# Stretch3 RealSense D435I Camera Stopped Working **URL:** \ **Category:** Ask\ **Created:** [January 16, 2026, 4:21pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437 "2026-01-16T16:21:30Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![nabin](https://avatars.discourse-cdn.com/v4/letter/n/d9b06d/32.png) [@nabin](https://forum.hello-robot.com/u/nabin)\ **Post date:** [January 16, 2026, 4:21pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437/1 "2026-01-16T16:21:30Z")
I get following error when running the camera nodes with: `ros2 launch stretch_core d435i_basic.launch.py` and `ros2 launch stretch_core d435i_high_resolution.launch.py` ```bash [realsense2_camera_node-1] [ERROR] [1768579442.038267808] [camera]: Given value, 1280x720x15 is invalid. Run 'ros2 param describe depth_module.depth_profile' to get the list of supported profiles. Setting ROS param back to: 640x480x15 [realsense2_camera_node-1] [ERROR] [1768579442.038597226] [camera]: Given value, 1280x720x15 is invalid. Run 'ros2 param describe depth_module.infra_profile' to get the list of supported profiles. Setting ROS param back to: 640x480x15 [realsense2_camera_node-1] [WARN] [1768579442.040460305] [camera]: re-enable the stream for the change to take effect. [realsense2_camera_node-1] [ERROR] [1768579442.040728430] [camera]: Given value, 63 is invalid. Set ROS param back to: 100 [realsense2_camera_node-1] [INFO] [1768579442.043678593] [camera]: Stopping Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1768579442.043739321] [camera]: Stopping Sensor: RGB Camera [realsense2_camera_node-1] [INFO] [1768579442.043767414] [camera]: Stopping Sensor: Motion Module [realsense2_camera_node-1] [INFO] [1768579442.059787462] [camera]: Starting Sensor: Depth Module [realsense2_camera_node-1] [INFO] [1768579442.062535992] [camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15 [realsense2_camera_node-1] [INFO] [1768579442.066484056] [camera]: Starting Sensor: RGB Camera [realsense2_camera_node-1] [INFO] [1768579442.069969090] [camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15 [realsense2_camera_node-1] [INFO] [1768579442.096392982] [camera]: Starting Sensor: Motion Module [realsense2_camera_node-1] [INFO] [1768579442.098136710] [camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100 [realsense2_camera_node-1] [INFO] [1768579442.098159044] [camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200 [realsense2_camera_node-1] [INFO] [1768579442.099690185] [camera]: RealSense Node Is Up! [realsense2_camera_node-1] [WARN] [1768579448.763710503] [camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.76858e+12,Warn,Frames Timeout [realsense2_camera_node-1] [WARN] [1768579448.775212795] [camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.76858e+12,Warn,Frames Timeout [realsense2_camera_node-1] [WARN] [1768579453.768696235] [camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.76858e+12,Warn,Frames Timeout ``` Sometimes, we get few image frames immediately after starting the above nodes, but then it stops working and we continuously get `XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.76858e+12,Warn,Frames Timeout` error. We thought it was the hardware issue and tested with another working RealSense D435I camera, but got the same behavior with same errors. The camera works on low resolution mode with: `ros2 launch stretch_core d435i_low_resolution.launch.py`, still not very reliably, so we think it might not be a hardware issue after all. ---
**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:** [January 16, 2026, 6:54pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437/2 "2026-01-16T18:54:38Z")
Hi @nabin, Thanks for sharing the logs, they suggest that the requested **1280x720x15** profile for depth/infra is being rejected on your system. To help me pinpoint this quickly, could you please run these commands on your robot and share the outputs? **1) Check firmware details + librealsense (SDK) version** ```auto rs-enumerate-devices -s rs-enumerate-devices --version ``` **2) What ROS thinks is supported** ```auto ros2 launch stretch_core d435i_high_resolution.launch.py ros2 param describe /camera depth_module.depth_profile ros2 param describe /camera depth_module.infra_profile ``` **3) What is currently set** ```auto ros2 param get /camera depth_module.depth_profile ros2 param get /camera depth_module.infra_profile ``` **4) RealSense ROS driver version** ```auto grep "" $(ros2 pkg prefix realsense2_camera)/share/realsense2_camera/package.xml ``` If possible, could you also share the full camera launch log from startup? Also, as a quick sanity check, would **640x480x15** work for your use case? If so, that may be a simple fix. Thanks, Jason ---
**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\ **Post date:** [January 22, 2026, 10:06pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437/3 "2026-01-22T22:06:08Z")
Hi @nabin, Just wanted to follow up on my previous message to see if you had a chance to run the RealSense and ROS parameter checks I shared. Those outputs will help confirm whether this is a profile / driver mismatch or something else. Whenever you have a moment, feel free to send them over and I’ll take a look. Best, Jason ---
**Author:** ![nabin](https://avatars.discourse-cdn.com/v4/letter/n/d9b06d/32.png) [@nabin](https://forum.hello-robot.com/u/nabin)\ **Post date:** [January 29, 2026, 2:34pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437/4 "2026-01-29T14:34:05Z")
Hi @Jason_Koubi , **Likely Issue:** The issue started after replacing the faulty camera cable. Although the camera was working fine for some time after the replacement. We get following log regarding the USB type: ```bash [realsense2_camera_node-1] [WARN] [1769696657.424635103] [camera]: Device XXX is connected using a 2.1 port. Reduced performance is expected. ``` We reverted back to the old cable, and it seems to solve the issue. ### Diagnostic Details: **1) Check firmware details + librealsense (SDK) version** ```bash hello-robot@stretch:~$ rs-enumerate-devices -s Device Name Serial Number Firmware Version Intel RealSense D405 XXXXXXXXXXXX 5.12.14.100 Intel RealSense D435I XXXXXXXXXXXX 5.15.1 hello-robot@stretch-se3-3046:~$ rs-enumerate-devices --version rs-enumerate-devices version: 2.55.1.0 hello-robot@stretch:~$ ``` **2) What ROS thinks is supported** ```bash hello-robot@stretch:~$ ros2 param describe /camera depth_module.depth_profile Parameter name: depth_module.depth_profile Type: string Description: Available options are: 1280x720x6 256x144x90 480x270x15 480x270x30 480x270x6 480x270x60 640x360x30 640x480x15 640x480x30 640x480x6 848x480x10 848x480x6 848x480x8 Constraints: hello-robot@stretch:~$ ros2 param describe /camera depth_module.infra_profile Parameter name: depth_module.infra_profile Type: string Description: Available options are: 1280x720x6 480x270x15 480x270x30 480x270x6 480x270x60 640x360x30 640x480x15 640x480x30 640x480x6 848x480x10 848x480x6 848x480x8 Constraints: hello-robot@stretch-se3-3046:~$ ``` **3) What is currently set** ```bash hello-robot@stretch:~$ ros2 param get /camera depth_module.depth_profile String value is: 640x480x15 hello-robot@stretch:~$ ros2 param get /camera depth_module.infra_profile String value is: 640x480x15 hello-robot@stretch-se3-3046:~$ ``` **4) RealSense ROS driver version** ```bash hello-robot@stretch:~$ grep "" $(ros2 pkg prefix realsense2_camera)/share/realsense2_camera/package.xml 4.55.1 ``` Thanks! ---
**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:** [January 29, 2026, 6:46pm UTC](https://forum.hello-robot.com/t/stretch3-realsense-d435i-camera-stopped-working/1437/5 "2026-01-29T18:46:42Z")
Hi Nabin, Thanks for the detailed logs, very helpful. I’m glad to hear that reverting to the original cable resolved the issue. That warning about the D435i being detected on a USB 2.x connection explains the behavior. The D435i must be connected over **USB 3** to reliably support higher-bandwidth depth/infra profiles, and a USB2 connection can cause profiles to be rejected. Since reverting to the old cable resolves it, the replacement cable is likely negotiating as USB2. Best, Jason