Обязательная информация
- Модель камеры: SR300
- Версия прошивки: Открыть RealSense Viewer -> Информация о клике
- Операционная система и версия: Linux (Ubuntu 16)
- Версия ядра: только для Linux 4.15
- Платформа: ПК
- Версия SDK: legacy / 2.17.1
- Сегмент: робот
Я слежу за этим проектом и могу успешно запустить realsense-viewer, но когда я запускаю wrist_camera.launch, возникают некоторые проблемы. Показывает:
[WARN] [1548052175.573291881]: / камера / драйвер - обнаружена не подтверждена
прошивка:
- текущая прошивка камеры 619204000646 - 3.21.0.0, проверенная прошивка камеры - 3.10.10.0
и
[ОШИБКА] [1548052181.490165342]: / камера / драйвер - ошибка вызова
rs_wait_for_frames (устройство: 0x1ef4130): время ожидания для кадров.
Теперь я не знаю, что делать.
Подробности следующие:
... logging to /home/baifan/.ros/log/c9163d90-1d45-11e9-a47e-7c2a3166d0dc/roslaunch-baifan-TM1801-6024.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://baifan-TM1801:46575/
SUMMARY
PARAMETERS
/camera/camera_nodelet_manager/num_worker_threads: 4
/camera/depth_rectify_depth/interpolation: 0
/camera/driver/base_frame_id: camera_link
/camera/driver/camera_type: SR300
/camera/driver/color_fps: 30
/camera/driver/color_frame_id: camera_rgb_frame
/camera/driver/color_height: 480
/camera/driver/color_optical_frame_id: camera_rgb_optica...
/camera/driver/color_width: 640
/camera/driver/depth_fps: 30
/camera/driver/depth_frame_id: camera_depth_frame
/camera/driver/depth_height: 480
/camera/driver/depth_optical_frame_id: camera_depth_opti...
/camera/driver/depth_width: 640
/camera/driver/enable_color: True
/camera/driver/enable_depth: True
/camera/driver/enable_fisheye: False
/camera/driver/enable_imu: False
/camera/driver/enable_ir2: True
/camera/driver/enable_ir: True
/camera/driver/enable_pointcloud: False
/camera/driver/enable_tf: True
/camera/driver/fisheye_frame_id: camera_fisheye_frame
/camera/driver/fisheye_optical_frame_id: camera_fisheye_op...
/camera/driver/imu_frame_id: camera_imu_frame
/camera/driver/imu_optical_frame_id: camera_imu_optica...
/camera/driver/ir2_frame_id: camera_ir2_frame
/camera/driver/ir2_optical_frame_id: camera_ir2_optica...
/camera/driver/ir_frame_id: camera_ir_frame
/camera/driver/ir_optical_frame_id: camera_ir_optical...
/camera/driver/mode: manual
/camera/driver/serial_no:
/camera/driver/sr300_auto_range_enable_laser: 0
/camera/driver/usb_port_id:
/camera/points_xyzrgb_sw_registered/queue_size: 100
/rosdistro: kinetic
/rosversion: 1.12.14
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)
/
convert_depth_to_m (nodelet/nodelet)
realsense_link_broadcaster (tf/static_transform_publisher)
standalone_nodelet (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/camera_nodelet_manager-1]: started with pid [6051]
process[camera/driver-2]: started with pid [6052]
process[camera/rgb_debayer-3]: started with pid [6053]
process[camera/rgb_rectify_mono-4]: started with pid [6054]
process[camera/rgb_rectify_color-5]: started with pid [6066]
process[camera/ir_rectify_ir-6]: started with pid [6078]
process[camera/depth_rectify_depth-7]: started with pid [6091]
process[camera/depth_metric_rect-8]: started with pid [6102]
process[camera/depth_metric-9]: started with pid [6115]
process[camera/depth_points-10]: started with pid [6132]
process[camera/register_depth_rgb-11]: started with pid [6143]
[ INFO] [1548052174.925630605]: Initializing nodelet with 4 worker threads.
process[camera/points_xyzrgb_sw_registered-12]: started with pid [6159]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [6180]
process[standalone_nodelet-14]: started with pid [6197]
process[convert_depth_to_m-15]: started with pid [6212]
process[realsense_link_broadcaster-16]: started with pid [6230]
Intel RealSense F200_camera ; 2.60.0.0
Intel RealSense LR200_camera ; 2.0.71.18
Intel RealSense R200_camera ; 1.0.72.06
Intel RealSense SR300_camera ; 3.10.10.0
Intel RealSense ZR300_adapter ; 1.29.0.0
Intel RealSense ZR300_camera ; 2.0.71.28
Intel RealSense ZR300_motion_module ; 1.25.0.0
[ INFO] [1548052175.573183462]: /camera/driver - Detected the following camera:
- Serial No: 619204000646, USB Port ID: 2-2-1-1, Name: Intel RealSense SR300, Camera FW: 3.21.0.0
[ WARN] [1548052175.573291881]: /camera/driver - Detected unvalidated firmware:
- 619204000646's current camera firmware is 3.21.0.0, Validated camera firmware is 3.10.10.0
[ INFO] [1548052175.573365046]: /camera/driver - Connecting to camera with Serial No: 619204000646, USB Port ID: 2-2-1-1
[ INFO] [1548052175.749279013]: /camera/driver - Setting static camera options
[ INFO] [1548052175.749994844]: /camera/driver - Enabling Depth in manual mode
[ INFO] [1548052175.753628355]: /camera/driver - Enabling Color in manual mode
[ INFO] [1548052175.753932089]: /camera/driver - Enabling IR in manual mode
[ INFO] [1548052175.754151342]: /camera/driver - Starting camera
[ INFO] [1548052175.758592717]: /camera/driver - Publishing camera transforms (/tf_static)
[ INFO] [1548052175.758706424]: /camera/driver - Setting dynamic camera options
[ERROR] [1548052181.490165342]: /camera/driver - Error calling rs_wait_for_frames ( device:0x1ef4130 ):
Timeout waiting for frames.
[camera/camera_nodelet_manager-1] process has finished cleanly
log file: /home/baifan/.ros/log/c9163d90-1d45-11e9-a47e-7c2a3166d0dc/camera-camera_nodelet_manager-1*.log
[camera/driver-2] process has finished cleanly
log file: /home/baifan/.ros/log/c9163d90-1d45-11e9-a47e-7c2a3166d0dc/camera-driver-2*.log