[ROS1 Melodic D435i] When "rs_multiple_devices.launch" is launched, "Hardware Notification: Depth stream start failure,1.65875e+12,Error, Hardware Error" and then freezes.

[ImaiKota]

When I run

roslaunch realsense2_camera rs_multiple_devices.launch

with two D435i devices, it displays

Hardware Notification: Depth stream start failure,1.65875e+12,Error, Hardware Error

and then the Laptop is frozen.

Environment:

• Camera model: D435i
• OS: Ubuntu 18.04
• Kernel version: 5.4.0-100-generic
• ROS: Melodic
• RealSense SDK: I installed it by
  sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
• realsense-ros: I installed it by
  sudo apt-get install ros-melodic-realsense2-camera
sudo apt-get install ros-melodic-realsense2-description

The following is a screen shot of the warning message.

[ImaiKota]

I tried to run it with initial_reset:=true option, but the situation did not change.

[ImaiKota]

The error "Hardware Notification: Depth stream start failure,1.65875e+12,Error, Hardware Error" sometimes appeared even when running

roslaunch realsense2_camera rs_camera.launch

with a single D435i.

[MartyG-RealSense]

Hi @ImaiKota I note that you first installed the librealsense SDK from packages and then used the RealSense ROS wrapper's Method 1 instructions, which install both librealsense and the ROS wrapper from packages at the same time. The librealsense SDK will therefore have been installed twice, which may lead to conflicts between the installations.

I would recommend first uninstalling all RealSense related packages and then re-performing the Method 1 procedure to install librealsense and the ROS wrapper together from packages.

All RealSense-related packages can be uninstalled with the instruction below:

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

[ImaiKota]

After uninstalling all packages related to realsense, I installed the ros package and SDK using method 1 and the problem was solved. Thank you very much!

[ImaiKota]

Sorry, the same problem occurred again.

[ImaiKota]

After running the launch file with initial_reset:=true, I no longer encounter the problem.
Is this a good solution?

[MartyG-RealSense]

Yes, using initial_reset:=true is a fine solution to use to resolve your problem.

[ImaiKota]

Okay, Thanks!