# Stretch 2 workspace update fail due to realsense apt **URL:** \ **Category:** Ask\ **Created:** [April 18, 2026, 1:10am UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485 "2026-04-18T01:10:14Z")\ **Posts on this page:** 12\ **Page:** 1
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [April 18, 2026, 1:10am UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/1 "2026-04-18T01:10:14Z")
Hello, I am currently failing to run stretch\_web\_teleop (running `cd ~/ament_ws/src/stretch_web_teleop/` then `./launch_interface.sh`, and as a possible fix I saw at ( [Web\_teleop demo got stucked in loading page - #2 by hello-vinitha](https://forum.hello-robot.com/t/web-teleop-demo-got-stucked-in-loading-page/1403/2) ) I have tried running `stretch_new_robot_install.sh -u` (after switching to main and pulling), however it fails with the following message: ############################################# STARTING NEW ROBOT INSTALL ############################################# ########################################### INSTALLATION OF SYSTEM WIDE PACKAGES ########################################### Apt update & upgrade (this might take a while) Install zip & unzip Install Curl Install ca-certificates Install gnupg Install Git Install rpl Install ipython3 Install pip3 Install Emacs packages Install nettools Install wget Install vim Install pyserial Install Port Audio Install lm-sensors & nvme-cli Install cheese for camera testing Install SSH Server Install Chromium Install htop Install Ubuntu Sounds Install BleachBit Install APT HTTPS Install Network Security Services libraries Install uv ########################################### INSTALLATION OF ROS 2 HUMBLE ########################################### Setting up keys Apt update Install ROS 2 Humble (this might take a while) Install ROS 2 Dev Tools Install colcon Install rosdep Configure rosdep Install vcstool ########################################### INSTALLATION OF ADDITIONAL ROS HUMBLE PKGS ########################################### Install packages to work with URDFs Install joint state GUI package Install IMU visualization plugin for RViz and IMU filter Install robot localization package for use with IMU and wheel odometry Install teleop packages ########################################### INSTALLATION OF INTEL D435i ########################################### Register the librealsense APT server’s public key Add the librealsense APT server to the list of APT repositories Remove old records in case of upgrading Apt update W: GPG error: jammy InRelease: The following signatures couldn’t be verified because the public key is not available: NO\_PUBKEY FB0B24895113F120 E: The repository jammy InRelease’ is not signed. ############################################# FAILURE. INSTALLATION DID NOT COMPLETE. Look at the troubleshooting guide for solutions to common issues: or contact Hello Robot support and include /home/hello-robot/stretch\_user/log/stretch\_install\_202604171753/stretch\_robot\_install\_logs.zip ############################################# I seem to be able to fix that specific issue by adding the new (non-intel?) source to apt and reinstalling librealsense2=2.55.1\*: [librealsense/doc/distribution\_linux.md at master · realsenseai/librealsense · GitHub](https://github.com/realsenseai/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) , but am unsure how to proceed with making sure my packages are up-to-date, and how to make the web teleop work. For more context, here was the output of `ros2 launch stretch_web_teleop web_interface.launch.py` before trying to update my workspace and after reinstalling the realsense library I mentioned: [INFO] [launch]: All log files can be found below /home/hello-robot/.ros/log/2026-04-17-17-49-41-328401-weirdstretch-6297 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [realsense2\_camera\_node-1]: process started with pid [6310] [INFO] [stretch\_driver-8]: process started with pid [6324] [INFO] [d435i\_accel\_correction-2]: process started with pid [6312] [INFO] [image\_publisher\_node-3]: process started with pid [6314] [INFO] [image\_publisher\_node-4]: process started with pid [6316] [INFO] [tf2\_web\_republisher-5]: process started with pid [6318] [INFO] [joint\_state\_publisher-6]: process started with pid [6320] [INFO] [robot\_state\_publisher-7]: process started with pid [6322] [INFO] [rosbridge\_websocket-9]: process started with pid [6326] [INFO] [rosapi\_node-10]: process started with pid [6328] [INFO] [configure\_video\_streams.py-11]: process started with pid [6330] [INFO] [configure\_video\_streams.py-12]: process started with pid [6333] [INFO] [configure\_video\_streams.py-13]: process started with pid [6336] [INFO] [Empty “{}”-14]: process started with pid [6341] [INFO] [Bool true-15]: process started with pid [6348] [INFO] [move\_to\_pregrasp.py-16]: process started with pid [6351] [INFO] [text\_to\_speech.py-17]: process started with pid [6354] [realsense2\_camera\_node-1] [INFO] [1776473383.406299193] [camera]: RealSense ROS v4.55.1 [realsense2\_camera\_node-1] [INFO] [1776473383.406768157] [camera]: Built with LibRealSense v2.55.1 [realsense2\_camera\_node-1] [INFO] [1776473383.406944660] [camera]: Running with LibRealSense v2.55.1 [realsense2\_camera\_node-1] [INFO] [1776473383.478958278] [camera]: Device with serial number 153222071854 was found. [realsense2\_camera\_node-1] [realsense2\_camera\_node-1] [INFO] [1776473383.479026128] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:1c.4/0000:02:00.0/0000:03:02.0/0000:3a:00.0/usb4/4-1/4-1:1.0/video4linux/video0 was found. [realsense2\_camera\_node-1] [INFO] [1776473383.479048396] [camera]: Device with name Intel RealSense D435I was found. [realsense2\_camera\_node-1] [INFO] [1776473383.479362031] [camera]: Device with port number 4-1 was found. [realsense2\_camera\_node-1] [INFO] [1776473383.479397420] [camera]: Device USB type: 3.2 [realsense2\_camera\_node-1] [INFO] [1776473383.479415589] [camera]: Resetting device… [image\_publisher\_node-3] [INFO] [1776473383.534470227] [navigation\_camera\_node]: param\_change\_callback [image\_publisher\_node-3] [INFO] [1776473383.539702611] [navigation\_camera\_node]: Reset filename as ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/nodes/blank\_image.png’ [image\_publisher\_node-3] [INFO] [1776473383.539726989] [navigation\_camera\_node]: File name for publishing image is : /home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/nodes/blank\_image.png [image\_publisher\_node-3] [INFO] [1776473383.591751664] [navigation\_camera\_node]: Flip horizontal image is : false [image\_publisher\_node-3] [INFO] [1776473383.591811646] [navigation\_camera\_node]: Flip flip\_vertical image is : false [image\_publisher\_node-4] [INFO] [1776473383.942835528] [gripper\_camera\_node]: param\_change\_callback [image\_publisher\_node-4] [INFO] [1776473383.943066018] [gripper\_camera\_node]: Reset filename as ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/nodes/blank\_image.png’ [image\_publisher\_node-4] [INFO] [1776473383.943092386] [gripper\_camera\_node]: File name for publishing image is : /home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/nodes/blank\_image.png [image\_publisher\_node-4] [INFO] [1776473383.993650019] [gripper\_camera\_node]: Flip horizontal image is : false [image\_publisher\_node-4] [INFO] [1776473383.993701233] [gripper\_camera\_node]: Flip flip\_vertical image is : false [rosbridge\_websocket-9] [INFO] [1776473384.420408615] [rosbridge\_websocket]: Rosbridge WebSocket server started on port 9090 [d435i\_accel\_correction-2] [INFO] [1776473384.450841768] [d435i\_accel\_correction\_node]: d435i\_accel\_correction\_node started [text\_to\_speech.py-17] [INFO] [1776473384.872944938] [text\_to\_speech]: Created! [text\_to\_speech.py-17] [INFO] [1776473384.875290271] [text\_to\_speech]: Running! [move\_to\_pregrasp.py-16] [INFO] [1776473385.832037743] [move\_to\_pregrasp]: Created! [move\_to\_pregrasp.py-16] [INFO] [1776473385.847500240] [move\_to\_pregrasp]: Waiting for the get joint states service… [Bool true-15] Setting parameter failed: (‘Invalid access to undeclared parameter(s)’, ) [stretch\_driver-8] [INFO] [1776473386.136830704] [stretch\_driver]: For use with S T R E T C H ™ RESEARCH EDITION from Hello Robot Inc. [stretch\_driver-8] [INFO] [1776473386.137302438] [stretch\_driver]: stretch\_driver started [INFO] [Bool true-15]: process has finished cleanly [pid 6348] [stretch\_driver-8] Key mapped to End-Of-Arm Tool: tool\_stretch\_dex\_wrist [stretch\_driver-8] [INFO] [1776473387.916802480] [stretch\_driver]: broadcast\_odom\_tf = True [stretch\_driver-8] [INFO] [1776473387.957316734] [stretch\_driver]: rate = 30.0 Hz [stretch\_driver-8] [INFO] [1776473387.958673020] [stretch\_driver]: twist timeout = 0.5 s [stretch\_driver-8] [INFO] [1776473387.960109963] [stretch\_driver]: base\_frame\_id = base\_link [stretch\_driver-8] [INFO] [1776473387.961340193] [stretch\_driver]: odom\_frame\_id = odom [stretch\_driver-8] [INFO] [1776473388.038419008] [stretch\_driver]: Changed to mode = position [move\_to\_pregrasp.py-16] [INFO] [1776473388.104284734] [move\_to\_pregrasp]: Received the joint limits. [move\_to\_pregrasp.py-16] [ERROR] [1776473388.104829454] [move\_to\_pregrasp]: Failed to get velocity limits for joint name: Joint.WRIST\_EXTENSION [realsense2\_camera\_node-1] [INFO] [1776473389.514831692] [camera]: Device with serial number 153222071854 was found. [realsense2\_camera\_node-1] [realsense2\_camera\_node-1] [INFO] [1776473389.514879767] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:1c.4/0000:02:00.0/0000:03:02.0/0000:3a:00.0/usb4/4-1/4-1:1.0/video4linux/video0 was found. [realsense2\_camera\_node-1] [INFO] [1776473389.514900158] [camera]: Device with name Intel RealSense D435I was found. [realsense2\_camera\_node-1] [INFO] [1776473389.515048802] [camera]: Device with port number 4-1 was found. [realsense2\_camera\_node-1] [INFO] [1776473389.515072406] [camera]: Device USB type: 3.2 [realsense2\_camera\_node-1] [INFO] [1776473389.515112415] [camera]: getParameters… [realsense2\_camera\_node-1] [INFO] [1776473389.876052536] [camera]: JSON file is loaded! (/home/hello-robot/ament\_ws/install/stretch\_core/share/stretch\_core/config/HighAccuracyPreset.json) [realsense2\_camera\_node-1] [INFO] [1776473389.876119866] [camera]: Device Name: Intel RealSense D435I [realsense2\_camera\_node-1] [INFO] [1776473389.876140283] [camera]: Device Serial No: 153222071854 [realsense2\_camera\_node-1] [INFO] [1776473389.876156376] [camera]: Device physical port: /sys/devices/pci0000:00/0000:00:1c.4/0000:02:00.0/0000:03:02.0/0000:3a:00.0/usb4/4-1/4-1:1.0/video4linux/video0 [realsense2\_camera\_node-1] [INFO] [1776473389.876173255] [camera]: Device FW version: 5.14.0 [realsense2\_camera\_node-1] [INFO] [1776473389.876187880] [camera]: Device Product ID: 0x0B3A [realsense2\_camera\_node-1] [INFO] [1776473389.876201680] [camera]: Sync Mode: On [realsense2\_camera\_node-1] [WARN] [1776473390.017139016] [camera]: re-enable the stream for the change to take effect. [realsense2\_camera\_node-1] [WARN] [1776473390.018226138] [camera]: re-enable the stream for the change to take effect. [realsense2\_camera\_node-1] [WARN] [1776473390.025107492] [camera]: re-enable the stream for the change to take effect. [realsense2\_camera\_node-1] [ERROR] [1776473390.025958261] [camera]: Given value, 63 is invalid. Set ROS param back to: 100 [realsense2\_camera\_node-1] [INFO] [1776473390.034927793] [camera]: Stopping Sensor: Depth Module [realsense2\_camera\_node-1] [INFO] [1776473390.035331146] [camera]: Stopping Sensor: RGB Camera [realsense2\_camera\_node-1] [INFO] [1776473390.035375765] [camera]: Stopping Sensor: Motion Module [realsense2\_camera\_node-1] [INFO] [1776473390.054835188] [camera]: Starting Sensor: Depth Module [realsense2\_camera\_node-1] [INFO] [1776473390.066651894] [camera]: Open profile: stream\_type: Depth(0), Format: Z16, Width: 424, Height: 240, FPS: 15 [realsense2\_camera\_node-1] [INFO] [1776473390.077300516] [camera]: Starting Sensor: RGB Camera [realsense2\_camera\_node-1] [INFO] [1776473390.078721046] [camera]: Open profile: stream\_type: Color(0), Format: RGB8, Width: 424, Height: 240, FPS: 15 [realsense2\_camera\_node-1] [INFO] [1776473390.102414469] [camera]: Starting Sensor: Motion Module [realsense2\_camera\_node-1] [INFO] [1776473390.104025159] [camera]: Open profile: stream\_type: Accel(0)Format: MOTION\_XYZ32F, FPS: 100 [realsense2\_camera\_node-1] [INFO] [1776473390.104064049] [camera]: Open profile: stream\_type: Gyro(0)Format: MOTION\_XYZ32F, FPS: 200 [realsense2\_camera\_node-1] [INFO] [1776473390.106878468] [camera]: RealSense Node Is Up! [realsense2\_camera\_node-1] [WARN] [1776473391.057941928] [camera]: XXX Hardware Notification:Motion Module failure,1.77647e+12,Error,Hardware Error [realsense2\_camera\_node-1] [WARN] [1776473391.057998907] [camera]: Hardware Notification:Motion Module failure,1.77647e+12,Error,Hardware Error ^C[realsense2\_camera\_node-1] [INFO] [1776473412.202613070] [rclcpp]: signal\_handler(signum=2) [realsense2\_camera\_node-1] [INFO] [1776473412.203267555] [camera]: Stop Sensor: Depth Module [realsense2\_camera\_node-1] [INFO] [1776473412.203292317] [camera]: Close Sensor. [realsense2\_camera\_node-1] [INFO] [1776473412.205014223] [camera]: Close Sensor - Done. [realsense2\_camera\_node-1] [INFO] [1776473412.205043386] [camera]: Stop Sensor: RGB Camera [realsense2\_camera\_node-1] [INFO] [1776473412.205055354] [camera]: Close Sensor. [image\_publisher\_node-3] [INFO] [1776473412.201488506] [rclcpp]: signal\_handler(signum=2) [image\_publisher\_node-4] [INFO] [1776473412.201485511] [rclcpp]: signal\_handler(signum=2) [tf2\_web\_republisher-5] Traceback (most recent call last): [tf2\_web\_republisher-5] File “/home/hello-robot/ament\_ws/install/tf2\_web\_republisher\_py/lib/tf2\_web\_republisher\_py/tf2\_web\_republisher”, line 33, in [tf2\_web\_republisher-5] sys.exit(load\_entry\_point(‘tf2-web-republisher-py’, ‘console\_scripts’, ‘tf2\_web\_republisher’)()) [tf2\_web\_republisher-5] File “/home/hello-robot/ament\_ws/build/tf2\_web\_republisher\_py/tf2\_web\_republisher\_py/tf2\_web\_republisher\_py.py”, line 241, in main [tf2\_web\_republisher-5] rclpy.spin(tf\_republisher\_node) #, executor) [tf2\_web\_republisher-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/ **init**.py”, line 222, in spin [tf2\_web\_republisher-5] executor.spin\_once() [tf2\_web\_republisher-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 739, in spin\_once [tf2\_web\_republisher-5] self.\_spin\_once\_impl(timeout\_sec) [tf2\_web\_republisher-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 728, in \_spin\_once\_impl [tf2\_web\_republisher-5] handler, entity, node = self.wait\_for\_ready\_callbacks(timeout\_sec=timeout\_sec) [tf2\_web\_republisher-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 711, in wait\_for\_ready\_callbacks [tf2\_web\_republisher-5] return next(self.\_cb\_iter) [tf2\_web\_republisher-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 608, in \_wait\_for\_ready\_callbacks [tf2\_web\_republisher-5] wait\_set.wait(timeout\_nsec) [tf2\_web\_republisher-5] KeyboardInterrupt [d435i\_accel\_correction-2] interrupt received, so shutting down [move\_to\_pregrasp.py-16] Traceback (most recent call last): [move\_to\_pregrasp.py-16] File “/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/move\_to\_pregrasp.py”, line 1025, in [move\_to\_pregrasp.py-16] main(sys.argv[1:]) [move\_to\_pregrasp.py-16] File “/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/move\_to\_pregrasp.py”, line 1018, in main [move\_to\_pregrasp.py-16] spin\_thread.join() [move\_to\_pregrasp.py-16] File “/usr/lib/python3.10/threading.py”, line 1096, in join [move\_to\_pregrasp.py-16] self.\_wait\_for\_tstate\_lock() [move\_to\_pregrasp.py-16] File “/usr/lib/python3.10/threading.py”, line 1116, in \_wait\_for\_tstate\_lock [move\_to\_pregrasp.py-16] if lock.acquire(block, timeout): [move\_to\_pregrasp.py-16] KeyboardInterrupt [stretch\_driver-8] Caught signal 2 [realsense2\_camera\_node-1] [INFO] [1776473412.210665039] [camera]: Close Sensor - Done. [realsense2\_camera\_node-1] [INFO] [1776473412.210693893] [camera]: Stop Sensor: Motion Module [realsense2\_camera\_node-1] [INFO] [1776473412.214595978] [camera]: Close Sensor. [configure\_video\_streams.py-12] [‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/configure\_video\_streams.py’, ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/config/configure\_video\_streams\_params.yaml’, ‘False’, ‘False’, ‘True’, ‘False’, ‘–ros-args’, ‘-r’, ‘\_\_node:=configure\_video\_streams\_realsense’, ‘–params-file’, ‘/tmp/launch\_params\_po\_6ldvq’] [configure\_video\_streams.py-12] Publishing reconfigured video stream [rosbridge\_websocket-9] registered capabilities (classes): [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] - \ [rosbridge\_websocket-9] Exiting due to SIGINT [configure\_video\_streams.py-11] [‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/configure\_video\_streams.py’, ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/config/configure\_video\_streams\_params.yaml’, ‘False’, ‘True’, ‘False’, ‘False’, ‘–ros-args’, ‘-r’, ‘\_\_node:=configure\_video\_streams\_overhead’, ‘–params-file’, ‘/tmp/launch\_params\_bsoytx4m’] [configure\_video\_streams.py-11] Publishing reconfigured video stream [configure\_video\_streams.py-13] [‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/configure\_video\_streams.py’, ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/config/configure\_video\_streams\_params.yaml’, ‘False’, ‘False’, ‘False’, ‘True’, ‘–ros-args’, ‘-r’, ‘\_\_node:=configure\_video\_streams\_gripper’, ‘–params-file’, ‘/tmp/launch\_params\_km6si3re’] [configure\_video\_streams.py-13] Publishing reconfigured video stream [text\_to\_speech.py-17] Traceback (most recent call last): [text\_to\_speech.py-17] File “/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/text\_to\_speech.py”, line 181, in [text\_to\_speech.py-17] main() [text\_to\_speech.py-17] File “/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/text\_to\_speech.py”, line 177, in main [text\_to\_speech.py-17] rclpy.shutdown() [text\_to\_speech.py-17] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/ **init**.py”, line 126, in shutdown [text\_to\_speech.py-17] \_shutdown(context=context) [text\_to\_speech.py-17] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py”, line 58, in shutdown [text\_to\_speech.py-17] return context.shutdown() [text\_to\_speech.py-17] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py”, line 102, in shutdown [text\_to\_speech.py-17] self.\_\_context.shutdown() [text\_to\_speech.py-17] rclpy.\_rclpy\_pybind11.RCLError: failed to shutdown: rcl\_shutdown already called on the given context, at ./src/rcl/init.c:241 [ERROR] [tf2\_web\_republisher-5]: process has died [pid 6318, exit code -2, cmd ‘/home/hello-robot/ament\_ws/install/tf2\_web\_republisher\_py/lib/tf2\_web\_republisher\_py/tf2\_web\_republisher --ros-args -r \_\_node:=tf2\_web\_republisher\_node’]. [INFO] [robot\_state\_publisher-7]: process has finished cleanly [pid 6322] [INFO] [image\_publisher\_node-3]: process has finished cleanly [pid 6314] [INFO] [image\_publisher\_node-4]: process has finished cleanly [pid 6316] [ERROR] [move\_to\_pregrasp.py-16]: process has died [pid 6351, exit code -2, cmd ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/move\_to\_pregrasp.py /home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/config/configure\_video\_streams\_params.yaml --ros-args’]. [configure\_video\_streams.py-12] Traceback (most recent call last): [configure\_video\_streams.py-12] File “/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/configure\_video\_streams.py”, line 1110, in [configure\_video\_streams.py-12] rclpy.shutdown() [configure\_video\_streams.py-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/ **init**.py”, line 126, in shutdown [configure\_video\_streams.py-12] \_shutdown(context=context) [configure\_video\_streams.py-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py”, line 58, in shutdown [configure\_video\_streams.py-12] return context.shutdown() [configure\_video\_streams.py-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py”, line 102, in shutdown [configure\_video\_streams.py-12] self.\_\_context.shutdown() [configure\_video\_streams.py-12] rclpy.\_rclpy\_pybind11.RCLError: failed to shutdown: rcl\_shutdown already called on the given context, at ./src/rcl/init.c:241 [ERROR] [Empty “{}”-14]: process has died [pid 6341, exit code -2, cmd ‘/opt/ros/humble/bin/ros2 service call /reinitialize\_global\_localization std\_srvs/srv/Empty “{}”’]. [INFO] [joint\_state\_publisher-6]: process has finished cleanly [pid 6320] [INFO] [rosbridge\_websocket-9]: process has finished cleanly [pid 6326] [INFO] [rosapi\_node-10]: process has finished cleanly [pid 6328] [INFO] [d435i\_accel\_correction-2]: process has finished cleanly [pid 6312] [INFO] [configure\_video\_streams.py-11]: process has finished cleanly [pid 6330] [INFO] [configure\_video\_streams.py-13]: process has finished cleanly [pid 6336] [ERROR] [text\_to\_speech.py-17]: process has died [pid 6354, exit code 1, cmd ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/text\_to\_speech.py gtts --ros-args’]. [realsense2\_camera\_node-1] [INFO] [1776473412.542464462] [camera]: Close Sensor - Done. [ERROR] [configure\_video\_streams.py-12]: process has died [pid 6333, exit code 1, cmd ‘/home/hello-robot/ament\_ws/install/stretch\_web\_teleop/lib/stretch\_web\_teleop/configure\_video\_streams.py /home/hello-robot/ament\_ws/install/stretch\_web\_teleop/share/stretch\_web\_teleop/config/configure\_video\_streams\_params.yaml False False True False --ros-args -r \_\_node:=configure\_video\_streams\_realsense --params-file /tmp/launch\_params\_po\_6ldvq’]. [INFO] [realsense2\_camera\_node-1]: process has finished cleanly [pid 6310] [INFO] [stretch\_driver-8]: process has finished cleanly [pid 6324] Thanks so much! ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [April 20, 2026, 6:12pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/2 "2026-04-20T18:12:52Z")
Hi @Egg_Cag, Let’s first focus on resolving the new install issue. Once that’s working, we can switch back to the web teleop. From what we’ve seen, the issue appears to be related to the RealSense installation . We’ve identified a fix but haven’t pushed it to the main branch yet. In the meantime, we can test it directly. Could you please do the following: ```auto cd ~/repos/stretch_install git fetch git checkout fix/stretch-install-20.04 ``` Then rerun: ```auto ./stretch_new_robot_install.sh -u ``` Let me know how that goes, and we’ll take it from there. For reference, the fix is based on this [PR](https://github.com/hello-robot/stretch_install/blob/master/factory/20.04/stretch_initial_setup.sh). Thanks! Jason * * * ---
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [April 21, 2026, 3:14am UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/3 "2026-04-21T03:14:33Z")
It didn’t help at all since that branch also installs it from [intel.com](http://intel.com), but I changed stretch\_install\_system.sh in factory/22.04 to include the new apt source, and now it works. With that, the stretch\_web\_teleop now mostly works, except I don’t have camera input available. There doesn’t seem to be an error in my output now and stretch\_camera\_streams\_check.py runs without any issues, so I’m not sure how to debug this. Thank you so much for your help! Here’s the stretch\_install\_system.sh (i’m a new user so cannot include it as an attachment): #!/bin/bash set -e REDIRECT\_LOGDIR=“$HOME/stretch\_user/log” if getopts “:l:” opt && [[$opt == “l” && -d $OPTARG]]; then REDIRECT\_LOGDIR=$OPTARG fi REDIRECT\_LOGFILE=“$REDIRECT\_LOGDIR/stretch\_install\_system.`date '+%Y%m%d%H%M'`\_redirected.txt” function install { sudo apt-get install -y --allow-downgrades “$@” \>\> $REDIRECT\_LOGFILE } echo “###########################################” echo “INSTALLATION OF SYSTEM WIDE PACKAGES” echo “###########################################” echo “Apt update & upgrade (this might take a while)” sudo apt-add-repository universe -y \>\> $REDIRECT\_LOGFILE sudo apt-get --yes update \>\> $REDIRECT\_LOGFILE sudo apt-get --yes upgrade &\>\> $REDIRECT\_LOGFILE echo “Install zip & unzip” install zip unzip echo “Install Curl” install curl echo “Install ca-certificates” install ca-certificates echo “Install gnupg” install gnupg echo “Install Git” install git echo “Install rpl” install rpl echo “Install ipython3” install ipython3 echo “Install pip3” install python3-pip echo “Install Emacs packages” install emacs yaml-mode echo “Install nettools” install net-tools echo “Install wget” install wget echo “Install vim” install vim echo “Install pyserial” install python3-serial echo “Install Port Audio” install portaudio19-dev echo “Install lm-sensors & nvme-cli” install lm-sensors install nvme-cli echo “Install cheese for camera testing” install cheese echo “Install SSH Server” install ssh echo “Install Chromium” install chromium-browser echo “Install htop” install htop echo “Install Ubuntu Sounds” install ubuntu-sounds echo “Install BleachBit” install bleachbit echo “Install APT HTTPS” install apt-transport-https echo “Install Network Security Services libraries” install libnss3-tools echo “Install uv” curl -LsSf [https://astral.sh/uv/install.sh](https://astral.sh/uv/install.sh) | sh &\>\> $REDIRECT\_LOGFILE echo “” # [Ubuntu-Install-Debians — ROS 2 Documentation: Humble documentation](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) echo “###########################################” echo “INSTALLATION OF ROS 2 HUMBLE” echo “###########################################” echo “Setting up keys” sudo rm -f /usr/share/keyrings/ros-archive-keyring.gpg sudo rm -f /etc/apt/sources.list.d/ros2.list export ROS\_APT\_SOURCE\_VERSION=$(curl -s [https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest](https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest) | grep -F “tag\_name” | awk -F" ‘{print $4}’) curl -L -o /tmp/ros2-apt-source.deb “[https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS\_APT\_SOURCE\_VERSION}/ros2-apt-source\_${ROS\_APT\_SOURCE\_VERSION}.$](https://github.com/ros-infrastructure/ros-apt-source/releases/download/$%7BROS_APT_SOURCE_VERSION%7D/ros2-apt-source_$%7BROS_APT_SOURCE_VERSION%7D.$)(. /etc/os-release && echo ${UBUNTU\_CODENAME:-${VERSION\_CODENAME}})\_all.deb” &\>\> $REDIRECT\_LOGFILE sudo dpkg -i /tmp/ros2-apt-source.deb \>\> $REDIRECT\_LOGFILE echo “Apt update” sudo apt-get --yes update \>\> $REDIRECT\_LOGFILE echo “Install ROS 2 Humble (this might take a while)” install ros-humble-desktop-full # [ROS Developer Tools - Now in Binary Form! - ROS General - Open Robotics Discourse](https://discourse.ros.org/t/ros-developer-tools-now-in-binary-form/29802) echo “Install ROS 2 Dev Tools” install ros-dev-tools echo “Install colcon” install python3-colcon-common-extensions install python3-colcon-clean echo “Install rosdep” install python3-rosdep echo “Configure rosdep” if [-f “/etc/ros/rosdep/sources.list.d/20-default.list”]; then sudo rm /etc/ros/rosdep/sources.list.d/20-default.list fi sudo rosdep init \>\> $REDIRECT\_LOGFILE echo “Install vcstool” install python3-vcstool echo “” echo “###########################################” echo “INSTALLATION OF ADDITIONAL ROS HUMBLE PKGS” echo “###########################################” echo “Install packages to work with URDFs” install liburdfdom-tools meshlab install ros-humble-urdfdom-py echo “Install joint state GUI package” install ros-humble-joint-state-publisher-gui echo “Install IMU visualization plugin for RViz and IMU filter” install ros-humble-rviz-imu-plugin ros-humble-imu-filter-madgwick echo “Install robot localization package for use with IMU and wheel odometry” install ros-humble-robot-localization echo “Install teleop packages” install ros-humble-teleop-twist-keyboard echo “” echo “###########################################” echo “INSTALLATION OF INTEL D435i” echo “###########################################” echo “Register the librealsense APT server’s public key” function register\_librealsense\_apt\_server { curl -sSf [https://librealsense.realsenseai.com/Debian/librealsenseai.asc](https://librealsense.realsenseai.com/Debian/librealsenseai.asc) | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg \> /dev/null } register\_librealsense\_apt\_server &\>\> $REDIRECT\_LOGFILE echo “Add the librealsense APT server to the list of APT repositories” function add\_librealsense\_apt\_server { echo “deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] [https://librealsense.realsenseai.com/Debian/apt-repo](https://librealsense.realsenseai.com/Debian/apt-repo) `lsb_release -cs` main” | sudo tee /etc/apt/sources.list.d/librealsense.list } add\_librealsense\_apt\_server &\>\> $REDIRECT\_LOGFILE echo “Remove old records in case of upgrading” sudo rm -f /etc/apt/sources.list.d/realsense-public.list echo “Apt update” sudo apt-get --yes update \>\> $REDIRECT\_LOGFILE echo “Install librealsense2 packages” install librealsense2=2.55.1\* librealsense2-udev-rules librealsense2-utils=2.55.1\* librealsense2-dev=2.55.1\* librealsense2-dbg=2.55.1\* librealsense2-gl=2.55.1\* echo “” echo “###########################################” echo “INSTALLATION OF WEB INTERFACE” echo “###########################################” echo “Register the nodesource APT server’s public key” function register\_nodesource\_apt\_server { curl -fsSL [https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key](https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key) | sudo gpg --batch --yes --dearmor -o /etc/apt/keyrings/nodesource.gpg } register\_nodesource\_apt\_server &\>\> $REDIRECT\_LOGFILE echo “Add the nodesource APT server to the list of APT respositories” function add\_nodesource\_apt\_server { NODE\_MAJOR=21 echo “deb [signed-by=/etc/apt/keyrings/nodesource.gpg, arch=amd64] [https://deb.nodesource.com/node\_$NODE\_MAJOR.x](https://deb.nodesource.com/node_$NODE_MAJOR.x) nodistro main” | sudo tee /etc/apt/sources.list.d/nodesource.list } add\_nodesource\_apt\_server &\>\> $REDIRECT\_LOGFILE echo “Apt update” sudo apt-get --yes update \>\> $REDIRECT\_LOGFILE echo “Install NodeJS” install nodejs echo “Install PyPCL and PyKDL” install python3-pcl python3-pykdl screen echo “Install PM2” sudo npm install -g pm2 &\>\> $REDIRECT\_LOGFILE echo “” echo “###########################################” echo “INSTALLATION OF REMOTE DESKTOP” echo “###########################################” echo “Install Sunshine Remote Desktop Server” wget [https://github.com/LizardByte/Sunshine/releases/download/v0.21.0/sunshine-ubuntu-22.04-amd64.deb](https://github.com/LizardByte/Sunshine/releases/download/v0.21.0/sunshine-ubuntu-22.04-amd64.deb) -O /tmp/sunshine.deb &\>\> $REDIRECT\_LOGFILE install /tmp/sunshine.deb echo “Add Sunshine uinput udev rule” function add\_sunshine\_uinput\_rule { echo ‘KERNEL==“uinput”, SUBSYSTEM==“misc”, OPTIONS+=“static\_node=uinput”, TAG+=“uaccess”’ | sudo tee /etc/udev/rules.d/85-sunshine.rules } add\_sunshine\_uinput\_rule &\>\> $REDIRECT\_LOGFILE echo “Setup Sunshine apps” sudo cp ./sunshine\_apps.json /usr/share/sunshine/apps.json echo “Setup Sunshine systemd unit” mkdir -p ~/.config/systemd/user/ cp ./sunshine.service ~/.config/systemd/user/sunshine.service ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [April 21, 2026, 4:06pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/4 "2026-04-21T16:06:15Z")
That’s great news that you were able to get the installation working. Before we dive into the camera issue, could you please share your robot’s serial number? Now, focusing on the camera issue in `stretch_web_teleop`, could you share a bit more detail on what you’re observing? - Is everything else in web teleop working as expected aside from the camera streams? - What do you see for the camera feeds (e.g., black screen, frozen image, etc.)? - Are both camera streams affected, or just one? - Do you see any relevant logs or errors when running web teleop? With a bit more detail, we can narrow this down quickly. Thanks! Best, Jason ---
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [April 21, 2026, 4:31pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/5 "2026-04-21T16:31:40Z")
Hello! Thanks for the quick reply - the serial number of this robot is stretch-re2-2038, and I’m running into the same issue in another robot (stretch-re2-2049). Everything else in web teleop works as intended, the camera feed is a black screen. Since this is a stretch 2, we don’t have a wrist camera, so I’m only seeing one black screen (which I believe is as intended). Here is the console output from the browser when running ./launch\_interface.py and connecting from a workstation. [console-export-2026-4-21\_9-23-49.log](https://forum.hello-robot.com/uploads/short-url/rjKZqyKEOtjriqec9sV3ruh8Uqx.log) (4.6 KB) I’m not seeing any other relevant errors when running web\_teleop, but will also attach more log files later as I’m trying to observe the output of web\_interface.launch.py right now. Also, here are the results of “stretch\_system\_check.py -v” for more context: Model = Stretch 2 Tool = DexWrist 2 w/ Gripper Batch = nina Serial Number = stretch-re2-2038 -— Checking Hardware ---- [Pass] Comms are ready hello-wacc present hello-motor-left-wheel present hello-pimu present hello-lrf present hello-dynamixel-head present hello-dynamixel-wrist present hello-motor-arm present hello-motor-right-wheel present hello-motor-lift present hello-respeaker present stretch\_gripper pinged wrist\_pitch pinged wrist\_roll pinged wrist\_yaw pinged head\_pan pinged head\_tilt pinged hello-motor-lift pinged hello-motor-arm pinged hello-motor-left-wheel pinged hello-motor-right-wheel pinged [Pass] Actuators are ready D435i USB speed OK (5000 Mbps, SN=153222071854, sysfs=4-1, product=Intel(R) RealSense™ Depth Camera 435i) [Pass] Sensors are ready [Pass] Battery voltage is 13.6 V -— Checking Software ---- [Pass] Ubuntu 22.04 is ready [Pass] All APT pkgs are setup correctly [Pass] Firmware is up-to-date hello-pimu = v0.8.3p6 hello-wacc = v0.5.1p3 hello-motor-arm = v0.7.6p5 hello-motor-lift = v0.7.6p5 hello-motor-left-wheel = v0.7.6p5 hello-motor-right-wheel = v0.7.6p5 [Pass] Python pkgs are up-to-date hello-robot-stretch-body = 0.7.31 hello-robot-stretch-body-tools = 0.7.16 hello-robot-stretch-tool-share = 0.3.4 hello-robot-stretch-factory = 0.5.7 hello-robot-stretch-diagnostics = 0.0.14 hello-robot-stretch-urdf = 0.1.2 [Pass] ROS2 Humble is ready Workspace at ~/ament\_ws/src/stretch\_ros2 ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [April 21, 2026, 5:15pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/6 "2026-04-21T17:15:45Z")
Thanks for the detailed update, this is very helpful. Good to see that the robot is passing system checks and that everything else in web teleop is working as expected. For Stretch 2, web teleop uses the wide-angle navigation camera (not the D435i). Could you confirm which camera is being used on your system? Do you have another camera other than the Realsense D435i? Best, Jason ---
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [April 21, 2026, 5:40pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/7 "2026-04-21T17:40:08Z")
Is this the navigation camera? If so, how can I connect it to the gimbal d435 sits in? This is from the other robot, the one I have been mentioning so far doesn’t have it. ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/2X/f/f3cba0075e107972397d3d43ed2eb90a280b83a1.jpeg) ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/2X/1/14812b5e1c7e1efce3586dbc0e4c642645dc5fe3.jpeg) ---
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [April 21, 2026, 5:58pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/8 "2026-04-21T17:58:33Z")
Alternatively, where in stretch\_web\_teleop can I change to enable viewing the rotated d435 image instead? ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [April 24, 2026, 1:36am UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/9 "2026-04-24T01:36:02Z")
Hi @Egg_Cag, Thanks for sharing all the details, that’s really helpful. In your specific case, since you only have the D435i camera, everything should still work correctly in web teleop. So let’s focus on why you’re seeing a black screen. Could you check whether the camera stream is working properly in ROS 2? In Terminal 1, run: ```auto ros2 launch stretch_core d435i_low_resolution.launch.py ``` Then in Terminal 2, run: ```auto ros2 topic echo /camera/color/image_raw ``` If you see output in Terminal 2, that means the D435i camera is working correctly at the ROS level. Could you please confirm whether you see output there? If not, could you share the output logs from Terminal 1 so we can take a closer look? Best, Jason ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [May 4, 2026, 4:57pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/10 "2026-05-04T16:57:21Z")
Hi @Egg_Cag, Just checking in, were you able to test the steps I shared earlier to verify the D435i camera stream? Let me know what you’re seeing and I can help from there. Best, Jason ---
**Author:** ![Egg\_Cag](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/egg_cag/32/1156_2.png) [@Egg\_Cag](https://forum.hello-robot.com/u/Egg_Cag)\ **Post date:** [May 8, 2026, 10:31pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/11 "2026-05-08T22:31:43Z")
Hello, My apologies for the very late response! We were able to get the camera stream working and changed which camera was shown on the web teleop interface, and it now works. We were in a rush so forgot to come back to this forum. I’ll also be closing the other thread asking for a 3d printed part. Thank you so much again for your help! ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [May 8, 2026, 11:15pm UTC](https://forum.hello-robot.com/t/stretch-2-workspace-update-fail-due-to-realsense-apt/1485/12 "2026-05-08T23:15:22Z")
Hi @Egg_Cag, No worries at all, and thanks for the update. Glad to hear you were able to get the camera stream working and switch the correct camera in web teleop. Best, Jason