Realsense-ros: Release to Melodic/Ubuntu 18.04?

[doisyg]

Now that Melodic is out, is there any plan to release to Melodic/Ubuntu18.04 for for both previous gen Realsense and D400 series?
Any tentative schedule?

[doisyg]

@doronhi Any update?

[Tuebel]

I haven't read any official comments on this yet but I am actually running the ROS realsense camera on Melodic/Ubuntu 18.04 without any problems.
Make sure that you have the current librealsense installed as they supported Ubutunu 18.04 quite recently.

[doisyg]

Hi @Tuebel
Thanks for your answer, can you provide more details ? Which did you tested?
How did you install librealsense on ubuntu 18.04? You compiled it from source? (on 16.04 the package ros-kinetic-librealsense was enough I believe)

[Tuebel]

Hi @doisyg
I followed the instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md to install the librealsense Debian package.
After installing these packages I was able to compile the ros package from source as described in https://github.com/intel-ros/realsense#step-3-install-intel-realsense-ros-from-sources .

[doisyg]

Ok, thanks.
I am using the R200 camera, so I cannot use the v2.0 of the SDK like you. It seems a bit more complex for the legacy version.

[doisyg]

Reporting progress for usage of a R200 camera in ROS with Ubuntu 18.04 and Melodic (and hence librealsense and realsense_camera v1)

Installation of librealsense: OK

sudo apt-get install libglfw3-dev
download and unzip https://github.com/IntelRealSense/librealsense/archive/v1.12.1.zip
add #include <functional>to librealsense-1.12.1/src/type.h (in order to compile with ubuntu 18.04 builtin gcc 7)
cd librealsense-1.12.1
mkdir build
cd build
cmake ..
make && sudo make install
cd ..
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

Update: udev rules

[doisyg]

Currently struggling with the compilation of the ros realsense_camera library (https://github.com/intel-ros/realsense/archive/indigo-devel.zip)
Probably linking issue with the system installed librealsense

[doisyg]

Got it working by modifying CMakelists.txt:

Ros realsense_camera

download https://github.com/intel-ros/realsense/archive/indigo-devel.zip
Modify CMakelists.txt as below and build
CMakeLists.txt

I added:
SET(USE_SYSTEM_LIBREALSENSE ON)

Replaced: https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L34
by:

FIND_PATH(realsense_INCLUDE_DIR librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARY realsense HINTS "/usr/local/lib")

FIND_PATH(realsense_INCLUDE_DIRS librealsense HINTS "/usr/local/include")
FIND_LIBRARY(realsense_LIBRARIES realsense HINTS "/usr/local/lib")

Commented the following lines (it was causing errors and I don't need it):
https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L114-L118

And modified https://github.com/intel-ros/realsense/blob/ebc06d4be1800da82595a7ccb163f3b5b6e69b23/realsense_camera/CMakeLists.txt#L147
in:
install(TARGETS ${PROJECT_NAME}_nodelet

A bit dirty but it works

[rbeltranb]

Due to the fact that _sudo_ clears the environment variables setup by setup.bash, for me was necessary run _sudo visudo_ and add there the following line in order to run _make_ with _sudo_:

 Defaults        env_keep += "PYTHONPATH"

[prabinrath]

I have Ubuntu 18.04 with 4.16.0 generic kernel
I cannot access my intel realsense R200 camera. I was able to configure my system for building the librealsense but there seems to be some issues in the access to camera. I updated my rules.d folder with the required rules but still cannot access the camera. the driver for the camera is not configured properly. I get no camera found error while running the ROS nodelet for R200. How can I access the camera ?
Any ideas will be hepful

[prabinrath]

failed during initialization: gstv4l2object.c(3722): gst_v4l2_object_set_format_full (): /GstCameraBin:camerabin/GstWrapperCameraBinSrc:camera_source/GstBin:bin18/GstV4l2Src:v4l2src1:
Call to S_FMT failed for GREY @ 640x481: Input/output error

This is the out put from cheese

[doisyg]

It is working for me with kernel 4.15 (with the modified CMakeLists posted before)
I tried to update to the 18.04.2 (kernel 4.18) and it is NOT working. Each R200 is recognized as 6 video* devices instead of 3 before. I am not going to investigate further and stay on kernel 4.15 for the moment. But I will happily follow any solutions to make it work with 4.18.

[RealSenseCustomerSupport]

[Please Ignore - RealSense system comment]

[peci1]

Hey, releasing this to melodic (together with "bundling" librealsense2 into the ROS APT repos) would really help. Is it on track for you?

[doronhi]

Releasing realsense2_camera for Melodic is planned but as it seems to work for many people as it is, so far it never got the full attention of being supported officially.

[peci1]

work for many people as it is

Well, it's a difference if you just run rosdep install on your workspace and forget about all the complexities, or if you have to manually clone repos, build them etc...

[doronhi]

I absolutely agree and hope to manage that packaging soon.

[SteveMacenski]

Thanks! I know this is a blocker on my end for Melodic transitions

[RealSenseCustomerSupport]

---

HI SteveMacenski,

We understand the importance of the issue to you.
So far we have no further update yet. You may check back later on.

Thanks!

[timrae]

Please release

[doisyg]

I made the legacy librealsense work with 4.16+ kernel (and hence ubuntu 18.04.2) in this PR: https://github.com/IntelRealSense/librealsense/pull/3929
Hosted here: https://github.com/doisyg/librealsense/tree/recent_kernel_compatibility
Tested only with a R200, feel free to PR for other cams if needed but I won't be able to check that it works.

[marcmateumateus]

Thanks @doisyg! tested on SR300 with 4.18 kernel and it works.

[peci1]

Why was this issue closed? I don't see any melodic release in rosdistro...

[atyshka]

Yeah how difficult would it be to get this added to the buildfarm? Having to rebuild every time a new librealsense is tedious and having a melodic debian would be much easier.

[fmessmer]

we are also waiting for a release of both realsense_camera and realsense2_camera
what's the status here?

[airballking]

I'd like to +1 the request for a melodic release of the realsense2_camera. Thanks a lot for your support!

[Jiloc]

+2

[KrystianMarek]

Hi,

I'm trying to run realsense-ros on a Jetson Nano without much luck, please help.

 * /rosdistro: melodic
 * /rosversion: 1.14.3

```
$ inxi -F
System: Host: jetson Kernel: 4.9.140-tegra aarch64 bits: 32 Console: tty 0 Distro: Ubuntu 18.04.3 LTS
Machine: No /sys/class/dmi; using dmidecode: root required for dmidecode
CPU: Quad core ARMv8 rev 1 (v8l) (-MCP-) (ARM)
clock speeds: max: 1479 MHz 1: 1132 MHz 2: 1132 MHz 3: 1132 MHz 4: 1132 MHz
Graphics: Card: Failed to Detect Video Card!
Display Server: X.org 1.19.6 driver: nvidia tty size: 207x61 Advanced Data: N/A out of X
Audio: Card-1 tegra-hda driver: tegra-hda Sound: ALSA v: k4.9.140-tegra
Card-2 tegra-snd-t210ref-mobile-rt565x driver: tegra-snd-t210r
Network: Card-1: Intel Wireless 8265 / 8275 driver: iwlwifi
IF: wlan0 state: down mac: 98:af:65:2d:9b:9b
Card-2: Realtek RTL8111/8168/8411 PCI Express Gigabit Ethernet Controller driver: r8168
IF: eth0 state: up speed: 1000 Mbps duplex: full mac: 00:04:4b:e6:8e:22
Drives: HDD Total Size: NA (-)
ID-1: /dev/mmcblk0 model: N/A size: 63.9GB
Partition: ID-1: / size: 59G used: 16G (28%) fs: ext4 dev: /dev/mmcblk0p1
ID-2: swap-1 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram0
ID-3: swap-2 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram1
ID-4: swap-3 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram2
ID-5: swap-4 size: 0.52GB used: 0.00GB (0%) fs: swap dev: /dev/zram3
Sensors: System Temperatures: cpu: 38.0C mobo: N/A
Fan Speeds (in rpm): cpu: N/A
Info: Processes: 312 Uptime: 2:36 Memory: 1625.3/3964.3MB Init: systemd runlevel: 5
Client: Shell (bash) inxi: 2.3.56

I was able to install https://github.com/IntelRealSense/librealsense 
the realsense-viewer application works.

When I try to run 
`roslaunch realsense2_camera rs_camera.launch filters:=pointcloud`

I get:
````
$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
... logging to /home/mentis/.ros/log/0eb5abc0-2cb2-11ea-b52a-00044be68e22/roslaunch-jetson-9654.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jetson:37869/

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: 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: 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: 1.14.3

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

auto-starting new master
process[master]: started with pid [9667]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0eb5abc0-2cb2-11ea-b52a-00044be68e22
process[rosout-1]: started with pid [9680]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [9687]
process[camera/realsense2_camera-3]: started with pid [9688]
[ INFO] [1577895388.449746626]: Initializing nodelet with 4 worker threads.
[ INFO] [1577895389.721256484]: RealSense ROS v2.2.11
[ INFO] [1577895389.721366330]: Running with LibRealSense v2.31.0
[ INFO] [1577895390.117433339]:  
 01/01 17:16:30,647 WARNING [547705979264] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1577895390.700522011]: Device with serial number 923322073166 was found.

[ INFO] [1577895390.700628575]: Device with physical ID 2-1.3-6 was found.
[ INFO] [1577895390.700972955]: Device with name Intel RealSense D435I was found.
[ WARN] [1577895390.703345178]: Error extracting usb port from device with physical ID: 2-1.3-6
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1577895390.713202827]: getParameters...
[ INFO] [1577895390.818107687]: setupDevice...
[ INFO] [1577895390.818211438]: JSON file is not provided
[ INFO] [1577895390.818264981]: ROS Node Namespace: camera
[ INFO] [1577895390.818317482]: Device Name: Intel RealSense D435I
[ INFO] [1577895390.818370607]: Device Serial No: 923322073166
[ INFO] [1577895390.818820718]: Device physical port: 2-1.3-6
[ INFO] [1577895390.818875927]: Device FW version: 05.12.01.00
[ INFO] [1577895390.818923480]: Device Product ID: 0x0B3A
[ INFO] [1577895390.818973221]: Enable PointCloud: On
[ INFO] [1577895390.819041659]: Align Depth: Off
[ INFO] [1577895390.819085566]: Sync Mode: On
[ INFO] [1577895390.819217808]: Device Sensors: 
[ INFO] [1577895390.819314424]: Stereo Module was found.
[ INFO] [1577895390.819380883]: RGB Camera was found.
[ INFO] [1577895390.819427446]: Motion Module was found.
[ INFO] [1577895390.819512812]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819557709]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819605261]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819652762]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895390.819736565]: Add Filter: pointcloud
[ INFO] [1577895390.821203983]: num_filters: 1
[ INFO] [1577895390.821318204]: Setting Dynamic reconfig parameters.
[ INFO] [1577895396.180962767]: Done Setting Dynamic reconfig parameters.
[ INFO] [1577895396.226764908]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1577895396.227555128]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895396.227996749]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895396.283396482]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1577895396.284521342]: setupPublishers...
[ INFO] [1577895396.297726852]: Expected frequency for depth = 30.00000
[ INFO] [1577895396.408827259]: Expected frequency for infra1 = 30.00000
[ INFO] [1577895396.471623195]: Expected frequency for infra2 = 30.00000
[ INFO] [1577895396.532623636]: Expected frequency for color = 30.00000
[ INFO] [1577895396.596062915]: setupStreams...
[ INFO] [1577895396.659554331]: insert Depth to Stereo Module
[ INFO] [1577895396.659674437]: insert Color to RGB Camera
[ INFO] [1577895396.659760115]: insert Infrared to Stereo Module
[ INFO] [1577895396.659823970]: insert Infrared to Stereo Module
[ INFO] [1577895396.659871263]: insert Gyro to Motion Module
[ INFO] [1577895396.659922617]: insert Accel to Motion Module
[ INFO] [1577895397.030014177]: SELECTED BASE:Depth, 0
[ INFO] [1577895397.094051173]: RealSense Node Is Up!
 01/01 17:16:37,119 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,180 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,309 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,370 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 01/01 17:16:37,417 ERROR [547188887936] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 01/01 17:16:37,451 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:37,533 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:37,718 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:38,329 WARNING [547297927552] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 23, 
 01/01 17:16:39,216 WARNING [547331498368] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 12, 
[ WARN] [1577895399.217841982]: Hardware Notification:IR stream start failure,1.5779e+12,Error,Hardware Error
[ERROR] [1577895399.217988911]: Hardware Reset is needed. use option: initial_reset:=true
 01/01 17:16:39,224 WARNING [547297927552] (uvc-device.cpp:644) interrupt event received: 1, 3, 0, 7, 0, 9, 
 01/01 17:16:39,625 ERROR [547163709824] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 01/01 17:16:39,817 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
 01/01 17:16:39,817 WARNING [547574755712] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 135 error: No such device, number: 19
 01/01 17:16:39,817 WARNING [547289534848] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 134 error: No such device, number: 19
 01/01 17:16:39,817 ERROR [547289534848] (hid-device.cpp:153) failed to submit UVC request
 01/01 17:16:39,818 WARNING [546375188864] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [546375188864] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [546375188864] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [546375188864] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547188887936] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547188887936] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547188887936] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547188887936] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547163709824] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547163709824] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,818 WARNING [547163709824] (messenger-libusb.cpp:83) usb_request_queue returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:39,818 ERROR [547163709824] (uvc-streamer.cpp:136) failed to submit UVC request, error: -13
 01/01 17:16:39,828 ERROR [547591541120] (global_timestamp_reader.cpp:188) Error during time_diff_keeper polling: usb device disconnected
 01/01 17:16:40,082 ERROR [547188887936] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 01/01 17:16:40,082 WARNING [547188887936] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
 01/01 17:16:40,229 WARNING [547574755712] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No such device, number: 19
 01/01 17:16:40,239 ERROR [547339891072] (error-handling.cpp:68) Error during polling error handler: usb device disconnected
[ERROR] [1577895400.711504349]: The device has been disconnected!
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 130 error: No such device, number: 19
 01/01 17:16:40,819 WARNING [547163709824] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 130, error: No such device, number: 19
 01/01 17:16:40,846 WARNING [546375188864] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:40,851 WARNING [546375188864] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 131 error: No such device, number: 19
 01/01 17:16:40,851 WARNING [546375188864] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 131, error: No such device, number: 19
 01/01 17:16:40,861 WARNING [547574755712] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 135 error: No such device, number: 19
 01/01 17:16:40,898 WARNING [547188887936] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:40,898 WARNING [547188887936] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 132 error: No such device, number: 19
 01/01 17:16:40,902 WARNING [547188887936] (messenger-libusb.cpp:30) reset_endpoint returned error, index: 132, error: No such device, number: 19
 01/01 17:16:40,962 WARNING [547289534848] (messenger-libusb.cpp:96) usb_request_cancel returned error, endpoint: 134 error: No such device, number: 19
 01/01 17:16:40,976 ERROR [547714371968] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE
 01/01 17:16:40,977 ERROR [547714371968] (handle-libusb.h:51) failed to open usb interface: 5, error: RS2_USB_STATUS_NO_DEVICE
[ INFO] [1577895400.979578323]: Checking new devices...
[ INFO] [1577895400.979821921]:  
 01/01 17:16:41,363 WARNING [547714371968] (types.cpp:49) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1577895401.428706847]: Device with serial number 923322073166 was found.

[ INFO] [1577895401.428811171]: Device with physical ID 2-1.3-7 was found.
[ INFO] [1577895401.428863412]: Device with name Intel RealSense D435I was found.
[ WARN] [1577895401.429671288]: Error extracting usb port from device with physical ID: 2-1.3-7
Please report on github issue at https://github.com/IntelRealSense/realsense-ros
[ INFO] [1577895401.446205908]: getParameters...
[ INFO] [1577895401.574354211]: setupDevice...
[ INFO] [1577895401.574670570]: JSON file is not provided
[ INFO] [1577895401.574978647]: ROS Node Namespace: camera
[ INFO] [1577895401.575420894]: Device Name: Intel RealSense D435I
[ INFO] [1577895401.575716367]: Device Serial No: 923322073166
[ INFO] [1577895401.576001996]: Device physical port: 2-1.3-7
[ INFO] [1577895401.576284708]: Device FW version: 05.12.01.00
[ INFO] [1577895401.576572004]: Device Product ID: 0x0B3A
[ INFO] [1577895401.576854144]: Enable PointCloud: On
[ INFO] [1577895401.577136700]: Align Depth: Off
[ INFO] [1577895401.577486549]: Sync Mode: On
[ INFO] [1577895401.577712230]: Device Sensors: 
[ INFO] [1577895401.578023693]: Stereo Module was found.
[ INFO] [1577895401.578329739]: RGB Camera was found.
[ INFO] [1577895401.578625733]: Motion Module was found.
[ INFO] [1577895401.578934279]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579205168]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579456839]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579705645]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1577895401.579960180]: Add Filter: pointcloud
[ INFO] [1577895401.581481244]: num_filters: 1
[ INFO] [1577895401.581818801]: Setting Dynamic reconfig parameters.
[ INFO] [1577895408.019732707]: Done Setting Dynamic reconfig parameters.
[ INFO] [1577895408.116159276]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1577895408.116692617]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895408.117154499]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1577895408.210325239]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1577895408.219792566]: setupPublishers...
[ INFO] [1577895408.230747310]: Expected frequency for depth = 30.00000
[ INFO] [1577895408.381969890]: Expected frequency for infra1 = 30.00000
[ INFO] [1577895408.472462623]: Expected frequency for infra2 = 30.00000
[ INFO] [1577895408.580358006]: Expected frequency for color = 30.00000
[ INFO] [1577895408.733803223]: setupStreams...
[ INFO] [1577895408.807079454]: insert Depth to Stereo Module
[ INFO] [1577895408.807221383]: insert Color to RGB Camera
[ INFO] [1577895408.807293884]: insert Infrared to Stereo Module
[ INFO] [1577895408.807343884]: insert Infrared to Stereo Module
[ INFO] [1577895408.807395916]: insert Gyro to Motion Module
[ INFO] [1577895408.807444563]: insert Accel to Motion Module
[ INFO] [1577895409.166522686]: SELECTED BASE:Depth, 0
 01/01 17:16:49,228 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1577895409.305912851]: RealSense Node Is Up!
 01/01 17:16:49,337 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,398 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,520 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,581 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 01/01 17:16:49,805 WARNING [547289534848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ERROR] [1577895410.222891005]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1577895410.749189374]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
[ERROR] [1577895431.213645061]: An error has occurred during frame callback: Error occured during execution of the processing block! See the log for more info
^C[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
^C 01/01 17:17:14,549 WARNING [547180495232] (sensor.cpp:328) Frame received with streaming inactive,Color0, Arrived,0.000000 1577895434549.132568
terminate called without an active exception
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[berktepebag]

@KrystianMarek have you checked this JetsonHacks video? https://www.youtube.com/watch?v=lL3zxwN5Lnw I don't have the camera so I did not have a chance to check if it is working but if Jim made a video about it, probably it's working.

[KrystianMarek]

@berktepebag, Yes, I saw the video. It is about installing the realsense camera on Jetson Nano. As I wrote above. I already installed the camera on my Jetson Nano and realsense-viewer works. The problem is with realsense-ros. The camera does not work under ROS.

[berktepebag]

@KrystianMarek sorry my bad, I was focused on Jetson part of the question. Totally missed the ROS part.

[drfg0119]

Is there any application on TX2 ? ...I'm really tired about surveying the version matching problem. I'm Melodic/Ubuntu 18.04 with Jetpack 4.2

[RealSenseCustomerSupport]

---

Hi @doisyg,

The PR has been submitted recently to address this matter:
https://github.com/ros/rosdistro/pull/23493
Please stay tuned for further updates regarding official binary packages availability.

Thank you!

[christian-rauch]

The package has been released. This can be closed @doisyg @RealSenseCustomerSupport .

[RealSenseCustomerSupport]

---

@christian-rauch,

Thank you for your feedback!