Can't execute "ros2 run realsense2_camera realsense2_camera_node"

[drinkBr]

Required Info
Camera Model	D435
Firmware Version	5.13.0.55
Operating System & Version	Ubuntu22.04
Platform	Raspberry Pi4 model B
Librealsense SDK Version	2.55.1 (realsense-viewer Version)
Segment	Robot
ROS Distro	Humble

Issue Description

I encountered the following error when executing ros2 run realsense2_camera realsense2_camera_node.

[INFO] [1720575182.089151480] [camera.camera]: Device FW version: 5.13.0.55
[INFO] [1720575182.089356979] [camera.camera]: Device Product ID: 0x0B07
[INFO] [1720575182.089552885] [camera.camera]: Sync Mode: Off
[WARN] [1720575182.304168366] [camera.camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range.
[INFO] [1720575182.380895995] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1720575182.382941983] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1720575182.460460718] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1720575182.503783789] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1720575182.504291397] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1720575182.504599488] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[WARN] [1720575182.611571490] [camera.camera]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
 10/07 10:33:07,728 ERROR [281473139402976] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:07,729 ERROR [281473139402976] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:12,848 ERROR [281473114040544] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
 10/07 10:33:12,848 ERROR [281473114040544] (error-handling.cpp:99) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
 10/07 10:33:17,972 ERROR [281473147857120] (librealsense-exception.h:52) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:17,973 ERROR [281473147857120] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0xffff8805c040, intr:[ -1471343544x65535  p[-1.60068e-27 9.18341e-41]  f[-1.60092e-27 9.18341e-41]  UNKNOWN [9.18341e-41 -1.60094e-27 9.18341e-41 -4.06313e-34 9.18341e-41] ] ) Backend] set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[WARN] [1720575197.973901736] [camera.camera]: No intrinsics available for this stream profile. Using zeroed intrinsics as default.

[ERROR] [1720575208.213363266] [camera.camera]: /home/agri/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:487:An exception has been thrown: std::exception
[ERROR] [1720575208.213606135] [camera.camera]: /home/agri/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:369:An exception has been thrown: std::exception
[ERROR] [1720575208.213811041] [camera.camera]: Error starting device: std::exception

I believe that it is necessary to set the value of rgb_camera.power_line_frequency, but I would like to hear your opinion.
Also, after this error was displayed, I executed realsense-viewer, and when I turned on the Stereo Module, the following error appeared. I confirmed that the same error message appeared when executing ros2 run realsense2_camera realsense2_camera_node, so I believe they are related. I would like to hear your opinion.

Backend in rs2_open_multiple(sensor:0xffffa0016110, profiles:0xffffa0162bc0,
count:1):
set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out

[MartyG-RealSense]

Hi @drinkBr That rgb_camera.power_line_frequency message can usually be ignored. The power_line_frequency parameter is usually configured in situations where you have fluorescent lights on the ceiling that are interfering with the image (because they flicker at frequencies that are hard to see with the human eye) and you need to change its value to reduce the interference.

Do you experience the same problems if you launch with ros2 launch instead of ros2 run, please?

ros2 launch realsense2_camera rs_launch.py

[drinkBr]

I executed ros2 launch realsense2_camera rs_launch.py, but the error message seems to be almost the same.

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [3190]
[realsense2_camera_node-1] [INFO] [1720658832.661672185] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1720658832.662606472] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1720658832.662826526] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1720658833.851126486] [camera.camera]: Device with serial number 233722073556 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1720658833.851366671] [camera.camera]: Device with physical ID /sys/devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1720658833.851426412] [camera.camera]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1720658833.852328411] [camera.camera]: Device with port number 2-1 was found.
[realsense2_camera_node-1] [INFO] [1720658833.852465231] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1720658833.857055291] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1720658833.858706799] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1720658833.858821204] [camera.camera]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1720658833.858873887] [camera.camera]: Device Serial No: 233722073556
[realsense2_camera_node-1] [INFO] [1720658833.858917938] [camera.camera]: Device physical port: /sys/devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-1/2-1:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1720658833.858960636] [camera.camera]: Device FW version: 5.13.0.55
[realsense2_camera_node-1] [INFO] [1720658833.859039605] [camera.camera]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1720658833.859079932] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1720658834.039412815] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1720658834.043560495] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1720658834.072802032] [camera.camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range.
[realsense2_camera_node-1] [INFO] [1720658834.123101613] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 640x480x30
[realsense2_camera_node-1] [INFO] [1720658834.150955287] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1720658834.153095442] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1720658834.229499599] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1720658834.244307153] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [WARN] [1720658834.370593160] [camera.camera]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[realsense2_camera_node-1]  11/07 09:47:19,455 ERROR [281472583854304] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1]  11/07 09:47:19,470 ERROR [281472583854304] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1]  11/07 09:47:24,575 ERROR [281472351004896] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
[realsense2_camera_node-1]  11/07 09:47:24,576 ERROR [281472351004896] (error-handling.cpp:99) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
[realsense2_camera_node-1]  11/07 09:47:29,695 ERROR [281472592308448] (librealsense-exception.h:52) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1]  11/07 09:47:29,697 ERROR [281472592308448] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0xffff6805a290, intr:[ -2094066616x65535  p[2.22471e+30 9.18341e-41]  f[2.22508e+30 9.18341e-41]  UNKNOWN [9.18341e-41 2.22512e+30 9.18341e-41 2.50071e+24 9.18341e-41] ] ) Backend] set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1] [WARN] [1720658849.697870255] [camera.camera]: No intrinsics available for this stream profile. Using zeroed intrinsics as default.
[realsense2_camera_node-1]  11/07 09:47:34,816 ERROR [281472351004896] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
[realsense2_camera_node-1]  11/07 09:47:34,816 ERROR [281472351004896] (error-handling.cpp:99) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
[realsense2_camera_node-1]  11/07 09:47:39,936 ERROR [281472592308448] (librealsense-exception.h:52) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1]  11/07 09:47:39,937 ERROR [281472592308448] (rs.cpp:237) [rs2_get_extrinsics( from:0xffff68030e60, to:0xffff6805a290, extrin:[ r[1,0,0,0,1,0,0,0,1]  t[0,0,0] ] ) Backend] set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[realsense2_camera_node-1] [ERROR] [1720658859.938178317] [camera.camera]: /~/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:487:An exception has been thrown: std::exception
[realsense2_camera_node-1] [ERROR] [1720658859.938947998] [camera.camera]: /~/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:369:An exception has been thrown: std::exception
[realsense2_camera_node-1] [INFO] [1720658859.941639681] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [ERROR] [1720658859.946478616] [camera.camera]: Error starting device: std::exception

[MartyG-RealSense]

xioctl(UVCIOC_CTRL_QUERY) errors are typically related to a conflict between librealsense and the Linux kernel. Such conflicts may be avoided if librealsense is built from source code with CMake with the flag -DFORCE_RSUSB_BACKEND=TRUE included in the CMake build instruction.

Which method did you use to install librealsense on your Pi, please?

[drinkBr]

Such conflicts may be avoided if librealsense is built from source code with CMake with the flag -DFORCE_RSUSB_BACKEND=TRUE included in the CMake build instruction.

I understand how to avoid the error, but I don't know exactly what actions to take. Since I am a beginner with Ubuntu, I would appreciate a simplified explanation.

Which method did you use to install librealsense on your Pi, please?

The specific steps are as follows. I have also included the URL I referenced.
-install dependencies-

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install git wget cmake build-essential
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

-install librealsense2-

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make && sudo make install
cd ..
./scripts/setup_ubev_rules.sh

-LibUVC-backend installation-

wget https://github.com/IntelRealSense/librealsense/raw/master/scripts/libuvc_installation.sh
chmod +x ./libuvc_installation.sh
./libuvc_installation.sh

Reference
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md#building-librealsense2-sdk
https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md
https://www.youtube.com/watch?v=zbTtNsWz6Ec

Thanks.

[MartyG-RealSense]

To build librealsense from source code in RSUSB = true mode, you need additional flags included in your CMake build command. At the moment you are using this:

cmake ../ -DBUILD_EXAMPLES=true

This command will not build librealsense in RSUSB mode though. To do so, please try the build command below.

cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true

This command comes from my RSUSB installation guide at IntelRealSense/librealsense#9931 (comment)

I note that after performing the CMake build, you then used the libuvc backend script. But the CMake build process will have already installed librealsense, so doing a libuvc backend build afterwards means that you could have two separate installations of librealsense on the same computer that could potentially conflict with each other.

[drinkBr]

To build librealsense from source code in RSUSB = true mode, you need additional flags included in your CMake build command. At the moment you are using this:

cmake ../ -DBUILD_EXAMPLES=true

This command will not build librealsense in RSUSB mode though. To do so, please try the build command below.

cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true

This command comes from my RSUSB installation guide at IntelRealSense/librealsense#9931 (comment)

I note that after performing the CMake build, you then used the libuvc backend script. But the CMake build process will have already installed librealsense, so doing a libuvc backend build afterwards means that you could have two separate installations of librealsense on the same computer that could potentially conflict with each other.

I am currently working on this, so I will report back once it's finished.

I have a separate question. I want to obtain RGB and depth images from Realsense based on key inputs. However, I read on another page that images are obtained from the topic, which made me wonder. Since it is not possible to perform key input and image subscription at the same time, I think this might be difficult. Is there any solution to this? I would like to hear your opinion.

[MartyG-RealSense]

Some RealSense Python users write a script that subscribes to ROS topics and has the script use those as the camera data. The link below has an example of doing so.

https://stackoverflow.com/questions/62938146/getting-realsense-depth-frame-in-ros

The RealSense ROS wrapper also provides some example ROS2 'node scripts' in Python language.

https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/realsense2_camera/scripts

[drinkBr]

To build librealsense from source code in RSUSB = true mode, you need additional flags included in your CMake build command. At the moment you are using this:

cmake ../ -DBUILD_EXAMPLES=true

This command will not build librealsense in RSUSB mode though. To do so, please try the build command below.

cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true

This command comes from my RSUSB installation guide at IntelRealSense/librealsense#9931 (comment)

I note that after performing the CMake build, you then used the libuvc backend script. But the CMake build process will have already installed librealsense, so doing a libuvc backend build afterwards means that you could have two separate installations of librealsense on the same computer that could potentially conflict with each other.

I tested two methods for this.
First,

cd librealsense/build
cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true

After executing this, I immediately ran realsense-viewer and was able to confirm both RGB and Depth images. Then, when I ran ros2 run realsense2_camera realsense2_camera_node, it seemed to be successful. However, after a while, the same error as before occurred.

[INFO] [1720575182.089151480] [camera.camera]: Device FW version: 5.13.0.55
[INFO] [1720575182.089356979] [camera.camera]: Device Product ID: 0x0B07
[INFO] [1720575182.089552885] [camera.camera]: Sync Mode: Off
[WARN] [1720575182.304168366] [camera.camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range.
[INFO] [1720575182.380895995] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1720575182.382941983] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1720575182.460460718] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1720575182.503783789] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1720575182.504291397] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1720575182.504599488] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[WARN] [1720575182.611571490] [camera.camera]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
 10/07 10:33:07,728 ERROR [281473139402976] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:07,729 ERROR [281473139402976] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:12,848 ERROR [281473114040544] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
 10/07 10:33:12,848 ERROR [281473114040544] (error-handling.cpp:99) Error during polling error handler: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
 10/07 10:33:17,972 ERROR [281473147857120] (librealsense-exception.h:52) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
 10/07 10:33:17,973 ERROR [281473147857120] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0xffff8805c040, intr:[ -1471343544x65535  p[-1.60068e-27 9.18341e-41]  f[-1.60092e-27 9.18341e-41]  UNKNOWN [9.18341e-41 -1.60094e-27 9.18341e-41 -4.06313e-34 9.18341e-41] ] ) Backend] set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out
[WARN] [1720575197.973901736] [camera.camera]: No intrinsics available for this stream profile. Using zeroed intrinsics as default.

When I checked realsense-viewer, I could no longer get the Depth image, and the following error occurred.

Backend in rs2_open_multiple(sensor:0xffffa0016110, profiles:0xffffa0162bc0,
count:1):
set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out

Second,

cd librealsense/build
cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install

As before, when I ran realsense-viewer, I was able to confirm both RGB and Depth images. However, when I tried executing ros2 run realsense2_camera realsense2_camera_node, the same error appeared without success. After that, I checked realsense-viewer again, and I could no longer get the Depth image, and the same error as before was displayed.

Are the commands I entered correct? I would like to hear your opinion.
Thanks.

[MartyG-RealSense]

The commands that you entered are correct.

If your librealsense version is 2.55.1 though then the firmware version installed in your camera should be the current latest 5.16.0.1 version instead of the 5.13.0.55 currently installed.

[MartyG-RealSense]

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

[drinkBr]

Sorry for the late reply.

If your librealsense version is 2.55.1 though then the firmware version installed in your camera should be the current latest 5.16.0.1 version instead of the 5.13.0.55 currently installed.

I don't have a Raspberry Pi at hand right now, so I can't verify this. I will send another message later this week.
Thanks.

[MartyG-RealSense]

You're very welcome. I look forward to your next update. Good luck!

[drinkBr]

If your librealsense version is 2.55.1 though then the firmware version installed in your camera should be the current latest 5.16.0.1 version instead of the 5.13.0.55 currently installed.

I have verified this, and when I checked with realsense-viewer, the same error appeared as before. When updating the firmware, I used rs-fw-update. I confirmed that the firmware update was performed using rs-fw-update -l.

Backend in rs2_open_multiple(sensor:0xffffa0016110, profiles:0xffffa0162bc0,
count:1):
set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Connection timed out

Thanks.

[MartyG-RealSense]

Do you have access to any other computers other than your Pi that you could attempt a firmware update on?

[drinkBr]

Yes, I have a Windows PC.

[MartyG-RealSense]

The firmware driver is stored inside the camera hardware and not on the computer. So if you are able to install the RealSense Viewer tool on your Windows computer and update the firmware in it then the updated firmware will be carried back to the Pi inside the camera.

You can download and run the Viewer on its own on Windows using the Intel.RealSense.Viewer.exe file in the Assets file list at the link below.

https://github.com/IntelRealSense/librealsense/releases/tag/v2.55.1