Unable to get ZR300 working without unplugging/replugging USB!

[ZZubi]

On launching the realsense_camera ROS launch files on an Intel NUC (i5, Ubuntu 16.04), I get the following error:

[ERROR] [1499666716.599850948]: /camera/driver - Error calling rs_get_device_info ( device:0x1da4140, info:ADAPTER_BOARD_FIRMWARE_VERSION ):

selected camera info is not supported for this camera!

[FATAL] [1499666716.804410250]: Failed to load nodelet '/camera/rgb_debayer` of type `image_proc/debayer` to manager `camera_nodelet_manager'

[FATAL] [1499666716.804655270]: Failed to load nodelet '/camera/driver` of type `realsense_camera/ZR300Nodelet` to manager `camera_nodelet_manager'

...

...

And the following dmesg error:

[ 7910.095059] nodelet[32567]: segfault at 0 ip 00007fb75866cb96 sp 00007ffc2e1d58d8 error 4 in libc-2.23.so[7fb7585e2000+1bf000]

But if I remove the USB cable and reconnect it (at the same exact port), I can run the launch files without any problems. I do not face this issue on my laptop, but only on my NUC device. I did not find much help on googling these errors. How can I get around solving this issue? Or in the meanwhile can you suggest ways to emulate reconnecting the USB cable through command line as a workaround?

Thanks,

Zubin

[MartyG]

I've seen reports in the past of other devices on NUCs needing to be unplugged and replugged to get them to work (mice, keyboards, external drives, etc). I couldn't find a definitive solution to the issue. A Microsoft tech support person who was asked about this issue by a NUC owner thought it may be related to outdated or incompatible device drivers.

https://answers.microsoft.com/en-us/windows/forum/windows_10-hardware/usb-keyboard-and-mouse-not-working-unless-unplug/e41b93b8-427f-4d07-8808-1f5554780a28 usb keyboard and mouse not working, unless unplug and plug it back - Microsoft Community

[ZZubi]

MartyG,

Thanks for your reply. I did assume that the issue could be with NUC. But I noticed something strange. On running cpp-capture, I was able to get the IR/RGB/Depth streams which meant that the USB driver is not entirely malfunctioning. So I tried analyzing the process of launching the ros nodelets using gdb and find problematic areas in the nodelets. I narrowed to down to an issue related to getting data from the IMU and fisheye camera. By commenting out the following lines:

https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/src/base_nodelet.cpp# L321-L333 https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/src/base_nodelet.cpp# L321-L333

https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/src/zr300_nodelet.cpp# L677-L698 https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/src/zr300_nodelet.cpp# L677-L698

I was able to get all the data, except from IMU and Fisheye. I will need these data streams too in the future though, so I do not consider this "hack" to be a permanent solution. Please, can someone more knowledgeable about the driver code look for a complete solution?

Thanks,

Zubin

[MartyG]

I'm glad you were able to find a workaround. Good luck with the IMU and fisheye!

[idata]

Hi Zubin,

Thanks for your interest in the Intel® Realsense™ Platform.

Unfortunately, the ZR300 has only been validated to work with this hardware and software https://www.intel.com/content/www/us/en/support/emerging-technologies/intel-realsense-technology/000023520.html System Requirements for the Intel® RealSense™ Development Kit... . This might be the reason why you can't get data from the IMU or the fisheye.

We apologize for any inconvenience that this may cause.

Best Regards,

-Jose P.

[ZZubi]

Jose,

Thanks for clarifying that. But I feel that this issue can be solved. I urge Realsense's developers to put in some time to investigate and debug this issue, and confirm whether the problem is on realsense's side or NUC's side. Meanwhile I will raise an issue in NUC forums and see if they can help me out somehow.

Regards

Zubin

[idata]

Hi Zubin,

I will make sure to pass this suggestion to the Engineer Department. We appreciate your feedback!Have a great day!Best Regards,-Jose P.