Realsense not found issue

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Hi, I have been trying to run the Grasp Object Demo at this link: https://github.com/hello-robot/stretch_ros/tree/master/stretch_demos on the Stretch RE2 but have been continuously facing these warnings/errors:

[ WARN] [1677366188.369476758]: No RealSense devices were found!
Warning: Rate of calls to Pimu:trigger_motor_sync rate of 22.922074 above maximum frequency of 20.00 Hz. Motor commands dropped: 29
[ INFO] [1677366194.392522613]:
[ INFO] [1677366194.512815466]: Device with serial number 102422072781 was found.

[ INFO] [1677366194.512861821]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1677366194.512921861]: Device with name Intel RealSense D435I was found.
[ INFO] [1677366194.513619116]: Device with port number 2-2 was found.
[ INFO] [1677366194.513697093]: Device USB type: 3.2
[ INFO] [1677366194.513761753]: Resetting device...
Warning: Rate of calls to Pimu:trigger_motor_sync rate of 20.486502 above maximum frequency of 20.00 Hz. Motor commands dropped: 45
Warning: Rate of calls to Pimu:trigger_motor_sync rate of 31.383920 above maximum frequency of 20.00 Hz. Motor commands dropped: 64
[ INFO] [1677366200.579976713]:
[ INFO] [1677366200.686018750]: Device with serial number 102422072781 was found.

[ INFO] [1677366200.686103552]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1677366200.686132410]: Device with name Intel RealSense D435I was found.
[ INFO] [1677366200.686597817]: Device with port number 2-2 was found.
[ INFO] [1677366200.686655840]: Device USB type: 3.2
[ INFO] [1677366200.688412488]: getParameters...
[ INFO] [1677366200.735053411]: setupDevice...
[ERROR] [1677366200.735464177]: An exception has been thrown: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device
[ERROR] [1677366200.735548406]: Exception: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device

After running stretch_robot_system_check.py we get that the Intel D435i device is not found. We tried rebooting the machine, and ran apt upgrades but have had no luck.
Do you have any ideas on what would cause this issue?

2

Hi @jimin, these errors looks very similar to the ones being discussed in this thread. We haven’t found a fix yet, but we suspect it has to do with the USB speed at which the Realsense camera communicates. Could you share your robot’s serial number and the outputs of the following commands:

  • sudo apt list | grep realsense
  • rs-enumerate-devices -S
3

For anyone else who comes across this thread, we solved this issue in a support call by opening up Realsense Viewer (run realsense-viewer in a terminal) and performing a firmware update since the camera showed up in “recovery” mode.

Screenshot from 2023-03-06 14-12-25

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