Cannot run ROS more than once with Realsense D415 and Intel Compute Stick

GMath4 · ‎06-17-2018

I have been trying to get ROS working with the Realsense D415 and the Intel compute stick BOXSTK1AW32SC

1. Followed the instructions here to boot it into Ubuntu 16.04 LTS using isorespin.sh and Ubuntu 16.04 LTS

http://linuxiumcomau.blogspot.com/2017/06/customizing-ubuntu-isos-documentation.html linuxium.com.au: Customizing Ubuntu ISOs: Documentation and examples of how to use 'isorespin.sh'

2. Then installed ROS using the method discussed here:

http://wiki.ros.org/kinetic/Installation/Ubuntu kinetic/Installation/Ubuntu - ROS Wiki

3. Followed by the RealSense latest SDK v2.12.0 using the instructions below.

https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md librealsense/distribution_linux.md at development · IntelRealSense/librealsense · GitHub

4. Plugging in the Realsense D415 camera shows me the following

dmesg

[ 151.649510] Linux video capture interface: v2.00

[ 151.676062] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) 415 (8086:0ad3)

[ 151.678475] uvcvideo: Unable to create debugfs 2-6 directory.

[ 151.678856] uvcvideo 2-1:1.0: Entity type for entity Intel(R) RealSense(TM) 415 RGB was not initialized!

[ 151.678863] uvcvideo 2-1:1.0: Entity type for entity Processing 2 was not initialized!

[ 151.678869] uvcvideo 2-1:1.0: Entity type for entity Intel(R) RealSense(TM) 415 RGB was not initialized!

[ 151.678873] uvcvideo 2-1:1.0: Entity type for entity Camera 1 was not initialized!

[ 151.679636] input: Intel(R) RealSense(TM) 415: Int as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/input/input6

[ 151.680234] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) 415 (8086:0ad3)

[ 151.681296] uvcvideo: Unable to create debugfs 2-6 directory.

[ 151.681750] uvcvideo 2-1:1.3: Entity type for entity Processing 7 was not initialized!

[ 151.681758] uvcvideo 2-1:1.3: Entity type for entity Extension 8 was not initialized!

[ 151.681763] uvcvideo 2-1:1.3: Entity type for entity Camera 6 was not initialized!

[ 151.682564] usbcore: registered new interface driver uvcvideo

[ 151.682568] USB Video Class driver (1.1.2.realsense-1.2.0)

5. Also compiled librealsense from the repo. Running rs-depth example from librealsense works fine.

But

The first time I run ROS now, the camera starts up and either runs for a few mins or dies within 30 seconds

roslaunch realsense2_camera rs_camera.launch

SUMMARY

========

PARAMETERS

* /camera/realsense2_camera/accel_fps: 1000

* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...

* /camera/realsense2_camera/align_depth: False

* /camera/realsense2_camera/camera_aligned_depth_to_color_frame_id: camera_aligned_de...

* /camera/realsense2_camera/camera_aligned_depth_to_fisheye_frame_id: camera_aligned_de...

* /camera/realsense2_camera/camera_aligned_depth_to_infra1_frame_id: camera_aligned_de...

* /camera/realsense2_camera/camera_aligned_depth_to_infra2_frame_id: camera_aligned_de...

* /camera/realsense2_camera/color_fps: 30

* /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_height: 480

* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...

* /camera/realsense2_camera/depth_width: 640

* /camera/realsense2_camera/enable_color: True

* /camera/realsense2_camera/enable_depth: True

* /camera/realsense2_camera/enable_fisheye: True

* /camera/realsense2_camera/enable_imu: 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/fisheye_fps: 30

* /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: 1000

* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...

* /camera/realsense2_camera/infra1_fps: 30

* /camera/realsense2_camera/infra1_height: 480

* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...

* /camera/realsense2_camera/infra1_width: 640

* /camera/realsense2_camera/infra2_fps: 30

* /camera/realsense2_camera/infra2_height: 480

* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...

* /camera/realsense2_camera/infra2_width: 640

* /camera/realsense2_camera/json_file_path:

* /camera/realsense2_camera/serial_no:

* /rosdistro: kinetic

* /rosversion: 1.12.13

NODES

/camera/

realsense2_camera (nodelet/nodelet)

realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI= http://10.1.10.44:11311/

process[camera/realsense2_camera_manager-1]: started with pid [21321]

process[camera/realsense2_camera-2]: started with pid [21322]

[ INFO] [1529260022.012281354]: Initializing nodelet with 4 worker threads.

[ INFO] [1529260022.213021884]: RealSense ROS v2.0.3

[ INFO] [1529260022.213161460]: Running with LibRealSense v2.12.0

17/06 11:27:02,216 WARNING [140247913064320] (backend-hid.cpp:1091) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0

17/06 11:27:02,407 WARNING [140247913064320] (backend-hid.cpp:1091) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0

[ INFO] [1529260023.113075126]: getParameters...

[ INFO] [1529260024.083102146]: setupDevice...

[...

MartyG · ‎06-17-2018

The busnum/devnum error In the log has occurred with people using Compute Sticks or Up Boards. An Intel support staff member recently provided the information linked to below.

GMath4 · ‎06-17-2018

Thanks MartyG - I ordered a powered USB hub and will give this a whirl with that and report back.

I'm still curious about the explanation -- it seems like running the sdk examples works fine multiple times in a row but is it the more CPU intensive nature of ROS causing the device to get less power below some min threshold causing this to happen?

MartyG · ‎06-17-2018

I don't know about ROS specifically having high power demands. On the original RealSense camera models a few years ago though, some people would find that they could run their cameras okay for non-intensive activities and then the camera would cut out when they used applications where the camera's laser had to draw more power.

GMath4 · ‎06-18-2018

Just got this specific powered hub: https://www.amazon.com/gp/product/B0192LPK5M/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1 https://www.amazon.com/gp/product/B0192LPK5M/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1

https://www.amazon.com/gp/product/B0192LPK5M/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1 https://www.amazon.com/gp/product/B0192LPK5M/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1

While anecdotally it does seem to be starting up a few more times, the problem is still very much there,

GMath4 · ‎06-18-2018

There is definitely something fishy going on that involves software here. (The camera is plugged into a powered USB 3.0 hub)

1. Run the following

roslaunch realsense2_camera rs_camera.launch align_depth:=true

Say the camera starts up

2. Run rtabmap as indicated here: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping rtabmap_ros/Tutorials/HandHeldMapping - ROS Wiki

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

The camera shuts down as soon as the other terminal brings up rtabmap.

MartyG · ‎06-19-2018

An alternative line for rtabmap in step 2 is one that adds a 'visual_odometry = true' instruction on the end.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info visual_odometry:=true

idata · ‎06-19-2018

Hello gmathur,

Can you please let us know if the solution provided by MartyG worked?

Thank you,

Eliza

GMath4 · ‎06-19-2018

Nope - still cant get this to work on the Intel compute stick with a powered USB hub.

The SDK examples work fine often but running ROS with camera + rtabmap (as indicated above) consistently fails 100% of the time

idata · ‎06-20-2018

Hello gmathur,

Could you please confirm that you have the latest Firmware installed (v 5.9.11)?

If not, you can find it on here: https://downloadcenter.intel.com/download/27792/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t

Also, can you let me know what Intel Compute Stick are you using?

Thank you,

Eliza

GMath4 · ‎06-20-2018

Yes I am running 5.9.11 and on BOXSTK1AW32SC -- see the first post on details of my setup and installation.

idata · ‎06-21-2018

Hello gmathur,

Could you please let me know if you have used the D415 camera with ROS on another device?

Thank you in advance,

Eliza

GMath4 · ‎06-21-2018

Yes I can use it fine on a Mac running VMware fusion + Ubuntu 16.04 LTS

Looking at the forums it seems to me that Intel may not actually have tried to make this combo work since the responses seem speculative. If that's indeed the case I would really appreciate someone just saying that.

Otherwise do you actually have a reference setup you can point to where this combo works?

idata · ‎07-31-2018

Hello gmarthur,

I was able to reproduce your issue back when you reported it but now I have made some updates to my configuration and everything works, inluding rtabmap.

My config is as follows:

1. Ubuntu 16.04.4 + Kernel 4.13.0-36

2. ROS wrapper 2.0.3 + librs 2.12.0

3. D435 FW 5.9.11.0

4. Update the latest DKMS package: USB Video Class driver (1.1.2.realsense-1.3.0) instead of (1.1.2.realsense-1.2.0)

5. Update BIOS version

Please ensure you are using the latest librealsense packages. You can purge old packages before installing the new ones by running: dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

Let us know if this fixes your issues.

Regards,

Jesus G.

Intel Customer Support