$ roslaunch realsense2_camera rs_camera.launch align_depth:=true enable_pointcloud:=true depth_fps:=30 color_fps:=30 depth_width:=640 depth_height:=480 color_width:=640 color_height:=480 ... logging to /home/ravi/.ros/log/2a7a6270-bd68-11ed-8b5a-0242ea787a66/roslaunch-ubuntu-17363.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://127.0.0.1:38449/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: -1 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: True * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -2.0 * /camera/realsense2_camera/color_fps: 30 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: 480 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: 640 * /camera/realsense2_camera/confidence_fps: -1 * /camera/realsense2_camera/confidence_height: -1 * /camera/realsense2_camera/confidence_width: -1 * /camera/realsense2_camera/depth_fps: 30 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: 480 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: 640 * /camera/realsense2_camera/device_type: * /camera/realsense2_camera/enable_accel: False * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_confidence: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: False * /camera/realsense2_camera/enable_fisheye2: False * /camera/realsense2_camera/enable_fisheye: False * /camera/realsense2_camera/enable_gyro: False * /camera/realsense2_camera/enable_infra1: False * /camera/realsense2_camera/enable_infra2: False * /camera/realsense2_camera/enable_infra: False * /camera/realsense2_camera/enable_pointcloud: True * /camera/realsense2_camera/enable_pose: False * /camera/realsense2_camera/enable_sync: False * /camera/realsense2_camera/filters: * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: -1 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: -1 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: -1 * /camera/realsense2_camera/gyro_fps: -1 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 480 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: 848 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/ordered_pc: False * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/reconnect_timeout: 6.0 * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/stereo_module/exposure/1: 7500 * /camera/realsense2_camera/stereo_module/exposure/2: 1 * /camera/realsense2_camera/stereo_module/gain/1: 16 * /camera/realsense2_camera/stereo_module/gain/2: 16 * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: odom_in * /camera/realsense2_camera/unite_imu_method: * /camera/realsense2_camera/usb_port_id: * /camera/realsense2_camera/wait_for_device_timeout: -1.0 * /rosdistro: melodic * /rosversion: 1.14.13 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [17383] process[camera/realsense2_camera-2]: started with pid [17384] [ INFO] [1678252263.390256920]: Initializing nodelet with 4 worker threads. [ INFO] [1678252263.630721496]: RealSense ROS v2.3.2 [ INFO] [1678252263.630905496]: Built with LibRealSense v2.50.0 [ INFO] [1678252263.631000152]: Running with LibRealSense v2.50.0 [ INFO] [1678252263.724109368]: 08/03 14:11:03,802 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 08/03 14:11:03,856 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1678252264.033352888]: Device with serial number 943222073638 was found. [ INFO] [1678252264.033476024]: Device with physical ID 2-1-3 was found. [ INFO] [1678252264.033525048]: Device with name Intel RealSense D435I was found. [ INFO] [1678252264.034807512]: Device with port number 2-1 was found. [ INFO] [1678252264.034971608]: Device USB type: 3.2 [ INFO] [1678252264.042993720]: getParameters... [ INFO] [1678252264.341270872]: setupDevice... [ INFO] [1678252264.341430520]: JSON file is not provided [ INFO] [1678252264.341542168]: ROS Node Namespace: camera [ INFO] [1678252264.341631736]: Device Name: Intel RealSense D435I [ INFO] [1678252264.341674104]: Device Serial No: 943222073638 [ INFO] [1678252264.341722264]: Device physical port: 2-1-3 [ INFO] [1678252264.341761912]: Device FW version: 05.14.00.00 [ INFO] [1678252264.341798552]: Device Product ID: 0x0B3A [ INFO] [1678252264.341833560]: Enable PointCloud: On [ INFO] [1678252264.341866264]: Align Depth: On [ INFO] [1678252264.341898008]: Sync Mode: On [ INFO] [1678252264.342049560]: Device Sensors: [ INFO] [1678252264.430278072]: Stereo Module was found. [ INFO] [1678252264.469045528]: RGB Camera was found. [ INFO] [1678252264.470676248]: Motion Module was found. [ INFO] [1678252264.470846104]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1678252264.472067288]: Add Filter: pointcloud [ INFO] [1678252264.473889048]: num_filters: 2 [ INFO] [1678252264.473976120]: Setting Dynamic reconfig parameters. 08/03 14:11:06,738 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) [ INFO] [1678252268.497014680]: Done Setting Dynamic reconfig parameters. [ INFO] [1678252268.498198168]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1678252268.499309592]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8 [ INFO] [1678252268.501644312]: setupPublishers... [ INFO] [1678252268.546734744]: Expected frequency for depth = 30.00000 [ INFO] [1678252268.776611832]: Expected frequency for color = 30.00000 [ INFO] [1678252268.982832440]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1678252269.150048504]: setupStreams... 08/03 14:11:09,427 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1678252269.479956344]: SELECTED BASE:Depth, 0 [ WARN] [1678252269.558560120]: 08/03 14:11:09,573 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1678252269.600913592]: RealSense Node Is Up! 08/03 14:11:09,635 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 08/03 14:11:09,839 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:09,895 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:09,951 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:10,659 ERROR [546618446208] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132 08/03 14:11:17,013 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:37,104 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:49,198 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 08/03 14:11:51,256 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 ^C[camera/realsense2_camera-2] killing on exit [camera/realsense2_camera_manager-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done