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I can't get /camera/aligned_depth_to_color/image_raw topic #3277

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CYJ00 opened this issue Dec 13, 2024 · 1 comment
Open

I can't get /camera/aligned_depth_to_color/image_raw topic #3277

CYJ00 opened this issue Dec 13, 2024 · 1 comment
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D400

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@CYJ00
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CYJ00 commented Dec 13, 2024 •
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[ INFO] [1734061888.050640114]: RealSense ROS v2.3.2
[ INFO] [1734061888.050656726]: Built with LibRealSense v2.50.0
[ INFO] [1734061888.050662036]: Running with LibRealSense v2.50.0

Required Info
Camera Model D455
Operating System & Version Linux (Ubuntu 20)
Kernel Version (Linux Only) Linux 5.15.0-125-generic
Platform PC
ROS Distro noetic

Issue Description

I install the package using apt-get install command.
I used roslaunch realsense2_camera rs_aligned_depth.launch command.

It's the log.

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: -1.0
 * /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/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_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_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: True
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /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_rgb: False
 * /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/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: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /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)

ROS_MASTER_URI=http://127.0.0.1:11311

process[camera/realsense2_camera_manager-1]: started with pid [586356]
process[camera/realsense2_camera-2]: started with pid [586357]
[ INFO] [1734062633.441168079]: Initializing nodelet with 32 worker threads.
[ INFO] [1734062633.497131185]: RealSense ROS v2.3.2
[ INFO] [1734062633.497149269]: Built with LibRealSense v2.50.0
[ INFO] [1734062633.497155425]: Running with LibRealSense v2.50.0
[ INFO] [1734062633.515433583]:  
 13/12 13:03:53,573 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1734062633.659313670]: Device with serial number 313522302908 was found.

[ INFO] [1734062633.659338570]: Device with physical ID 1-10.1.3-14 was found.
[ INFO] [1734062633.659345045]: Device with name Intel RealSense D455 was found.
[ INFO] [1734062633.659580546]: Device with port number 1-10.1.3 was found.
[ INFO] [1734062633.659591337]: Device USB type: 2.1
[ WARN] [1734062633.659599203]: Device 313522302908 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1734062633.660727686]: getParameters...
[ INFO] [1734062633.678145260]: setupDevice...
[ INFO] [1734062633.678154872]: JSON file is not provided
[ INFO] [1734062633.678159991]: ROS Node Namespace: camera
[ INFO] [1734062633.678164907]: Device Name: Intel RealSense D455
[ INFO] [1734062633.678169381]: Device Serial No: 313522302908
[ INFO] [1734062633.678173629]: Device physical port: 1-10.1.3-14
[ INFO] [1734062633.678178114]: Device FW version: 05.16.00.01
[ INFO] [1734062633.678182088]: Device Product ID: 0x0B5C
[ INFO] [1734062633.678186294]: Enable PointCloud: Off
[ INFO] [1734062633.678190305]: Align Depth: On
[ INFO] [1734062633.678194144]: Sync Mode: On
[ INFO] [1734062633.678213610]: Device Sensors: 
[ INFO] [1734062633.758713661]: Stereo Module was found.
[ INFO] [1734062633.777640222]: RGB Camera was found.
[ INFO] [1734062633.777866124]: Motion Module was found.
[ INFO] [1734062633.777909627]: (Infrared, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1734062633.777931436]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1734062633.777949734]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1734062633.778522957]: num_filters: 1
[ INFO] [1734062633.778543566]: 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] [1734062637.348410344]: Done Setting Dynamic reconfig parameters.
[ INFO] [1734062637.348655344]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1734062637.348745525]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1734062637.348968618]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1734062637.349797896]: gyro stream is enabled - fps: 400
[ WARN] [1734062637.349806603]: No mathcing profile found for accel with fps=250
[ WARN] [1734062637.349811604]: Using default profile instead.
[ INFO] [1734062637.349817311]: accel stream is enabled - fps: 100
[ INFO] [1734062637.349825165]: setupPublishers...
[ INFO] [1734062637.350592445]: Expected frequency for depth = 30.00000
[ INFO] [1734062637.362966028]: Expected frequency for infra1 = 30.00000
[ INFO] [1734062637.368059470]: Expected frequency for color = 30.00000
[ INFO] [1734062637.374390375]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1734062637.383634311]: setupStreams...
 13/12 13:03:57,475 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
 13/12 13:03:57,884 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:57,935 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:57,985 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1734062638.036572870]: SELECTED BASE:Depth, 0
[ INFO] [1734062638.048153900]: RealSense Node Is Up!
 13/12 13:03:58,138 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ WARN] [1734062638.139744249]: 
 13/12 13:03:58,190 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,241 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,291 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,343 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1734062638.348981669]: Hardware Notification:Motion Module failure,1.73406e+12,Error,Hardware Error
 13/12 13:03:58,393 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,444 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,495 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,545 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,548 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:03:58,653 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,703 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:58,959 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,009 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,161 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,212 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,364 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,415 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,469 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:03:59,667 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,717 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,768 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:03:59,818 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,071 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,222 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,375 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,425 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,476 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:00,880 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:01,880 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:02,038 ERROR [139891807594240] (ds5-options.cpp:88) Asic Temperature value is not valid!
 13/12 13:04:02,060 ERROR [139890809353984] (ds5-options.cpp:88) Asic Temperature value is not valid!
 13/12 13:04:02,468 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:03,065 ERROR [139890809353984] (ds5-options.cpp:88) Asic Temperature value is not valid!
 13/12 13:04:03,531 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:03,878 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:04,039 ERROR [139891807594240] (ds5-options.cpp:88) Asic Temperature value is not valid!
 13/12 13:04:04,069 ERROR [139890809353984] (ds5-options.cpp:88) Asic Temperature value is not valid!
 13/12 13:04:04,466 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:05,584 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:05,877 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:06,465 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:06,635 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:06,686 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:06,737 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:06,787 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:07,542 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:08,130 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:08,840 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:09,541 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:10,129 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:11,539 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:11,540 ERROR [139890834532096] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 131
 13/12 13:04:12,127 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:12,895 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:13,538 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:14,126 ERROR [139891228792576] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 13/12 13:04:14,537 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 13/12 13:04:15,203 ERROR [139891203614464] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
[ WARN] [1734062657.357347036]: Hardware Notification:Depth stream start failure,1.73406e+12,Error,Hardware Error
 13/12 13:04:20,957 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:30,018 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 13/12 13:04:38,079 WARNING [139891849557760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

As a result, /camera/color/image_raw and /camera/infra1/image_rect_raw are successfully received. But I can't receive /camera/aligned_depth_to_color/image_raw topic.
When I used roslaunch realsense2_camera rs_camera.launch command, there was no problem to get /camera/depth/image_rect_raw. But in rs_aligned_depth.launch, I can't get /camera/depth/image_rect_raw. How can I get /camera/aligned_depth_to_color/image_raw topic?
@CYJ00 CYJ00 changed the title (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 I can't get /camera/aligned_depth_to_color/image_raw topic Dec 13, 2024
@MartyG-RealSense
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Hi @CYJ00 I would not recommend using the rs_aligned_depth.launch launch file as it is extremely old. It is beter to use the rs_camera roslaunch instruction below to publish the aligned topics, /camera/aligned_depth_to_color/image_raw and /camera/aligned_depth_to_color/camera_info

roslaunch realsense2_camera rs_camera.launch align_depth:=true

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