Hi all, resolved the issue offline. The RealSense Camera Manager node was dying like @sitaneja had mentioned. We’re releasing the log and the solution for others whose realsense2_camera_manager node crashes in a similar way. Here’s a log he was receiving from running the launch file for just the RealSense camera (using roslaunch stretch_core d435i_high_resolution.launch):
NODES
/
d435i_accel_correction (stretch_core/d435i_accel_correction)
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [2811]
ROS_MASTER_URI=http://localhost:11311
process[rosout-1]: started with pid [2822]
started core service [/rosout]
process[d435i_accel_correction-2]: started with pid [2825]
process[camera/realsense2_camera_manager-3]: started with pid [2826]
process[camera/realsense2_camera-4]: started with pid [2828]
[ INFO] [1596336057.842410500]: Initializing nodelet with 8 worker threads.
[ INFO] [1596336058.090500264]: RealSense ROS v2.2.14
[ INFO] [1596336058.090535294]: Running with LibRealSense v2.35.2
[ INFO] [1596336058.127779345]:
[INFO] [1596336058.198102]: /d435i_accel_correction started
[ INFO] [1596336058.325181807]: Device with serial number XXXXXXXXXXX was found.
[ INFO] [1596336058.325352380]: Device with physical ID XXXXXXXXXXX was found.
[ INFO] [1596336058.325414536]: Device with name Intel RealSense D435I was found.
[ INFO] [1596336058.327258809]: Device with port number XXXXXXXXXXX was found.
[ INFO] [1596336058.334272715]: getParameters...
[ INFO] [1596336058.405801403]: setupDevice...
[ INFO] [1596336058.405835785]: JSON file is not provided
[ INFO] [1596336058.405854848]: ROS Node Namespace: camera
[ INFO] [1596336058.405877655]: Device Name: Intel RealSense D435I
[ INFO] [1596336058.405898139]: Device Serial No: XXXXXXXXXXX
[ INFO] [1596336058.405908854]: Device physical port: XXXXXXXXXXX
[ INFO] [1596336058.405921077]: Device FW version: 05.12.05.00
[ INFO] [1596336058.405938446]: Device Product ID: XXXXXXXXXXX
[ INFO] [1596336058.405953304]: Enable PointCloud: On
[ INFO] [1596336058.405967638]: Align Depth: On
[ INFO] [1596336058.405990910]: Sync Mode: On
[ INFO] [1596336058.406050165]: Device Sensors:
[ INFO] [1596336058.429121507]: Stereo Module was found.
[ INFO] [1596336058.446499891]: RGB Camera was found.
[ INFO] [1596336058.446630837]: Motion Module was found.
[ INFO] [1596336058.446668907]: (Infrared, 0) sensor isnt supported by current device! -- Skipping...
[ INFO] [1596336058.446682653]: (Fisheye, 0) sensor isnt supported by current device! -- Skipping...
[ INFO] [1596336058.446694703]: (Fisheye, 1) sensor isnt supported by current device! -- Skipping...
[ INFO] [1596336058.446711997]: (Fisheye, 2) sensor isnt supported by current device! -- Skipping...
[ INFO] [1596336058.446733162]: (Pose, 0) sensor isnt supported by current device! -- Skipping...
[ INFO] [1596336058.446769719]: Add Filter: pointcloud
[ INFO] [1596336058.447385373]: num_filters: 1
[ INFO] [1596336058.447405525]: Setting Dynamic reconfig parameters.
01/08 19:40:58,587 WARNING [140250009564928] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
01/08 19:40:58,599 WARNING [140250009564928] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[Repeats ~100 times]
01/08 19:41:03,599 WARNING [140250009564928] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
01/08 19:41:03,650 WARNING [140250111633152] (types.cpp:49) get_xu(id=11) failed! Last Error: Resource temporarily unavailable
terminate called after throwing an instance of 'rs2::invalid_value_error'
what(): get_xu(id=11) failed! Last Error: Resource temporarily unavailable
[camera/realsense2_camera_manager-3] process has died [pid 2826, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=XXXXXXXXXXX/camera-realsense2_camera_manager-3.log].
log file: XXXXXXXXXXX/camera-realsense2_camera_manager-3*.log
[camera/realsense2_camera-4] process has finished cleanly
log file: XXXXXXXXXXX/camera-realsense2_camera-4*.log
^C[d435i_accel_correction-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
If you’re experiencing this, we resolved it with the classic “turn it on and off again”. Simply rebooting the Ubuntu machine doesn’t power-cycle the RealSense Camera, so when rebooting the robot, first shutdown the Ubuntu machine, and then use the power switch in the trunk of the robot to turn off the power. Note that the Lift will drop when the power is cut, so using the included clamp to keep the arm up is recommended.
We also updated his packages with sudo apt update and sudo apt upgrade.