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No IMU data from #3247

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hellovuong opened this issue Nov 7, 2024 · 3 comments
Open

No IMU data from #3247

hellovuong opened this issue Nov 7, 2024 · 3 comments

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@hellovuong
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Required Info
Camera Model D455f
Firmware Version 5.15.0.2
Operating System & Version Ubuntu 20.04
Kernel Version (Linux Only) 5.10.104-tegra
Platform NVIDIA Jetson
Librealsense SDK Version 2.54.1
Language C++
Segment Robot
ROS Distro Noetic
RealSense ROS Wrapper Version ROS1-legacy (branch newest commit) run in Docker container

Issue Description

I installed SDK in Dockerfile as follows:

apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u && \
    apt-get update && \
    apt-get install librealsense2=2.54.1-0~realsense.1425 -y && \
    apt-get install -y librealsense2-gl=2.54.1-0~realsense.1425 librealsense2-dev=2.54.1-0~realsense.1425 librealsense2-utils=2.54.1-0~realsense.1425

The ROS1 wrapper is from ROS1-legacy with config as follows:

    <include file="$(find realsense2_camera)/launch/rs_aligned_depth.launch" >
        <arg name="enable_fisheye"            value="false"/>

        <arg name="depth_width"               value="848"/>
        <arg name="depth_height"              value="480"/>

        <arg name="enable_infra1"             value="false"/>
        <arg name="enable_infra2"             value="false"/>

        <arg name="color_width"               value="848"/>
        <arg name="color_height"              value="480"/>

        <arg name="accel_fps"                 value="200"/>

        <arg name="enable_pointcloud"         value="true"/>
    </include>

I checked the compatibility of SDK and firmware in https://dev.intelrealsense.com/docs/firmware-releases-d400 and it should be correct.
However, I can not receive IMU data. Can you help me to debug where is the problem?
Here is the output of realsense launch:

[ INFO] [1730983723.593692733]: Device with serial number 309622300196 was found.

[ INFO] [1730983723.593765600]: Device with physical ID /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.0/video4linux/video1 was found.
[ INFO] [1730983723.593791201]: Device with name Intel RealSense D455F was found.
[ INFO] [1730983723.594373719]: Device with port number 2-2 was found.
[ INFO] [1730983723.594432506]: Device USB type: 3.2
[ INFO] [1730983723.600057936]: getParameters...
[ INFO] [1730983723.753303555]: setupDevice...
[ INFO] [1730983723.753416648]: JSON file is not provided
[ INFO] [1730983723.753492682]: ROS Node Namespace: camera
[ INFO] [1730983723.753525228]: Device Name: Intel RealSense D455F
[ INFO] [1730983723.753545132]: Device Serial No: 309622300196
[ INFO] [1730983723.753564557]: Device physical port: /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.0/video4linux/video1
[ INFO] [1730983723.753594286]: Device FW version: 5.15.0.2
[ INFO] [1730983723.753617039]: Device Product ID: 0x0B5C
[ INFO] [1730983723.753638576]: Enable PointCloud: On
[ INFO] [1730983723.753655473]: Align Depth: On
[ INFO] [1730983723.753671025]: Sync Mode: On
[ INFO] [1730983723.753706675]: Device Sensors:
[ INFO] [1730983723.764566225]: Stereo Module was found.
[ INFO] [1730983723.775845151]: RGB Camera was found.
[ INFO] [1730983723.776168779]: Motion Module was found.
[ INFO] [1730983723.776661694]: Add Filter: pointcloud
[ INFO] [1730983723.777404698]: num_filters: 2
[ INFO] [1730983723.777456668]: Setting Dynamic reconfig parameters.
[ WARN] [1730983724.351202353]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1730983724.377537693]: Done Setting Dynamic reconfig parameters.
[ INFO] [1730983724.378274777]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1730983724.379030486]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8
[ INFO] [1730983724.380758712]: gyro stream is enabled - fps: 400
[ INFO] [1730983724.380833402]: accel stream is enabled - fps: 200
[ INFO] [1730983724.380864572]: setupPublishers...
[ INFO] [1730983724.383249719]: Expected frequency for depth = 30.00000
[ INFO] [1730983724.388634436]: Expected frequency for color = 30.00000
[ INFO] [1730983724.392869221]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1730983724.400313249]: setupStreams...
 07/11 12:48:44,406 WARNING [281472141349232] (ds-calib-parsers.cpp:41) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 07/11 12:48:44,410 WARNING [281472116171120] (backend-hid.h:68) write_fs_attribute Could not change accel_3d-dev15 to accel_3d-dev5 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/trigger/current_trigger
 07/11 12:48:44,414 WARNING [281472023916912] (backend-hid.h:68) write_fs_attribute Could not change gyro_3d-dev16 to gyro_3d-dev6 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/trigger/current_trigger
 07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
 07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
 07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
 07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
[ INFO] [1730983724.465908134]: SELECTED BASE:Depth, 0
[ INFO] [1730983724.492234418]: RealSense Node Is Up!
[ INFO] [1730983724.666834067]: publishing unordered pointcloud.
[ WARN] [1730983724.799555608]: No stream match for pointcloud chosen texture Process - Color
[ WARN] [1730983726.321769809]: No stream match for pointcloud chosen texture Process - Color
 07/11 12:48:49,422 WARNING [281472015524208] (backend-hid.cpp:633) iio_hid_sensor: Frames didn't arrived within the predefined interval
 07/11 12:48:49,422 WARNING [281472007131504] (backend-hid.cpp:633) iio_hid_sensor: Frames didn't arrived within the predefined interval

Out of those log I think this is interesting:

 07/11 12:48:44,410 WARNING [281472116171120] (backend-hid.h:68) write_fs_attribute Could not change accel_3d-dev15 to accel_3d-dev5 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/trigger/current_trigger
 07/11 12:48:44,414 WARNING [281472023916912] (backend-hid.h:68) write_fs_attribute Could not change gyro_3d-dev16 to gyro_3d-dev6 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/trigger/current_trigger
 07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
 07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
 07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
 07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
@hellovuong
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Additionally, If I installed the SDK from source with parameters -DFORCE_RSUSB_BACKEND=true the error:

07/11 12:48:44,410 WARNING [281472116171120] (backend-hid.h:68) write_fs_attribute Could not change accel_3d-dev15 to accel_3d-dev5 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/trigger/current_trigger
07/11 12:48:44,414 WARNING [281472023916912] (backend-hid.h:68) write_fs_attribute Could not change gyro_3d-dev16 to gyro_3d-dev6 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/trigger/current_trigger
07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable

NOT appear any more but the frequency of color image is very low like only ~3Hz

@MartyG-RealSense
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Hi @hellovuong The message No stream match for pointcloud chosen texture Process - Color indicates that color frames are missing because they are being dropped.

The IMU topics are disabled by default in the ROS wrapper. enable_accel and enable_gyro can be set to true in the launch file if you have not done so already, or you can enable them in the roslaunch by adding to the launch instruction the following parameters:

enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation

The unite_imu_method combines the two separate /accel and /gyro topics into a single combined /imu topic.

@hellovuong
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hellovuong commented Nov 8, 2024 •
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Hi @MartyG-RealSense, Sorry I copied the wrong launch file. In the correct launch file, I did enable Gyro and Accel and unite method but the camera did not publish any data. I am pretty sure this warning is relevant but could not understand why it happened:

07/11 12:48:44,410 WARNING [281472116171120] (backend-hid.h:68) write_fs_attribute Could not change accel_3d-dev15 to accel_3d-dev5 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/trigger/current_trigger
07/11 12:48:44,414 WARNING [281472023916912] (backend-hid.h:68) write_fs_attribute Could not change gyro_3d-dev16 to gyro_3d-dev6 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/trigger/current_trigger
07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
07/11 12:48:44,417 WARNING [281472124563824] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200073.2.auto/iio:device15/buffer/enable
07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.h:68) write_fs_attribute Could not change 0 to 1 : path /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable
07/11 12:48:44,418 WARNING [281472107778416] (backend-hid.cpp:717) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-2/2-2:1.5/0003:8086:0B5C.0043/HID-SENSOR-200076.3.auto/iio:device16/buffer/enable

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@hellovuong @MartyG-RealSense