D435 Firmware causing USB enumeration problems #5251
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We conducted a few more tests and have found that plugging the D435 through different hubs and even hubs connected to the primary hubs used in the original ticket the cameras appear to be much more reliable and predictable showing up after reboots. For example Anker 7 port USB 3 hub with camera plugged into first port is very flaky, Plugging another Anker 4 port USB3 hub into the first port and then the same camera made it work 10 out of 10 reboots. We found other combinations that also worked. Perhaps it is a recent kernel regression, I will try some other kernels if I find the time to produce new test images. |
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Closing this as this issue has been tracked through Zendesk. |
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Issue Description
We are having trouble with the D435 enumerating on the USB bus after reboot. I believe there might be some interaction with the system BIOS during boot.
We have two D435 cameras attached through USB3 ports to hubs and then to the motherboard ports. Sometimes after booting all cameras are enumerated and work, sometimes only 1 and other times none. Additionally sometimes a camera shows up without a serial number when looking in the "/dev/v4l/by-id" directory since that is how we can identify the cameras by their serial numbers.
For example after booting I find
ls -l /dev/v4l/by-id/ total 0 lrwxrwxrwx 1 root root 12 Nov 15 10:00 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index0 -> ../../video0 lrwxrwxrwx 1 root root 12 Nov 15 10:00 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index1 -> ../../video1 lrwxrwxrwx 1 root root 12 Nov 15 10:01 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index0 -> ../../video2 lrwxrwxrwx 1 root root 12 Nov 15 10:01 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index1 -> ../../video7 lrwxrwxrwx 1 root root 12 Nov 15 10:01 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index2 -> ../../video4 lrwxrwxrwx 1 root root 12 Nov 15 10:01 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index3 -> ../../video5And after simply rebooting I now see, were one camera is not listing it's serial number and won't work with the ROS node.
lrwxrwxrwx 1 root root 13 Nov 15 10:21 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index0 -> ../../video12 lrwxrwxrwx 1 root root 13 Nov 15 10:21 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index1 -> ../../video13 lrwxrwxrwx 1 root root 13 Nov 15 10:22 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index0 -> ../../video10 lrwxrwxrwx 1 root root 13 Nov 15 10:22 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index1 -> ../../video11 lrwxrwxrwx 1 root root 12 Nov 15 10:22 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index2 -> ../../video8 lrwxrwxrwx 1 root root 12 Nov 15 10:22 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index3 -> ../../video9 lrwxrwxrwx 1 root root 12 Nov 15 10:21 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435-video-index0 -> ../../video4 lrwxrwxrwx 1 root root 12 Nov 15 10:21 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435-video-index1 -> ../../video1 lrwxrwxrwx 1 root root 12 Nov 15 10:21 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435-video-index2 -> ../../video2 lrwxrwxrwx 1 root root 12 Nov 15 10:21 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435-video-index3 -> ../../video3When the cameras do not show up properly I can unplug them, plug them in and they always enumerate and function.
After unplugging the camera that is not showing a serial number
lrwxrwxrwx 1 root root 13 Nov 15 10:38 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index0 -> ../../video12 lrwxrwxrwx 1 root root 13 Nov 15 10:38 usb-046d_Logitech_Webcam_C930e_E5103D2E-video-index1 -> ../../video13 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index0 -> ../../video6 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index1 -> ../../video7 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index2 -> ../../video8 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523020915-video-index3 -> ../../video9 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index0 -> ../../video4 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index1 -> ../../video5 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index2 -> ../../video2 lrwxrwxrwx 1 root root 12 Nov 15 10:40 usb-Intel_R__RealSense_TM__Depth_Camera_435_Intel_R__RealSense_TM__Depth_Camera_435_920523021709-video-index3 -> ../../video3I have tried to modify various BIOS settings to prevent XHCI handoff, and other legacy USB support but no positive effect was seen.
Typically when a camera isn't listed at all there is also a message in the kernel log that it could not enumerate. When the condition of no serial number in the name, then I don't see any messages in the kernel log.
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