No pointcloud2 avaliable #514
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Hi Mark, |
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Hi Doronhi, Not quite sure what happened but the pointcloud it now showing very. But very very slow. About 1 fps. I'm starting it with roslaunch realsense2_camera rs_rgbd.launch Output is `mark@mxnetLinux-6:~$ roslaunch realsense2_camera rs_rgbd.launch started roslaunch server http://192.168.1.40:40816/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to ef732cfe-ec3b-11e8-adbd-247703ebae54 mark@mxnetLinux-6:~$ rostopic hz /camera/depth/color/points Results in average rate: 0.123 Thanks |
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While using rgbd, pointcloud is being built by another node listening on color and depth frames. What are their rates? Is running: |
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Hi Doronhi, I'm still trying to get consistency with my experimentation (hence the delay in replying). The frame rates seem to have resolved - they are now reporting around 30FPS. However the system does appear to be a little unstable. By that I mean I am finding I have to regularly disconnect and reconnect the camera as I get the following errors reported: 21/11 13:22:38,883 ERROR [140461992802176] (types.h:180) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error As yet I don't know what is going on Rgs Mark |
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There is a strong suspicion of hardware synchronization issue. Try setting color_fps:=15 (half of depth_fps) |
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Ok tried that. Unfortunately no difference. Another error I get reported (again on occasion - so not consistent) is: 23/11 16:49:08,448 WARNING [139929085859712] (types.cpp:57) set_pu(id=4) failed! Last Error: Input/output error Are there any useful logs I can send? I don't really want to be rebooting the robot to get the sensor to come up Thanks Mark |
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Still getting a lot of: WARNING [140461211449088] (backend-v4l2.cpp:1013) Frames didn't arrived within 5 seconds From both the ROS interface and now the realsense viewer. Have a feeling there is a hardware fault. I'm going to replace and will get back to this thread when it comes through Mark |
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@CycleMark Can you make sure it is not a hardware reset issue? you can do that by disconnecting the camera usb and connecting it again and launching the file. |
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Its a problem with the hardware - Currently logged with Intel to resolve |
Am I able to get a point cloud with out the colour camera? Thanks |
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Hi @CycleMark , sorry for disappearing.. |
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HI @doronhi , Thanks for the reply. I've just upgraded to the latest version 2.1.3 and the supported version of LibRealSense v2.17.1. It seems now I'm getting the following error - googling hasn't, as yet, reviled anything conclusive. Given the hardware setup hasn't changed. Would you have any suggestions? Error message is: Full start up log attached Thanks and Regards |
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The meaning of the message is that too much data was stuck on the way from camera to computer. |
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Currently the camera is connected t a USB 2 port as previously. I'm using one of the intel Up boards. Just tried the USB 3 port - same result |
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I’m sorry, I meant to ask do you receive frames? what is the frame rate? Does the error message indicate an actual problem? |
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Ah - yes it's causing a problem. All I get from camera is the the standard video feed in rviz |
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Hi @doronhi Just revisiting this issue. Still not solved - I upgraded to v2.18.1. The up board should I think be able to handle the data (I've connected it to the USB3 port) - not to mention the boards were designed with these in mind. I do get data streamed though despite the warning messages - but after a while it kills the system Do you have any other thoughts one what I can test/try? Thanks and Regards Mark
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[Please Ignore - RealSense system comment] |
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@CycleMark What's FW version of the camera you're using? And could you please try the latest librealsense, FW and ROS version to see if you still have the issue? Thanks! |
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Hi, I've upgraded again to the latest FW, librealsense and still the same problem. Kinetic shouldn't be this issue. There is something odd about getting the data off the USB 3 port on the upboard: New output /ros_realsense$ roslaunch realsense2_camera rs_camera.launch --screen started roslaunch server http://192.168.1.79:33413/ SUMMARYPARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[camera/realsense2_camera_manager-1]: started with pid [24169] Any idea where the problem could lie? Thanks Mark |
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@CycleMark “USB SCP overflow” often happens when USB bandwidth limitation.Could you please verify if the USB connection type is USB3 by the tool rs-enumerate-device or RealSenseViewer? Please make sure you're using USB3 cable besides the connection to USB3 port. Thanks! rs-enumerate-device: https://github.com/IntelRealSense/librealsense/tree/master/tools/enumerate-devices |
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@CycleMark Just thought of another easier way to check USB connection. Please use "lsusb -t" to check the USB connection type is USB3 or not. Thanks! |
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Hi, Thanks for that. It seems as though it might be the USB 2 hub picking it up - despite the fact it's plugged into the UBS 3 port on the UP board. Any idea how to change that?
Kind Regards Mark |
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@CycleMark If you want to use USB3, then please change to USB3 cable and USB3 port to try again. If you want to keep using USB3, then I suggest you decrease resolution or FPS for the depth/IR/color. Or you can just enable one or two but not all of these four streamings. You can modify the "enable_depth"/"enable_infra1"/"enable_infra2"/"enable_color" to "false" in rs_camera.launch **** ****** ** ** ** |
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Hi, I'm not quite sure what this the matter with the USB3 port. I've double checked the wire (and also tried another one) and can confirm that it is certainly a USB3 cable (It's thicker that standard and has blue indicators. That said to try and get this working I have disabled infra 1 & 2 which does seem to resolve the initial issue. However when connecting via rviz the machine with the realsense sensor just hangs. Investigating further the dmesg dumps out the attached (Which doesn't look good) Process output looks like: Looks like there is something missing Kind Regards Mark |
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@CycleMark Sorry for one typo in previous comment, I meant to say " If you want to keep using USB2, then I suggest you decrease resolution or FPS for the depth/IR/color. " For the hang issue, we'll further check. Thanks! |
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Hi - Yep I knew what you meant :) But USB 3 if failing to detect for reasons I can't yet figure (It's connected to the USB3 OGA port on the Up Board). I will send a photo later on |
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@CycleMark Could you please connect the camera to another PC's USB3 port to see if it can be detected as USB3 mode? You can try more cables or more USB3 ports to rule out if the cable or USB port you tested is not USB3. |
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@CycleMark Any new findings? Looking forward to your update. Thanks! |
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HI - Sorry I meant to reply. I've tried other cables (all ensured they were USB) and had same issue. I'll check again on another PC tonight (Though from memory I think that works) Kind Regards Mark |
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Hi, Further update - the camera works okay on other PCs and I've tried multiple cables with the upboard to no avail. I've tried connecting it just to the USB 2 connection and USB3. It's only recognised as a USB 2 device - as expected in the latter case (The PC's see it as USB 3) What i have seen is that connecting to see the image with rviz seems to crash the board. I think there is a conflict with the real sense driver and the USB WiFi dongle as with rviz connected the connection just drops. If I use rqt_image_viewer then is does work but the frame rate is very low I've attached some photos as an example of the various connections and the wire for clarity Rgs Mark |
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@CycleMark There was some discussions about enumerate as USB2 in IntelRealSense/librealsense#1391 Please have a try with other adapters to connect to USB3 OTG port. Thanks! |
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Hi, I've tried a bunch of new cables, adaptors etc and non of them work. I've run through the list of increasingly dubious suggestions from that link. Again nothing. I can only conclude that the upboard's USB 3 interface is incorrectly designed. Does that seem reasonable? Kind Regards Mark |
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@CycleMark Sorry for that. Could you please contact the technical support of Upboard to see if they have better suggestions about this? |
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Hi -ok will do. Who/whats the best contact? Thanks Mark |
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@CycleMark I think maybe you can check the official site of upboard or the vendor where you get the board. Thanks! |
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@CycleMark Any other questions about this ticket? Looking forward to your update. Thanks! |
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Hi - Sorry I've not had a chance to contact Intel. Shall do so soon. Kinda regards Mark |
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@CycleMark That's fine. Any update please let us know. Thanks! |
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@CycleMark The remaining USB type issue is not librealsense related. Can we close the ticket at this point? |
Hi,
I've just got a D435 sensor. I've installed all the associated s/w and upgraded the firmware.
When I try to visualise the pointcloud2 topic there's no such topic available. Even when trying to "add by topic".
Does anyone have any suggestions?
Thanks
Mark
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