Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[ROS 1] Stops after publishing a few images while consuming 100% CPU in Jetson AGX Xavier ( JetPack 4.6.3) #2646

Closed
ravijo opened this issue Mar 8, 2023 · 12 comments
Closed

[ROS 1] Stops after publishing a few images while consuming 100% CPU in Jetson AGX Xavier ( JetPack 4.6.3) #2646

ravijo opened this issue Mar 8, 2023 · 12 comments
Labels
D400

Comments

@ravijo
Copy link

ravijo commented Mar 8, 2023

I am facing a weird problem: the realsense-viewer is working fine, but the ROS driver stops after publishing a few images. The ROS driver is consuming 100%. Furthermore, it seems that the issue is happening when enable_pointcloud is set as shown below:

$ 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
...
[ 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] [1678252264.341761912]: Device FW version: 05.14.00.00
[ INFO] [1678252264.341798552]: Device Product ID: 0x0B3A
[ INFO] [1678252264.341833560]: Enable PointCloud: On
[ 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] [1678252268.498198168]: 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
 08/03 14:11:09,427 WARNING [547004346752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ 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 14:11:09,951 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
^C[camera/realsense2_camera-2] killing on exit
[camera/realsense2_camera_manager-1] killing on exit
shutting down processing monitor complete
done

The above logs are cropped to make this post cleaner. Please see logs.txt for complete logs.

Below is a screenshot showing CPU usage while executing the above command. Please note that no other application is running during this time, and the display is attached directly to the device with an HDMI cable.

CPU Usage

Version Information

  • JetPack v4.6.3
  • Kernel Info 
    $ uname -a
Linux ubuntu 4.9.299-tegra #1 SMP PREEMPT Tue Nov 22 09:24:30 PST 2022 aarch64 aarch64 aarch64 GNU/Linux
  • GCC Info 
    $ gcc --version
gcc (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) 7.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  • Python 2 Info 
    $ python --version
Python 2.7.17
  • Python 3 Info 
    $ python3 --version
Python 3.6.9
  • OS Info 
    $ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 18.04.6 LTS
Release:	18.04
Codename:	bionic
  • Camera Info 
    $ rs-enumerate-devices -s
Device Name                   Serial Number       Firmware Version
Intel RealSense D435I         943222073638        05.14.00.00
  • Package librealsense2 Info 
    $ apt-cache policy librealsense2
librealsense2:
  Installed: 2.53.1-0~realsense0.703
  Candidate: 2.53.1-0~realsense0.703
  Version table:
 *** 2.53.1-0~realsense0.703 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
        100 /var/lib/dpkg/status
     2.51.1-0~realsense0.476 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
     2.51.1-0~realsense0.474 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
     2.50.0-0~realsense0.6162 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
  • Package librealsense2-utils Info 
    $ apt-cache policy librealsense2-utils 
librealsense2-utils:
  Installed: 2.53.1-0~realsense0.703
  Candidate: 2.53.1-0~realsense0.703
  Version table:
 *** 2.53.1-0~realsense0.703 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
        100 /var/lib/dpkg/status
     2.51.1-0~realsense0.476 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
     2.51.1-0~realsense0.474 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
     2.50.0-0~realsense0.6162 500
        500 https://librealsense.intel.com/Debian/apt-repo bionic/main arm64 Packages
  • Package ros-melodic-realsense2-camera Info 
    $ apt-cache policy ros-melodic-realsense2-camera
ros-melodic-realsense2-camera:
  Installed: 2.3.2-1bionic.20221025.211354
  Candidate: 2.3.2-1bionic.20221025.211354
  Version table:
 *** 2.3.2-1bionic.20221025.211354 500
        500 http://packages.ros.org/ros/ubuntu bionic/main arm64 Packages
        100 /var/lib/dpkg/status

Please note that the ROS driver is installed from the apt.

Additional Info

The dmesg does not contain any error message. However, a few entries shown below appeared frequently:

$ dmesg | grep error
$ dmesg
...
[ 4421.321332] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 4421.325769] uvcvideo: Unable to create debugfs 2-3 directory.
[ 4421.325939] uvcvideo 2-1:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[ 4421.326138] uvcvideo 2-1:1.0: Entity type for entity Processing 2 was not initialized!
[ 4421.326270] uvcvideo 2-1:1.0: Entity type for entity Camera 1 was not initialized!
[ 4421.326649] input: Intel(R) RealSense(TM) Depth Ca as /devices/3610000.xhci/usb2/2-1/2-1:1.0/input/input183
...

Summary

✅ The realsense-viewer works
✅ Default rs_camera.launch works
❌ The rs_camera.launch while enable_pointcloud is set does not work
❌ The rs_camera.launch while enable_pointcloud consumes 100% CPU

Any workaround, please?
@MartyG-RealSense
Copy link
Collaborator

MartyG-RealSense commented Mar 8, 2023 •
edited
Loading

Hi @ravijo There are known issues with enabling pointcloud on Jetson devices specifically in the ROS1 wrapper, as described at #1967

A workaround is to launch with rs_rgbd.launch instead of rs_camera.launch.

roslaunch realsense2_camera rs_rgbd.launch

Before this launch is performed, support for an RGBD launch in the ROS1 wrapper must first be installed by using the command below in the Ubuntu terminal for your particular ROS version (Melodic in this case).

Kinetic
sudo apt-get install ros-kinetic-rgbd-launch

Melodic
sudo apt-get install ros-melodic-rgbd-launch

Noetic
sudo apt-get install ros-noetic-rgbd-launch

With the rs_rgbd launch file you do not need to enable the pointcloud in the roslaunch instruction, as it publishes one by default. It generates a point cloud that is published at depth_image_proc

Information about depth_image_proc can be found at http://wiki.ros.org/depth_image_proc

@MartyG-RealSense
Copy link
Collaborator

Hi @ravijo Do you require further assistance with this case, please? Thanks!

@ravijo
Copy link
Author

ravijo commented Mar 15, 2023

Thank you very much.

I needed more time to check your suggestions. For now, please leave this issue without closing it.

@MartyG-RealSense
Copy link
Collaborator

That's no problem at all to keep this issue open for a further time period. Thanks very much for the update!

@ravijo
Copy link
Author

ravijo commented Mar 25, 2023

@MartyG-RealSense

Thank you very much for waiting. Based on your instructions, I installed ros-melodic-rgbd-launch and then executed rs_rgbd.launch. I monitored CPU usage as well. Please see the screenshot below:

rs_rgbd launch

Below is the output shown on terminal:

$ roslaunch realsense2_camera rs_rgbd.launch
... logging to /home/jetson/.ros/log/7986c414-ca36-11ed-a624-00044bcbdddc/roslaunch-jetson-31117.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://127.0.0.1:39021/

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: -1.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 640
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /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: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /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: -1
 * /camera/realsense2_camera/infra_height: -1
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: -1
 * /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: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /camera/
    color_rectify_color (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [31130]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7986c414-ca36-11ed-a624-00044bcbdddc
process[rosout-1]: started with pid [31146]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [31163]
process[camera/realsense2_camera-3]: started with pid [31164]
process[camera/color_rectify_color-4]: started with pid [31165]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [31167]
[ INFO] [1679657085.327511409]: Initializing nodelet with 4 worker threads.
[ INFO] [1679657085.629922975]: RealSense ROS v2.3.2
[ INFO] [1679657085.630026886]: Built with LibRealSense v2.50.0
[ INFO] [1679657085.630076425]: Running with LibRealSense v2.50.0
[ INFO] [1679657085.846211505]:  
[ INFO] [1679657086.099454297]: Device with serial number 250122070665 was found.

[ INFO] [1679657086.099594017]: Device with physical ID 2-4-4 was found.
[ INFO] [1679657086.099735082]: Device with name Intel RealSense D435 was found.
[ INFO] [1679657086.101173215]: Device with port number 2-4 was found.
[ INFO] [1679657086.101264261]: Device USB type: 3.2
[ INFO] [1679657086.110520619]: getParameters...
[ INFO] [1679657086.515076695]: setupDevice...
[ INFO] [1679657086.515216127]: JSON file is not provided
[ INFO] [1679657086.515273923]: ROS Node Namespace: camera
[ INFO] [1679657086.515327686]: Device Name: Intel RealSense D435
[ INFO] [1679657086.515372520]: Device Serial No: 250122070665
[ INFO] [1679657086.516487883]: Device physical port: 2-4-4
[ INFO] [1679657086.516568848]: Device FW version: 05.14.00.00
[ INFO] [1679657086.516737914]: Device Product ID: 0x0B07
[ INFO] [1679657086.517055852]: Enable PointCloud: Off
[ INFO] [1679657086.517294651]: Align Depth: On
[ INFO] [1679657086.517510568]: Sync Mode: On
[ INFO] [1679657086.517917440]: Device Sensors: 
[ INFO] [1679657086.631954201]: Stereo Module was found.
[ INFO] [1679657086.684115701]: RGB Camera was found.
[ INFO] [1679657086.684327170]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1679657086.685254137]: num_filters: 1
[ INFO] [1679657086.685361599]: Setting Dynamic reconfig parameters.
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] [1679657090.898861129]: Done Setting Dynamic reconfig parameters.
[ INFO] [1679657090.901051564]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1679657090.902263508]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1679657090.904870511]: setupPublishers...
[ INFO] [1679657090.935094230]: Expected frequency for depth = 30.00000
[ INFO] [1679657091.219116872]: Expected frequency for color = 30.00000
[ INFO] [1679657091.465583679]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1679657091.697966191]: setupStreams...
 24/03 20:24:52,218 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1679657092.271934845]: SELECTED BASE:Depth, 0
[ WARN] [1679657092.334235645]: 
 24/03 20:24:52,375 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1679657092.411122082]: RealSense Node Is Up!
 24/03 20:24:52,581 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 24/03 20:24:52,632 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 24/03 20:24:52,785 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 24/03 20:25:03,797 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 24/03 20:25:50,048 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 24/03 20:25:57,127 WARNING [547063062912] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
^C[camera/points_xyzrgb_hw_registered-5] killing on exit
[camera/color_rectify_color-4] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[camera/realsense2_camera-3] killing on exit
 24/03 20:26:18,427 ERROR [546836558208] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Below is a screenshot showing Jetson informaiton:

jtop

Thank you for your invaluable help and understanding. I am looking forward to hear fom you.

@MartyG-RealSense
Copy link
Collaborator

I note that you are using librealsense 2.50.0 and firmware 5.14.0.0. Using this firmware version with 2.50.0 could result in errors as it was designed for use with the newer SDK 2.53.1. I would therefore recommend downgrading your firmware version to 5.13.0.50 which is the one that is designed for use with 2.50.0.

@ravijo
Copy link
Author

ravijo commented Mar 25, 2023

@MartyG-RealSense

Thanks a lot for the quick response.

I would therefore recommend downgrading your firmware version to 5.13.0.50 which is the one that is designed for use with 2.50.0.

How to downgrade RealSense firmware to install 5.13.0.50?

On the side note, the firmware was updated to latest one because realsense-viewer alerted to do so.

@MartyG-RealSense
Copy link
Collaborator

You can download the firmware .bin file for 5.13.0.50 to your computer from the link below.

https://dev.intelrealsense.com/docs/firmware-releases#d400-series-firmware-downloads

image

Once the .bin is downloaded, go to the More option near the top of the Viewer's options side-panel and select Update Firmware from its drop-down menu. A file selector will appear. Navigate to the folder on your computer that the .bin file was downloaded to and select the .bin file. The downgrade will then automatically begin.

@ravijo
Copy link
Author

ravijo commented Mar 28, 2023

@MartyG-RealSense

It works well when realsense-ros package is compiled from source.

Thanks

@ravijo ravijo closed this as completed Mar 28, 2023
@MartyG-RealSense
Copy link
Collaborator

You are very welcome. It's excellent to hear that you achieved a solution. Thanks very much for the update!

@MartyG-RealSense MartyG-RealSense mentioned this issue Apr 3, 2023
Closed
@tugbakara
Copy link

tugbakara commented May 1, 2023 •
edited
Loading

@MartyG-RealSense

It works well when realsense-ros package is compiled from source.

Thanks

How much CPU usage did you achieve after doing so?

@ravijo
Copy link
Author

ravijo commented May 1, 2023

@tugbakara

Below is the summary:

Case RealSense ROS Package Installation RealSense ROS Package Version librealsense Version Firmware Version Image size Commanded FPS Observed Color FPS Observed Depth FPS Observed Point Cloud FPS Avg CPU Usage % Avg Memory Usage (GB) Remarks
1 catkin_make 2.3.2 2.53.1 05.14.00.00 640x480 15 14.987 14.987 14.988 34.8 3.1
2 catkin_make 2.3.2 2.53.1 05.14.00.00 640x480 30 23.111 21.955 20.421 47.2 3.1
3 catkin_make 2.3.2 2.53.1 05.14.00.00 848x480 15 14.994 14.984 14.991 31.2 3.1
4 catkin_make 2.3.2 2.53.1 05.14.00.00 848x480 30 28.262 22.306 22.287 48.5 3.1
5 catkin_make 2.3.2 2.53.1 05.14.00.00 1280x720 15 7.937 7.417 6.965 46.1 3.0 No new messages sometimes for 1-2 seconds
6 catkin_make 2.3.2 2.53.1 05.14.00.00 1280x720 30 42.5 3.0 No new messages after a few seconds
7 apt-get 2.3.2 2.50.0 05.14.00.00 Can not run. Firmware unsupported

@haashimrehan haashimrehan mentioned this issue May 17, 2023
Closed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
D400
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@ravijo @MartyG-RealSense @tugbakara