Failure to start

[tim-fan]

Hi there, thanks for providing this package, I'm keen to try it out, but am having trouble starting.

I'm using foxy on focal, and have installed librealsense using scripts/install-librealsense.sh.

When I plug in my camera and run rs-enumerate-devices, I get output:

~$ rs-enumerate-devices 
Device info: 
    Name                          : 	Intel RealSense T265
    Serial Number                 : 	845412110615
    Firmware Version              : 	0.2.0.951
    Physical Port                 : 	4-1-2
    Product Id                    : 	0B37
    Usb Type Descriptor           : 	3.1
    Product Line                  : 	T200

Stream Profiles supported by Tracking Module
 Supported modes:
    stream       resolution      fps       format   
    Fisheye 1	  848x800	@ 30Hz	   Y8
    Fisheye 2	  848x800	@ 30Hz	   Y8
    Gyro	 N/A		@ 200Hz	   MOTION_XYZ32F
    Accel	 N/A		@ 62Hz	   MOTION_XYZ32F
    Pose	 N/A		@ 200Hz	   6DOF

Then I try to launch t260.launch.py, and get output:

$ ros2 launch ros2_t260 t260.launch.py 
[INFO] [launch]: All log files can be found below /home/tim-fan/.ros/log/2020-10-22-20-58-00-289656-host-2722
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [t260_node-1]: process started with pid [2724]
[INFO] [lifecycle_client-2]: process started with pid [2726]
[lifecycle_client-2] [INFO] [1603353480.715128696] [rclcpp]: Current State: PRIMARY_STATE_UNCONFIGURED
[t260_node-1] [INFO] [1603353480.715405513] [t260_node]: Configuring T260 Node
[lifecycle_client-2] [INFO] [1603353480.729809553] [rclcpp]: Successfully transitioned to configured state!
[t260_node-1] [WARN] [1603353480.729984517] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[t260_node-1] [ERROR] [1603353480.730023840] []: Unable to start transition 3 from current state unconfigured: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.8/src/rcl_lifecycle.c:343
[lifecycle_client-2] [INFO] [1603353480.730174581] [rclcpp]: Successfully transitioned to active state!
[INFO] [lifecycle_client-2]: process has finished cleanly [pid 2726]

At this point the node is shown via ros2 node list, but the topics do not appear active (e.g. ros2 topic echo odom gives not output).
After ctrl-c, rs-enumerate-devices no longer detects the camera:

~$ rs-enumerate-devices 
No device detected. Is it plugged in?

This is not fixed by unplugging / replugging, instead I have to reboot for the camera to be detected again.

In case it's useful, some platform info:

$ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.1 LTS
Release:	20.04
Codename:	focal

$ uname -a
Linux host 5.4.0-52-generic #57-Ubuntu SMP Thu Oct 15 10:57:00 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux

Any ideas on what the issue may be here? I'm not providing odometry input, I'm not sure if that is required, in any case the fact that I cannot detect the camera again after launching seems like a bigger issue.

Any help appreciated.

[ItsMeTheBee]

I get the same output when I try to start the node. In my case the camera never shows up with rs-enumerate-devices so I´m quite sure that the issue is related to that.
I was thinking that it might be an issue with the docker container I´m using but the d435 shows up just fine.

I´d be happy about updates on this issue, if I figure something out on my own I´ll let you know.

[Michael-Equi]

If the cameras aren't showing up then this is not an issue with the node and should probably be brought to the LibRealSense repo. Also I have decided no longer to support this since I am having a very hard time working with the SDK and intel is not willing to help. Instead intel has officially (I think) started to port realsense-ros to ROS2 https://github.com/IntelRealSense/realsense-ros/tree/eloquent. Unfortunately there is only an eloquent version as of now but if there is enough demand I am sure it won't be too hard to get a port for Foxy.

[tim-fan]

OK, thanks for the comments / context.

Also I have decided no longer to support this

By 'this' do you mean the project/repo as a whole will no longer be developed? Or do you just mean you won't support debugging lower-level issues with the cameras?

I'm just trying to decide if I should spend more time getting this working for my setup, or look at other localisation options.

[Michael-Equi]

By ‘this’ I just mean this repository.

On Thu, Oct 29, 2020 at 6:00 PM tim-fan ***@***.***> wrote: OK, thanks for the comments / context. Also I have decided no longer to support this By 'this' do you mean the project/repo as a whole will no longer be developed? Or do you just mean you won't support debugging lower-level issues with the cameras? I'm just trying to decide if I should spend more time getting this working for my setup, or look at other localisation options. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#17 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AH3V2SRCVNTGTG6PPAWTKUDSNIFZPANCNFSM4S23AIIQ> .

-- Michael Equi Co-Founder/CEO Bytes Robotics 9163078818 michaelrequi@gmail.com [image: linkedin] <https://www.linkedin.com/in/michael-equi>

[tim-fan]

Ok, understood. Thanks anyway for what you've provided here to-date 👍