] [1716182119.687105248]: Running with LibRealSense v2.50.0
[ INFO] [1716182119.705390847]:  
[ INFO] [1716182119.901399169]: Device with serial number 943222071082 was found.

[ INFO] [1716182119.901461667]: Device with physical ID 2-2-14 was found.
[ INFO] [1716182119.901639936]: Device with name Intel RealSense D435I was found.
[ INFO] [1716182119.902556389]: Device with port number 2-2 was found.
[ INFO] [1716182119.902627970]: Device USB type: 3.2
[ INFO] [1716182119.902684032]: Resetting device...
[ INFO] [1716182125.995722607]:  
[ INFO] [1716182126.177940546]: Device with serial number 943222071082 was found.

[ INFO] [1716182126.178016300]: Device with physical ID 2-2-15 was found.
[ INFO] [1716182126.178058038]: Device with name Intel RealSense D435I was found.
[ INFO] [1716182126.178703802]: Device with port number 2-2 was found.
[ INFO] [1716182126.178760321]: Device USB type: 3.2
[ INFO] [1716182126.181782529]: getParameters...
[ INFO] [1716182126.208248357]: setupDevice...
[ INFO] [1716182126.208261429]: JSON file is not provided
[ INFO] [1716182126.208270036]: ROS Node Namespace: camera
[ INFO] [1716182126.208277104]: Device Name: Intel RealSense D435I
[ INFO] [1716182126.208283264]: Device Serial No: 943222071082
[ INFO] [1716182126.208289235]: Device physical port: 2-2-15
[ INFO] [1716182126.208295260]: Device FW version: 05.13.00.50
[ INFO] [1716182126.208304614]: Device Product ID: 0x0B3A
[ INFO] [1716182126.208309921]: Enable PointCloud: Off
[ INFO] [1716182126.208318716]: Align Depth: Off
[ INFO] [1716182126.208325110]: Sync Mode: Off
[ INFO] [1716182126.208342007]: Device Sensors: 
[ INFO] [1716182126.281351575]: Stereo Module was found.
[ INFO] [1716182126.295570152]: RGB Camera was found.
[ INFO] [1716182126.295697776]: Motion Module was found.
[ INFO] [1716182126.295719665]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1716182126.295738017]: num_filters: 0
[ INFO] [1716182126.295746901]: Setting Dynamic reconfig parameters.
[ INFO] [1716182129.184850889]: Done Setting Dynamic reconfig parameters.
[ INFO] [1716182129.185257390]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1716182129.186092908]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1716182129.186110316]: gyro stream is enabled - fps: 200
[ INFO] [1716182129.186118396]: accel stream is enabled - fps: 63
[ INFO] [1716182129.186128447]: setupPublishers...
[ INFO] [1716182129.187332913]: Expected frequency for depth = 30.00000
[ INFO] [1716182129.207829833]: Expected frequency for color = 30.00000
[ INFO] [1716182129.222317804]: Start publisher IMU
[ INFO] [1716182129.222823044]: setupStreams...
[ WARN] [1716182129.679764771]: 
[ WARN] [1716182129.679851435]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
 20/05 10:45:29,785 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1716182129.836160532]: SELECTED BASE:Depth, 0
[ INFO] [1716182129.840423305]: RealSense Node Is Up!
 20/05 10:45:29,907 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:29,957 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,009 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,158 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,209 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,362 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,413 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,565 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,616 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,768 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,819 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:30,972 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:45:31,023 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:46:56,874 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:47:02,930 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 20/05 10:51:11,217 WARNING [140597717341952] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

In this I am little sceptical of the control_transfer returned error in the end please suggest any resolve for that.

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MartyG-RealSense avatar MartyG-RealSense commented on August 22, 2024

Sometimes the topics will publish normally and be displayed correctly in RViz even if the control_transfer returned warning is generating continuously in the log. If the streams are behaving normally then the warning (which indicates a possible commnication issue between camera and computer) can be safely ignored.

There is not a solution for removing the warnings. At best, you can reduce the number of them.

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AjayAdit avatar AjayAdit commented on August 22, 2024

Got it thank you for the support.

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