RealSenseNodeFactory segfault during launch

[ghost]

Per @doronhi request, I'm creating a new issue for this error. Originally posted in #1191.

My setup:
OS: Ubuntu 18.04
Camera: d435i
Firmware: 5.12.5.0
librealsense version: 2.35.0

I'm running into the launch issue using rs_rgbd.launch and rs_camera.launch. The launch files worked before but I recently updated to librealsense 2.35.0 and the launch file no longer works. I narrowed the error down to the nodelet.launch.xml specfically in the RealSenseNodeFactory class. The realsense2_camera_manager failed to launch due to segfault.

Thread 25 "nodelet" received signal SIGSEGV, Segmentation fault.

I enabled gdb and ran a backtrace:

    this=<optimized out>) at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/types.h:415
#34 librealsense::sensor_base::get_stream_profiles (this=<optimized out>, tag=<optimized out>)
    at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/sensor.cpp:196
#35 0x00007fffda494e6c in rs2_get_stream_profiles (sensor=0x7fffa4091570, error=0x7fffa8b2c238)
    at /home/jenkins/workspace/LRS_SDK_CI_Debian/src/src/rs.cpp:306
#36 0x00007fffdb4f1a4b in rs2::sensor::get_stream_profiles (this=0x7fffa4090f28)
    at /usr/include/librealsense2/hpp/rs_sensor.hpp:228
#37 0x00007fffdb4d6594 in realsense2_camera::BaseRealSenseNode::enable_devices (this=0x7fffa401e130)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:903
#38 0x00007fffdb4c9aa5 in realsense2_camera::BaseRealSenseNode::publishTopics (this=0x7fffa401e130)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:191
#39 0x00007fffdb490d1f in realsense2_camera::RealSenseNodeFactory::StartDevice (this=0x55555624c940)
    at /home/truhoang/1-Project_Code/ubtech_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:320

[ghost]

Downgraded librealsense to v2.33.1 and relaunch shows no segfault error. But new firmware installed using realsense-viewer (05.12.05.00) shows the following error:

[ INFO] [1591148280.396089253]:  
 02/06 18:38:00,406 ERROR [140402921432832] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 02/06 18:38:00,427 WARNING [140403035809536] (rs.cpp:283) null pointer passed for argument "device"
[ WARN] [1591148280.427877974]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1591148280.427915510]: The requested device with device name containing d435 is NOT found. Will Try again.

On realsense-viewer the camera is shown connected to a USB 3.2 port

[ghost]

Downgraded librealsense to v2.33.1 and relaunch shows no segfault error. But new firmware installed using realsense-viewer (05.12.05.00) shows the following error:

[ INFO] [1591148280.396089253]:  
 02/06 18:38:00,406 ERROR [140402921432832] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
 02/06 18:38:00,427 WARNING [140403035809536] (rs.cpp:283) null pointer passed for argument "device"
[ WARN] [1591148280.427877974]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1591148280.427915510]: The requested device with device name containing d435 is NOT found. Will Try again.

On realsense-viewer the camera is shown connected to a USB 3.2 port

Downgraded the firmware to 5.12.3 and the above error goes away

[chaitudarz]

hello @truhoang-ubtrobot could you tell me how to downgrade the firmware to 5.12.3, as I have the same error https://github.com/IntelRealSense/realsense-ros/issues/1228#issuecomment-638309946.

I have used the method 1 from this page https://github.com/IntelRealSense/realsense-ros.

Regards,
Chaitanya

[ghost]

@chaitudarz

1. You can download the 5.12.3 firmware file from here: https://dev.intelrealsense.com/docs/firmware-releases
2. Plug your realsense camera into your PC
3. Open realsense-viewer
4. Click on More->Update Firmware and select the downloaded .bin file
5. Follow the prompts

[RealSenseSupport]

Hi,

Are you still experiencing this? We are unable to reproduce this issue with the latest F/W and RealSenseViewer.

Thanks

[chaitudarz]

@truhoang-ubtrobot,

Thanks for the reply. Now it's working totally fine. :)

@RealSenseSupport

Nope, Now I am not facing any more issues.

Thank you :)

[ghost]

@RealSenseSupport
New realsense-ros release (2.2.14) fixes the issue mentioned.

[ghost]

@RealSenseSupport Previous comment refers to L515. Tested with D435i and the same issue occurs

[RealSenseSupport]

Hi,

Will you be needing further help with this? If we don’t hear from you in 7 days, this issue will be closed.

Thanks

[ghost]

Hi yes, I still have the same issue

[RealSenseSupport]

This is occurring on the latest version of RealSenseROS+LibRealSense?
And could you please specify which hardware you are attaching the camera to... NUC, JETSON, RasPi, etc?
And the exact command line you are using to launch and the full screen output leading up to the error.
Much Thanks

[RealSenseSupport]

@truhoang-ubtrobot Seems your problem is similar to #1408 (comment) Could you please check if you have 99-realsense-libusb.rules under /etc/udev/rules.d/?

[MartyG-RealSense]

Case closed due to no further comments received.