RS Camera Image Raw stops publishing when launching with pointcloud #2077
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Hi @dverstandig As a first step in investigating your problem, could you test whether including initial_reset:=true in your roslaunch instruction to reset the camera at launch makes a difference, please. For example: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud initial_reset:=true |
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Thanks for the quick reply. Even with initial reset, I get this error: 13/09 15:23:40,743 ERROR [546375188864] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY As a side note, I have been launching the pointcloud by setting the enable_pointcloud param to true. Should I be launching it using filters instead? |
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enable_pointcloud was deprecated as far back as the previous ROS wrapper realsense_camera for the original generation of RealSense cameras. The documentation says simply that it was set to false by default because of "performance issues" and that using filters:=pointcloud is recommended instead. enable_pointcloud should still work though, even though it is not the recommended method of enabling a pointcloud. Do you experience the error if you use a custom camera configuration to set depth and color to a low resolution of 640x480 and 30 FPS for both using the roslaunch instruction below? roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 filters:=pointcloud |
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I do not seem to have this problem when running just the realsense2_camera launch file. Is this something you've encountered when trying to use the realsense as part of a bigger project? |
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Are you using a Jetson Nano, please? If you are then Intel recommend in their Jetson documentation to enable the barrel jack power connector to provide extra power. https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md |
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I am using a Jetson Xavier NX |
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I recalled that there have been issues with Xavier NX and pointclouds, as described in #1967 In that discussion, a RealSense user in #1967 (comment) said that they were able to get it working successfully by using older SDK / wrapper versions. |
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Hi, Tried with Jetson Xavier NX. Not working. The node automatically finishes and cannot visualise any output. The intel v2.45.0 of librealsense seems to be working fine. Meaning I can visualise data from realsense-viewer. Whereas while using v2.41.0 of librealsense, it does not work fine |
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Hi @AswinkarthikeyenAK I would recommend avoiding using librealsense SDK 2.41.0 if possible, as it had an issue with V4L that was corrected in version 2.42.0. |
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Hi @MartyG-RealSense , I notice that the ros node stops automatically after few seconds. Is there any way to fix that. Thanks |
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@AswinkarthikeyenAK Does stability improve if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch? roslaunch realsense2_camera rs_camera.launch initial_reset:=true |
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Hello,
I am running into an issue when trying to launch the realsense camera using the realsense-ros wrapper.
When launching with the pointcloud set to true, I get the following error, and image_raw stops publishing:
(handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
(sensor.cpp:517) acquire_power failed: failed to set power state
However, the node is able to launch fine without the pointcloud.
I am on version 2.3.1 of the realsense ros wrapper and 2.48 of librealsense.
Any help would be appreciated!
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