D455 camera do not have rgb and depthImage when power on in maincontroller board using USB2
SDK librealsense2.56.4
fw version:5.13.0.55
USB2.0 5fps 1270*720
ros2 jazzy environment
D455 camera do not response setAddress(ubuntu kern.log) when power on in x86 maincontroller board, sometimes unplug and replug will recover，sometimes still problem, sometimes powerOn runs normally, images will disappear after 20~30 mins
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Hi tao wang It sounds as though you are using a single-board computer or controller board rather than a PC computer. Is that correct?
If you are using a computing board / controller board, which manufacturer and model number is it, please?
The capabilities and performance of RealSense cameras will be limited on a USB 2.0 connection, especially if the controller board is one with a low amount of onboard memory capacity such as 1 GB or less.
So-called "low end" computing devices will be more susceptible to being unable to provide sufficient power to the camera through the USB port, especially when using a high resolution and more than one stream enabled simultaneously. Using a mains electricity powered USB hub device instead of attaching the camera directly to the computing device's built-in USB port can help in this situation if it is possible for the computing device to be attached to a mains electricity plug (e.g if the camera is not being used with a mobile robot).
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Yes, we are using a controller board with x86_64 cpu, 8 cores, Intel(R) Corporation(TM) i7-7700HQ CPU @2.8GHZ）,16G memory . Realsense is attached to a mobile robot, using 3.1 usb port on controller board for power. Normally we uses RGB and depth image, aslo uses point-cloud. The frequency of get RGB image(1280*720) is 5 fps. Since the beginning of robot power-on, we have been continuously get data. Please help us analyze potential scenarios and provide valuable feedback, Thank you very much.
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Thank you very much for the additional information. Your controller board has a very good hardware specification.
If the camera is plugged into a USB 3,1 port but it is being detected as USB 2.0, that means that the USB speed is being misdetected, On 1280x720 resolution on a USB2 connection, 5 FPS is the only FPS speed supported.
I would first recommend confirming whether your controller board's USB port is 3.1 or if it is actually 3.0. This is because the USB port on the RealSense camera was designed for a minimum of 3.1, and though RealSense cameras can work on a USB 3.0 port they are usually detected as the slower USB 2.1 speed.
If you do have a USB 3.1 port on your controller board and an unplug and replug can sometimes recover then because you are using ROS2 Jazzy, please check whether adding the parameter initial_reset:=true to your launch command enables it to be consistently detected as being on a USB 3.1 connection. This parameter causes the camera to be automatically reset during launch, which has a similar effect to physically unplugging and re-inserting the camera.
For example:
ros2 launch realsense2_camera rs_launch.py initial_reset:=true
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Thank you very much. Our controller board's USB port is USB 3.0, because when i use realsense-viewer connect device ,it display with usb2.1. and the usb wires we always uses usb2.0,while color（not blue or black）. The parameter initial_reset:=true using for ros2 launch， means if no rgb/align-depth image ,we relaunch realsense2_camera with “initial_reset:=true ” to repair?
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If there is a problem with a launch then it is worth trying initial_reset:=true first because it is easy to try, though it does not resolve every launch issue.
The RGB color stream needs to be functioning correctly and not dropping frames in order for alignment to be succeessful.
If 1280x720 resolution has problems then you can try a lower resolution such as 640x480 to see if performance improves. The command below launches depth and color at 640x480 and 15 FPS and also resets the camera at launch and publishes the aligned-depth topic.
ros2 launch realsense2_camera rs_launch.pyinitial_reset:=true depth_module.depth_profile:=640x480x15 rgb_camera.color_profile:=640x480x15 align_depth.enable:=true -
First of all, thanks for your professional answer, I have already forwarded it to my colleague for verification. Considering the issue does not always occur, the verification will take a bit more time. Also, I have another question: for the d455, with a USB2 interface, in a ROS2 Jazzy ，Ubuntu environment, which version of the SDK and firmware do you recommend, thanks
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Thanks very much for the update.
Any recent version of the SDK and firmware should be fine, since they can automatically reconfigure for the limitations of a USB2 connection when the camera is detected as being on that connection speed.
I would recommend using the latest versions of the SDK and ROS wrapper available. At the time of writing this, they are SDK 2.59.1 and ROS2 wrapper 4.59.1. As you are using a D455, the firmware version 5.17.3.10 is recommended to be used with SDK 2.59.1.
The RealSense ROS2 wrapper supports Jazzy in versions 4.56.1 and newer.
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