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realsenseROS with raspi

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Agan Simsek

Hello,

I have problem Houston. I have a test setup with RasPi 4B and Ubuntu Server kernel 5.4.

When I connect to USB3.1 port. I am getting below message with dmesg command.

[ 6582.609156] usb 2-2: new SuperSpeed Gen 1 USB device number 11 using xhci_hcd
[ 6582.622060] usb 2-2: New USB device found, idVendor=8086, idProduct=0b3a, bcdDevice=50.e0
[ 6582.622074] usb 2-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 6582.622082] usb 2-2: Product: Intel(R) RealSense(TM) Depth Camera 435i
[ 6582.622089] usb 2-2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[ 6582.622095] usb 2-2: SerialNumber: 911623050542
[ 6582.627621] uvcvideo: Unknown video format 00000050-0000-0010-8000-00aa00389b71
[ 6582.627930] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 6582.634180] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-2/2-2:1.0/input/input7

I install realsense with below command.

sudo apt-get install ros-noetic-realsense2-camera
sudo apt-get install ros-noetic-realsense2-description

After below command I have some error from Ros Node.

 roslaunch realsense2_camera rs_camera.launch
[ INFO] [1681292366.342362128]: Initializing nodelet with 4 worker threads.
[ INFO] [1681292366.674178393]: RealSense ROS v2.3.2
[ INFO] [1681292366.674298463]: Built with LibRealSense v2.50.0
[ INFO] [1681292366.674361146]: Running with LibRealSense v2.50.0
[ INFO] [1681292366.759336792]:
[ INFO] [1681292367.298487423]: Device with serial number 909512070194 was found.
....
[ INFO] [1681292367.944154847]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1681292372.733605631]: Done Setting Dynamic reconfig parameters.
[ INFO] [1681292372.735786677]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1681292372.740778172]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1681292372.741016570]: setupPublishers...
[ INFO] [1681292372.750761957]: Expected frequency for depth = 30.00000
[ INFO] [1681292372.899977905]: Expected frequency for color = 30.00000
[ INFO] [1681292373.017210204]: setupStreams...
 12/04 12:39:33,574 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1681292373.624874637]: SELECTED BASE:Depth, 0
 12/04 12:39:33,647 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1681292373.666332184]: RealSense Node Is Up!
[ WARN] [1681292373.783844254]:
 12/04 12:39:33,786 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 12/04 12:39:33,837 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 12/04 12:39:33,888 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 12/04 12:39:33,939 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 12/04 12:39:33,990 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 12/04 12:39:34,041 WARNING [281471956808048] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

I have ROS topics. But when I check dmesg commad out. It is like below.

[ 7375.304336] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.304358] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.362291] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.362312] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.404383] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.404399] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.436255] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.436276] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.472619] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.472638] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.507396] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.507417] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.547897] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.547915] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.581307] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.581323] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.604381] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.604400] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.626932] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.626953] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.643101] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.643120] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.674528] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.674624] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.710780] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.710801] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.746498] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.746519] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.785926] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.785944] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.831630] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.831647] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.854812] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.854831] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.874910] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.874929] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.892417] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.892432] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.902921] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.902941] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.929437] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.929452] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7375.974989] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7375.975005] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.007075] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.007097] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.020402] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.020418] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.040084] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.040101] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.056486] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.056503] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.072502] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.072522] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.081504] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.081523] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.089622] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.089638] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.100035] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.100059] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.123040] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.123057] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.139518] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.139538] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.148021] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.148039] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.156454] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.156471] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.163254] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.163273] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.171097] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.171116] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.197780] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.197796] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.243047] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.243063] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.282173] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.282192] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.318156] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.318188] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.328753] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.328771] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.346460] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.346484] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.371242] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.371260] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.384142] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.384159] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.428818] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.428834] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.473763] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.473782] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.505126] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7376.505142] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.911228] uvcvideo: Unknown video format 00000050-0000-0010-8000-00aa00389b71
[ 7376.911549] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7376.917697] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-2/2-2:1.0/input/input89
[ 7582.140518] usb 2-2: usbfs: usb_submit_urb returned -19
[ 7582.151953] usb 2-2: USB disconnect, device number 11
[ 7582.168250] hid-sensor-hub 0003:8086:0B3A.0008: No report with id 0xffffffff found
[ 7583.070446] usb 2-2: new SuperSpeed Gen 1 USB device number 12 using xhci_hcd
[ 7583.083110] usb 2-2: New USB device found, idVendor=8086, idProduct=0b3a, bcdDevice=50.e0
[ 7583.083123] usb 2-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 7583.083131] usb 2-2: Product: Intel(R) RealSense(TM) Depth Camera 435i
[ 7583.083138] usb 2-2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[ 7583.083144] usb 2-2: SerialNumber: 911623050542
[ 7583.088262] uvcvideo: Unknown video format 00000050-0000-0010-8000-00aa00389b71
[ 7583.088419] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7583.093075] uvcvideo: Failed to set UVC probe control : -32 (exp. 48).
[ 7583.094022] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-2/2-2:1.0/input/input90
[ 7583.102303] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7583.102318] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7584.169036] hid-sensor-hub 0003:8086:0B3A.0009: No report with id 0xffffffff found
[ 7585.912084] usb 1-1.2: new high-speed USB device number 7 using xhci_hcd
[ 7585.989262] usb 1-1.2: New USB device found, idVendor=8086, idProduct=0b3a, bcdDevice=50.e0
[ 7585.989278] usb 1-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 7585.989287] usb 1-1.2: Product: Intel(R) RealSense(TM) Depth Camera 435i
[ 7585.989295] usb 1-1.2: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[ 7585.996207] uvcvideo: Unknown video format 00000050-0000-0010-8000-00aa00389b71
[ 7585.996352] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7585.998815] uvcvideo: Failed to set UVC probe control : -32 (exp. 48).
[ 7585.999710] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.2/1-1.2:1.0/input/input91
[ 7586.000987] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7586.003657] uvcvideo: Failed to set UVC probe control : -32 (exp. 48).
[ 7587.029114] hid-sensor-hub 0003:8086:0B3A.000A: No report with id 0xffffffff found
[ 7588.107152] hid-sensor-hub 0003:8086:0B3A.0009: No report with id 0xffffffff found
[ 7588.107206] hid-sensor-hub 0003:8086:0B3A.0009: usb_submit_urb(ctrl) failed: -19
[ 7588.107228] hid-sensor-hub 0003:8086:0B3A.0009: usb_submit_urb(ctrl) failed: -19
[ 7588.452268] usb usb2-port2: Cannot enable. Maybe the USB cable is bad?
[ 7588.452368] usb 2-2: USB disconnect, device number 12
[ 7588.640765] hid-sensor-hub 0003:8086:0B3A.0009: No report with id 0xffffffff found
[ 7590.972684] hid-sensor-hub 0003:8086:0B3A.000A: No report with id 0xffffffff found
[ 7593.028432] usb usb2-port2: Cannot enable. Maybe the USB cable is bad?
[ 7597.100621] usb usb2-port2: Cannot enable. Maybe the USB cable is bad?
[ 7597.101165] usb usb2-port2: attempt power cycle
[ 7601.484670] usb usb2-port2: Cannot enable. Maybe the USB cable is bad?
[ 7605.556805] usb usb2-port2: Cannot enable. Maybe the USB cable is bad?
[ 7605.557401] usb usb2-port2: unable to enumerate USB device

I test with 2 different cables one of them is brand new USB3.1 cable. It is same.

Also I test D435i and same cables with official Ubuntu 22.04 Ubuntu 20.04 and also Windows11 (Intel RealSense Viewer) I showed 30 FPS on image infos.

What is suggestion? Should I try another method? Or I should change test environment to X86 base system? 

 

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Comments

7 comments

Date Votes
  • MartyG

    Hi Agan Simsek  Installation of the librealsense SDK and the RealSense ROS wrapper on Raspberry Pi can have significantly more problems than with Nvidia Jetson or x86 / x64.  So if you have the choice to change your platform then I would recommend using one of those alternative computers / computing devices

     

    If you would like to continue with Raspberry Pi then the guidance at the link below (which uses Raspbian / Raspberry Pi OS instead of Ubuntu Server) may be helpful, though that procedure too can have problems.

    https://github.com/IntelRealSense/realsense-ros/issues/1375#issuecomment-691482673

     

    Or you could see whether the performance of your current installation improves if you reset the camera at launch by adding initial_reset:=true to the end of your roslaunch instruction.

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  • Agan Simsek

    Hi MartyG,

    Thanks for the quick response and the eleccelerator wiki reference with nice explanations. I am aware of the support and experience you have shown here for a long time and on the intel real sense GitHub page. I would like to ask your opinion on the problem of constantly disconnecting and reconnecting.

    What is your comment on the possibility that recompiling the uvcv kernel module will solve both the unknown format error and this constant disconnecting and reconnecting problem?

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  • MartyG
    • Edited

    USB stability should improve if the build flag -DFORCE_RSUSB_BACKEND=true is used, as this bypasses the kernel and so you would not need to take the kernel into account.  An RSUSB = true build is not dependent on Linux versions or kernel versions and does not require kernel patching.

     

    -DFORCE_RSUSB_BACKEND is the modern replacement for the -DFORCE_LIBUVC=true build flag mentioned in the eleccelerator instructions for installing librealsense and was introduced in librealsense version 2.30.0 onwards. -DFORCE_RSUSB_BACKEND should now be used instead of -DFORCE_LIBUVC

     

    As kernel patching is not required, you should be able to skip the Patching uvcvideo section of the eleccelerator instruction guide when using -DFORCE_RSUSB_BACKEND=true.

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  • Agan Simsek

    I add to uvcvideo to blacklist. And It is OK now. Without any rebuild.

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  • MartyG

    It's great to hear that you achieved a solution.  Thanks very much for the update!

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  • Agan Simsek

    There is a news like this. When the D435i is plugged into the USB port, a lag occurs in the entire system. For example usb joystick response times increase. By the way, I have not run an intel realsense related application on the user side.
    Which tool or methods would you recommend I follow to find such a situation in the system?

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  • MartyG

    You could use an Ubuntu system monitoring tool such as htop to see how the system is reacting.

     

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