Realsense-ros: Occur an error when using multiple realsense

Created on 4 May 2019 · 3Comments · Source: IntelRealSense/realsense-ros

Hi,
Launch two or more D series, or D series and T265 simultaneously causes an error.

System setup

|||
|:--:|:--:|
|Ubuntu|16.04.5|
|kernel|4.15.0-47-generic|
|ROS| ros-kinetic|
|D435, D435i firmware|05.10.03.00|
|T265 firmware|0.0.18.5502|
|librealsense|2.21.0|
|ros wrapper|2.2.3|

Execution and result

The following error is when T265 is launched after launching D435 with rs_camera.launch.

$ roslaunch realsense2_camera rs_t265.launch serial_no:=<serial number>  name:=T265

... logging to /root/.ros/log/e7c47f7c-6e71-11e9-a996-302432bdadda/roslaunch-kawa-17057.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://kawa:41525/

SUMMARY
========

PARAMETERS
 * /T265/realsense2_camera/accel_fps: 62
 * /T265/realsense2_camera/accel_frame_id: T265_accel_frame
 * /T265/realsense2_camera/accel_optical_frame_id: T265_accel_optica...
 * /T265/realsense2_camera/align_depth: False
 * /T265/realsense2_camera/aligned_depth_to_color_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/aligned_depth_to_fisheye_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/aligned_depth_to_infra1_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/aligned_depth_to_infra2_frame_id: T265_aligned_dept...
 * /T265/realsense2_camera/base_frame_id: T265_link
 * /T265/realsense2_camera/calib_odom_file: 
 * /T265/realsense2_camera/clip_distance: -2.0
 * /T265/realsense2_camera/color_fps: 30
 * /T265/realsense2_camera/color_frame_id: T265_color_frame
 * /T265/realsense2_camera/color_height: 480
 * /T265/realsense2_camera/color_optical_frame_id: T265_color_optica...
 * /T265/realsense2_camera/color_width: 640
 * /T265/realsense2_camera/depth_fps: 30
 * /T265/realsense2_camera/depth_frame_id: T265_depth_frame
 * /T265/realsense2_camera/depth_height: 480
 * /T265/realsense2_camera/depth_optical_frame_id: T265_depth_optica...
 * /T265/realsense2_camera/depth_width: 640
 * /T265/realsense2_camera/enable_accel: True
 * /T265/realsense2_camera/enable_color: True
 * /T265/realsense2_camera/enable_depth: True
 * /T265/realsense2_camera/enable_fisheye1: True
 * /T265/realsense2_camera/enable_fisheye2: True
 * /T265/realsense2_camera/enable_fisheye: True
 * /T265/realsense2_camera/enable_gyro: True
 * /T265/realsense2_camera/enable_infra1: True
 * /T265/realsense2_camera/enable_infra2: True
 * /T265/realsense2_camera/enable_pointcloud: False
 * /T265/realsense2_camera/enable_sync: False
 * /T265/realsense2_camera/filters: 
 * /T265/realsense2_camera/fisheye1_frame_id: T265_fisheye1_frame
 * /T265/realsense2_camera/fisheye1_optical_frame_id: T265_fisheye1_opt...
 * /T265/realsense2_camera/fisheye2_frame_id: T265_fisheye2_frame
 * /T265/realsense2_camera/fisheye2_optical_frame_id: T265_fisheye2_opt...
 * /T265/realsense2_camera/fisheye_fps: 30
 * /T265/realsense2_camera/fisheye_frame_id: T265_fisheye_frame
 * /T265/realsense2_camera/fisheye_height: 800
 * /T265/realsense2_camera/fisheye_optical_frame_id: T265_fisheye_opti...
 * /T265/realsense2_camera/fisheye_width: 848
 * /T265/realsense2_camera/gyro_fps: 200
 * /T265/realsense2_camera/gyro_frame_id: T265_gyro_frame
 * /T265/realsense2_camera/gyro_optical_frame_id: T265_gyro_optical...
 * /T265/realsense2_camera/infra1_frame_id: T265_infra1_frame
 * /T265/realsense2_camera/infra1_optical_frame_id: T265_infra1_optic...
 * /T265/realsense2_camera/infra2_frame_id: T265_infra2_frame                                
 * /T265/realsense2_camera/infra2_optical_frame_id: T265_infra2_optic...
 * /T265/realsense2_camera/infra_fps: 30
 * /T265/realsense2_camera/infra_height: 480
 * /T265/realsense2_camera/infra_width: 640
 * /T265/realsense2_camera/initial_reset: False
 * /T265/realsense2_camera/json_file_path: 
 * /T265/realsense2_camera/linear_accel_cov: 0.01
 * /T265/realsense2_camera/odom_frame_id: T265_odom_frame
 * /T265/realsense2_camera/pointcloud_texture_index: 0
 * /T265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /T265/realsense2_camera/pose_frame_id: T265_pose_frame
 * /T265/realsense2_camera/pose_optical_frame_id: T265_pose_optical...
 * /T265/realsense2_camera/publish_odom_tf: True
 * /T265/realsense2_camera/rosbag_filename: 
 * /T265/realsense2_camera/serial_no: 845412110931
 * /T265/realsense2_camera/topic_odom_in: odom_in
 * /T265/realsense2_camera/unite_imu_method: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /T265/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[T265/realsense2_camera_manager-1]: started with pid [17074]
[ INFO] [1556977152.212300622]: Initializing nodelet with 8 worker threads.
process[T265/realsense2_camera-2]: started with pid [17075]
[ INFO] [1556977152.472188301]: RealSense ROS v2.2.3
[ INFO] [1556977152.472253638]: Running with LibRealSense v2.21.0
13:39:12.723 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.733 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.743 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.754 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.764 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.774 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.785 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.795 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.805 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.816 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.826 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.836 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.846 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.857 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.867 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.877 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.888 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.898 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.908 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.918 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.929 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.939 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.949 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.960 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.970 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.980 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:12.991 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:13.001 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:13.011 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:13.022 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:13.032 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
[ERROR] [1556977153.057096920]: The requested device with serial number 845412110931 is NOT found!
13:39:13.533 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:14.033 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:14.534 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:15.035 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:15.536 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:16.037 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:16.537 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
13:39:17.038 [17121] [E] Device-7FE0: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)

Source