# Intermittent realsense crash on the Stretch **URL:** \ **Category:** Ask\ **Created:** [September 29, 2022, 12:14am UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511 "2022-09-29T00:14:58Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![cpaxton](https://avatars.discourse-cdn.com/v4/letter/c/958977/32.png) [@cpaxton](https://forum.hello-robot.com/u/cpaxton)\ **Post date:** [September 29, 2022, 12:14am UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511/1 "2022-09-29T00:14:58Z")
It starts but seems to die every couple hours. Any ideas what I can do to improve reliability? ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [September 29, 2022, 5:23pm UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511/2 "2022-09-29T17:23:31Z")
Hi @cpaxton, there’s a configuration of Realsense drivers and Realsense backends that can cause issues, both at startup of the camera and during usage. Can you capture the following debugging information: - The error emitted when the Realsense crashes - Version of Ubuntu using `lsb_release -d -s` - List versions of librealsense2 using: `sudo apt list | grep realsense` - List versions of realsense-ros using: `cd ~/catkin_ws/src/ && ll` ---
**Author:** ![cpaxton](https://avatars.discourse-cdn.com/v4/letter/c/958977/32.png) [@cpaxton](https://forum.hello-robot.com/u/cpaxton)\ **Post date:** [September 29, 2022, 10:57pm UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511/3 "2022-09-29T22:57:06Z")
> [@bshah](#): > > cd ~/catkin\_ws/src/ && ll I’m using Noetic, do you think the multiple versions are the issue? It should only be sourcing the ros noetic workspace. ```auto hello-robot@hello-robot:~$ sudo apt list | grep realsense [sudo] password for hello-robot: WARNING: apt does not have a stable CLI interface. Use with caution in scripts. librealsense2-dbg/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-dev/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-dkms/focal,now 1.3.18-0ubuntu1 all [installed] librealsense2-gl-dbg/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-gl-dev/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-gl/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-net-dbg/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-net-dev/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-net/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-udev-rules/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2-utils/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] librealsense2/focal 2.51.1-0~realsense0.7526 amd64 [upgradable from: 2.50.0-0~realsense0.6128] ros-foxy-librealsense2-dbgsym/focal 2.50.0-2focal.20220223.160142 amd64 ros-foxy-librealsense2/focal 2.50.0-2focal.20220223.160142 amd64 ros-foxy-realsense-msgs-dbgsym/focal 2.0.8-2focal.20220209.142543 amd64 ros-foxy-realsense-msgs/focal 2.0.8-2focal.20220209.142543 amd64 ros-foxy-realsense2-camera-dbgsym/focal 4.0.4-1focal.20220323.000248 amd64 ros-foxy-realsense2-camera-msgs-dbgsym/focal 4.0.4-1focal.20220322.234811 amd64 ros-foxy-realsense2-camera-msgs/focal 4.0.4-1focal.20220322.234811 amd64 ros-foxy-realsense2-camera/focal 4.0.4-1focal.20220323.000248 amd64 ros-foxy-realsense2-description/focal 4.0.4-1focal.20220323.000251 amd64 ros-galactic-librealsense2-dbgsym/focal 2.50.0-2focal.20220222.210235 amd64 ros-galactic-librealsense2/focal,now 2.50.0-2focal.20220222.210235 amd64 [installed,automatic] ros-galactic-realsense2-camera-dbgsym/focal 4.0.4-1focal.20220730.025956 amd64 ros-galactic-realsense2-camera-msgs-dbgsym/focal 4.0.4-1focal.20220729.134203 amd64 ros-galactic-realsense2-camera-msgs/focal 4.0.4-1focal.20220729.134203 amd64 [upgradable from: 4.0.4-1focal.20220321.203259] ros-galactic-realsense2-camera/focal 4.0.4-1focal.20220730.025956 amd64 [upgradable from: 4.0.4-1focal.20220321.203444] ros-galactic-realsense2-description/focal 4.0.4-1focal.20220730.030210 amd64 [upgradable from: 4.0.4-1focal.20220321.203543] ros-noetic-librealsense2-dbgsym/focal 2.50.0-1focal.20211115.134455 amd64 ros-noetic-librealsense2/focal,now 2.50.0-1focal.20211115.134455 amd64 [installed,automatic] ros-noetic-realsense2-camera-dbgsym/focal 2.3.2-1focal.20220906.153355 amd64 [upgradable from: 2.3.2-1focal.20220221.110718] ros-noetic-realsense2-camera/focal 2.3.2-1focal.20220906.153355 amd64 [upgradable from: 2.3.2-1focal.20220221.110718] ros-noetic-realsense2-description/focal,now 2.3.2-1focal.20220212.161322 amd64 [installed] hello-robot@hello-robot:~$ cd ~/catkin_ws/src/ && ll total 28 drwxrwxr-x 7 hello-robot hello-robot 4096 Sep 21 16:00 ./ drwxrwxr-x 6 hello-robot hello-robot 4096 Sep 21 15:58 ../ lrwxrwxrwx 1 hello-robot hello-robot 49 Apr 20 14:40 CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake lrwxrwxrwx 1 hello-robot hello-robot 33 Jul 19 18:04 home_robot -> /home/hello-robot/src/home_robot// drwxrwxr-x 5 hello-robot hello-robot 4096 Apr 20 14:43 realsense_gazebo_plugin/ drwxrwxr-x 6 hello-robot hello-robot 4096 Sep 9 19:23 realsense-ros/ drwxrwxr-x 8 hello-robot hello-robot 4096 Jun 24 16:40 rplidar_ros/ drwxrwxr-x 11 hello-robot hello-robot 4096 Jun 24 16:39 scan_tools/ drwxrwxr-x 17 hello-robot hello-robot 4096 Sep 22 17:20 stretch_ros/ ``` ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [October 1, 2022, 3:55am UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511/4 "2022-10-01T03:55:52Z")
The `ros-*-librealsense2` packages use a userspace backend called RSUSB to communicate with the Realsense camera, whereas the `librealsense2` packages use Video4Linux2 backend. The former is better portable (e.g. Raspberry pi), but the latter is more stable for the NUC computer used inside Stretch. I recommend using the following commands to switch to using the `librealsense2` packages: ```auto sudo apt remove ros-galactic-librealsense2 ros-galactic-realsense2-camera-msgs ros-galactic-realsense2-camera ros-galactic-realsense2-description ros-noetic-librealsense2 ros-noetic-realsense2-camera ros-noetic-realsense2-description ``` Update the librealsense2 packages using: ```auto sudo apt upgrade ``` Now, when you run `sudo apt list | grep realsense`, none of the ROS realsense packages should be installed. In your ROS workspace, clone the realsense-ros repo and checkout v2.3.2, the latest for ROS1: ```auto cd ~/catkin_ws/src git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros git checkout 2.3.2 ``` Additionally, I’ve recently brought a bugfix related to the Realsense into the noetic branch. Update using: ```auto cd ~/catkin_ws/src/stretch_ros git status # ensure on the 'dev/noetic' branch git pull ``` Finally, build the workspace and source it: ```auto cd ~/catkin_ws catkin_make source ~/catkin_ws/devel/setup.bash # Should already be in your bashrc ``` For users who have upgraded to Ubuntu 20.04 recently, the [new Stretch Install](https://github.com/hello-robot/stretch_install/blob/master/docs/robot_install.md) scripts already configure the Realsense software this way. Let me know if you have any questions or run into any issues. ---
**Author:** ![cpaxton](https://avatars.discourse-cdn.com/v4/letter/c/958977/32.png) [@cpaxton](https://forum.hello-robot.com/u/cpaxton)\ **Post date:** [October 3, 2022, 4:04pm UTC](https://forum.hello-robot.com/t/intermittent-realsense-crash-on-the-stretch/511/5 "2022-10-03T16:04:05Z")
Great, I was able to follow these steps and am going to see if the realsense crash persists. I had two robots set up the same way and was only seeing crashes on one, which is somewhat strange…