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"control_transfer returned error" occurring at high frequency with multiple cameras #1843

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victorll998 opened this issue May 3, 2021 · 11 comments

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@victorll998
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Hi everyone,

I have encountered similar cases related #1162 but with multiple cameras (two d455 and one t265) in my system.

I have two d455 and t265 running on Intel NUC (i7). I tested with the cables inbox and a powered USB hub. When only one d455 and t265 connected, the control_transfer returned error has refrained after a few seconds when nodes initialize. But when I tried to connect two d455 and t265, one of the d455 would retain the control transfer error at a high frequency while the other d455 is fine.

The errors come at an average rate of 3 sec, which I think it is not normal. Does anyone have an idea about it?

camera 1 continue to give me the error

SUMMARY
========

PARAMETERS
 * /cam_1/realsense2_camera/accel_fps: -1
 * /cam_1/realsense2_camera/accel_frame_id: cam_1_accel_frame
 * /cam_1/realsense2_camera/accel_optical_frame_id: cam_1_accel_optic...
 * /cam_1/realsense2_camera/align_depth: False
 * /cam_1/realsense2_camera/aligned_depth_to_color_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/aligned_depth_to_fisheye1_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/aligned_depth_to_fisheye2_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/aligned_depth_to_fisheye_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/aligned_depth_to_infra1_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/aligned_depth_to_infra2_frame_id: cam_1_aligned_dep...
 * /cam_1/realsense2_camera/allow_no_texture_points: False
 * /cam_1/realsense2_camera/base_frame_id: cam_1_link
 * /cam_1/realsense2_camera/calib_odom_file: 
 * /cam_1/realsense2_camera/clip_distance: -2.0
 * /cam_1/realsense2_camera/color_fps: -1
 * /cam_1/realsense2_camera/color_frame_id: cam_1_color_frame
 * /cam_1/realsense2_camera/color_height: -1
 * /cam_1/realsense2_camera/color_optical_frame_id: cam_1_color_optic...
 * /cam_1/realsense2_camera/color_width: -1
 * /cam_1/realsense2_camera/confidence_fps: -1
 * /cam_1/realsense2_camera/confidence_height: -1
 * /cam_1/realsense2_camera/confidence_width: -1
 * /cam_1/realsense2_camera/depth_fps: -1
 * /cam_1/realsense2_camera/depth_frame_id: cam_1_depth_frame
 * /cam_1/realsense2_camera/depth_height: -1
 * /cam_1/realsense2_camera/depth_optical_frame_id: cam_1_depth_optic...
 * /cam_1/realsense2_camera/depth_width: -1
 * /cam_1/realsense2_camera/device_type: 
 * /cam_1/realsense2_camera/enable_accel: False
 * /cam_1/realsense2_camera/enable_color: True
 * /cam_1/realsense2_camera/enable_confidence: True
 * /cam_1/realsense2_camera/enable_depth: True
 * /cam_1/realsense2_camera/enable_fisheye1: False
 * /cam_1/realsense2_camera/enable_fisheye2: False
 * /cam_1/realsense2_camera/enable_fisheye: False
 * /cam_1/realsense2_camera/enable_gyro: False
 * /cam_1/realsense2_camera/enable_infra1: False
 * /cam_1/realsense2_camera/enable_infra2: False
 * /cam_1/realsense2_camera/enable_infra: False
 * /cam_1/realsense2_camera/enable_pointcloud: False
 * /cam_1/realsense2_camera/enable_pose: False
 * /cam_1/realsense2_camera/enable_sync: False
 * /cam_1/realsense2_camera/filters: spatial,temporal,...
 * /cam_1/realsense2_camera/fisheye1_frame_id: cam_1_fisheye1_frame
 * /cam_1/realsense2_camera/fisheye1_optical_frame_id: cam_1_fisheye1_op...
 * /cam_1/realsense2_camera/fisheye2_frame_id: cam_1_fisheye2_frame
 * /cam_1/realsense2_camera/fisheye2_optical_frame_id: cam_1_fisheye2_op...
 * /cam_1/realsense2_camera/fisheye_fps: -1
 * /cam_1/realsense2_camera/fisheye_frame_id: cam_1_fisheye_frame
 * /cam_1/realsense2_camera/fisheye_height: -1
 * /cam_1/realsense2_camera/fisheye_optical_frame_id: cam_1_fisheye_opt...
 * /cam_1/realsense2_camera/fisheye_width: -1
 * /cam_1/realsense2_camera/gyro_fps: -1
 * /cam_1/realsense2_camera/gyro_frame_id: cam_1_gyro_frame
 * /cam_1/realsense2_camera/gyro_optical_frame_id: cam_1_gyro_optica...
 * /cam_1/realsense2_camera/imu_optical_frame_id: cam_1_imu_optical...
 * /cam_1/realsense2_camera/infra1_frame_id: cam_1_infra1_frame
 * /cam_1/realsense2_camera/infra1_optical_frame_id: cam_1_infra1_opti...
 * /cam_1/realsense2_camera/infra2_frame_id: cam_1_infra2_frame
 * /cam_1/realsense2_camera/infra2_optical_frame_id: cam_1_infra2_opti...
 * /cam_1/realsense2_camera/infra_fps: -1
 * /cam_1/realsense2_camera/infra_height: -1
 * /cam_1/realsense2_camera/infra_rgb: False
 * /cam_1/realsense2_camera/infra_width: -1
 * /cam_1/realsense2_camera/initial_reset: False
 * /cam_1/realsense2_camera/json_file_path: 
 * /cam_1/realsense2_camera/linear_accel_cov: 0.01
 * /cam_1/realsense2_camera/odom_frame_id: cam_1_odom_frame
 * /cam_1/realsense2_camera/ordered_pc: False
 * /cam_1/realsense2_camera/pointcloud_texture_index: 0
 * /cam_1/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /cam_1/realsense2_camera/pose_frame_id: cam_1_pose_frame
 * /cam_1/realsense2_camera/pose_optical_frame_id: cam_1_pose_optica...
 * /cam_1/realsense2_camera/publish_odom_tf: True
 * /cam_1/realsense2_camera/publish_tf: True
 * /cam_1/realsense2_camera/rosbag_filename: 
 * /cam_1/realsense2_camera/serial_no: 043422252203
 * /cam_1/realsense2_camera/tf_publish_rate: 0.0
 * /cam_1/realsense2_camera/topic_odom_in: odom_in
 * /cam_1/realsense2_camera/unite_imu_method: 
 * /cam_1/realsense2_camera/usb_port_id: 
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /cam_1/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [23459]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to aa0d55fe-abd8-11eb-9336-09217049c0b5
process[rosout-1]: started with pid [23469]
started core service [/rosout]
process[cam_1/realsense2_camera_manager-2]: started with pid [23476]
process[cam_1/realsense2_camera-3]: started with pid [23477]
[ INFO] [1620023262.345482099]: Initializing nodelet with 8 worker threads.
[ INFO] [1620023262.416752428]: RealSense ROS v2.2.22
[ INFO] [1620023262.416778443]: Built with LibRealSense v2.42.0
[ INFO] [1620023262.416790908]: Running with LibRealSense v2.42.0
[ INFO] [1620023262.436847633]:  
[ INFO] [1620023262.551867033]: Device with serial number * was found.

[ INFO] [1620023262.551903262]: Device with physical ID 2-2.2-6 was found.
[ INFO] [1620023262.551914050]: Device with name Intel RealSense D455 was found.
[ INFO] [1620023262.552201380]: Device with port number 2-2.2 was found.
[ INFO] [1620023262.552221755]: Device USB type: 3.2
[ INFO] [1620023262.553290865]: getParameters...
[ INFO] [1620023262.576237792]: setupDevice...
[ INFO] [1620023262.576256226]: JSON file is not provided
[ INFO] [1620023262.576262414]: ROS Node Namespace: cam_1
[ INFO] [1620023262.576285174]: Device Name: Intel RealSense D455
[ INFO] [1620023262.576301647]: Device Serial No: *
[ INFO] [1620023262.576307642]: Device physical port: 2-2.2-6
[ INFO] [1620023262.576312908]: Device FW version: 05.12.13.50
[ INFO] [1620023262.576318280]: Device Product ID: 0x0B5C
[ INFO] [1620023262.576330684]: Enable PointCloud: On
[ INFO] [1620023262.576335357]: Align Depth: Off
[ INFO] [1620023262.576341192]: Sync Mode: On
[ INFO] [1620023262.576365876]: Device Sensors: 
[ INFO] [1620023262.595513946]: Stereo Module was found.
[ INFO] [1620023262.605558917]: RGB Camera was found.
[ INFO] [1620023262.605742608]: Motion Module was found.
[ INFO] [1620023262.605760666]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1620023262.605772284]: Add Filter: spatial
[ INFO] [1620023262.606121245]: Add Filter: temporal
[ INFO] [1620023262.606420971]: Add Filter: pointcloud
[ INFO] [1620023262.606703641]: num_filters: 3
[ INFO] [1620023262.606717299]: Setting Dynamic reconfig parameters.
 03/05 16:27:42,950 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 03/05 16:27:43,028 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1620023263.142969824]: Done Setting Dynamic reconfig parameters.
[ INFO] [1620023263.143315334]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1620023263.144031117]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1620023263.144053350]: setupPublishers...
[ INFO] [1620023263.145098161]: Expected frequency for depth = 30.00000
[ INFO] [1620023263.160099817]: Expected frequency for color = 30.00000
[ INFO] [1620023263.169803601]: setupStreams...
[ INFO] [1620023263.191124117]: insert Depth to Stereo Module
[ INFO] [1620023263.191211562]: insert Color to RGB Camera
[ INFO] [1620023263.256879785]: SELECTED BASE:Depth, 0
[ INFO] [1620023263.263746077]: RealSense Node Is Up!
 03/05 16:27:43,337 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 03/05 16:27:43,387 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ WARN] [1620023263.519449911]: 
 03/05 16:27:43,519 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,570 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,620 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,671 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,722 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 03/05 16:27:43,773 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,823 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,874 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:43,926 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:44,077 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:44,629 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:44,780 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:48,234 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:50,285 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:51,335 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:51,386 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:53,437 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:54,487 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:55,538 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:57,589 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:58,640 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:59,691 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:00,742 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:11,798 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:14,850 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:24,906 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:27,958 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:33,011 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:38,064 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:41,116 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:44,167 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:48,219 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:51,271 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:28:53,323 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:29:08,380 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:29:12,433 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 03/05 16:29:15,484 WARNING [140381029353216] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

camera 2 is fine

SUMMARY
========

PARAMETERS
 * /cam_2/realsense2_camera/accel_fps: -1
 * /cam_2/realsense2_camera/accel_frame_id: cam_2_accel_frame
 * /cam_2/realsense2_camera/accel_optical_frame_id: cam_2_accel_optic...
 * /cam_2/realsense2_camera/align_depth: False
 * /cam_2/realsense2_camera/aligned_depth_to_color_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/aligned_depth_to_fisheye1_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/aligned_depth_to_fisheye2_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/aligned_depth_to_fisheye_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/aligned_depth_to_infra1_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/aligned_depth_to_infra2_frame_id: cam_2_aligned_dep...
 * /cam_2/realsense2_camera/allow_no_texture_points: False
 * /cam_2/realsense2_camera/base_frame_id: cam_2_link
 * /cam_2/realsense2_camera/calib_odom_file: 
 * /cam_2/realsense2_camera/clip_distance: -2.0
 * /cam_2/realsense2_camera/color_fps: -1
 * /cam_2/realsense2_camera/color_frame_id: cam_2_color_frame
 * /cam_2/realsense2_camera/color_height: -1
 * /cam_2/realsense2_camera/color_optical_frame_id: cam_2_color_optic...
 * /cam_2/realsense2_camera/color_width: -1
 * /cam_2/realsense2_camera/confidence_fps: -1
 * /cam_2/realsense2_camera/confidence_height: -1
 * /cam_2/realsense2_camera/confidence_width: -1
 * /cam_2/realsense2_camera/depth_fps: -1
 * /cam_2/realsense2_camera/depth_frame_id: cam_2_depth_frame
 * /cam_2/realsense2_camera/depth_height: -1
 * /cam_2/realsense2_camera/depth_optical_frame_id: cam_2_depth_optic...
 * /cam_2/realsense2_camera/depth_width: -1
 * /cam_2/realsense2_camera/device_type: 
 * /cam_2/realsense2_camera/enable_accel: False
 * /cam_2/realsense2_camera/enable_color: True
 * /cam_2/realsense2_camera/enable_confidence: True
 * /cam_2/realsense2_camera/enable_depth: True
 * /cam_2/realsense2_camera/enable_fisheye1: False
 * /cam_2/realsense2_camera/enable_fisheye2: False
 * /cam_2/realsense2_camera/enable_fisheye: False
 * /cam_2/realsense2_camera/enable_gyro: False
 * /cam_2/realsense2_camera/enable_infra1: False
 * /cam_2/realsense2_camera/enable_infra2: False
 * /cam_2/realsense2_camera/enable_infra: False
 * /cam_2/realsense2_camera/enable_pointcloud: False
 * /cam_2/realsense2_camera/enable_pose: False
 * /cam_2/realsense2_camera/enable_sync: False
 * /cam_2/realsense2_camera/filters: spatial,temporal,...
 * /cam_2/realsense2_camera/fisheye1_frame_id: cam_2_fisheye1_frame
 * /cam_2/realsense2_camera/fisheye1_optical_frame_id: cam_2_fisheye1_op...
 * /cam_2/realsense2_camera/fisheye2_frame_id: cam_2_fisheye2_frame
 * /cam_2/realsense2_camera/fisheye2_optical_frame_id: cam_2_fisheye2_op...
 * /cam_2/realsense2_camera/fisheye_fps: -1
 * /cam_2/realsense2_camera/fisheye_frame_id: cam_2_fisheye_frame
 * /cam_2/realsense2_camera/fisheye_height: -1
 * /cam_2/realsense2_camera/fisheye_optical_frame_id: cam_2_fisheye_opt...
 * /cam_2/realsense2_camera/fisheye_width: -1
 * /cam_2/realsense2_camera/gyro_fps: -1
 * /cam_2/realsense2_camera/gyro_frame_id: cam_2_gyro_frame
 * /cam_2/realsense2_camera/gyro_optical_frame_id: cam_2_gyro_optica...
 * /cam_2/realsense2_camera/imu_optical_frame_id: cam_2_imu_optical...
 * /cam_2/realsense2_camera/infra1_frame_id: cam_2_infra1_frame
 * /cam_2/realsense2_camera/infra1_optical_frame_id: cam_2_infra1_opti...
 * /cam_2/realsense2_camera/infra2_frame_id: cam_2_infra2_frame
 * /cam_2/realsense2_camera/infra2_optical_frame_id: cam_2_infra2_opti...
 * /cam_2/realsense2_camera/infra_fps: -1
 * /cam_2/realsense2_camera/infra_height: -1
 * /cam_2/realsense2_camera/infra_rgb: False
 * /cam_2/realsense2_camera/infra_width: -1
 * /cam_2/realsense2_camera/initial_reset: False
 * /cam_2/realsense2_camera/json_file_path: 
 * /cam_2/realsense2_camera/linear_accel_cov: 0.01
 * /cam_2/realsense2_camera/odom_frame_id: cam_2_odom_frame
 * /cam_2/realsense2_camera/ordered_pc: False
 * /cam_2/realsense2_camera/pointcloud_texture_index: 0
 * /cam_2/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /cam_2/realsense2_camera/pose_frame_id: cam_2_pose_frame
 * /cam_2/realsense2_camera/pose_optical_frame_id: cam_2_pose_optica...
 * /cam_2/realsense2_camera/publish_odom_tf: True
 * /cam_2/realsense2_camera/publish_tf: True
 * /cam_2/realsense2_camera/rosbag_filename: 
 * /cam_2/realsense2_camera/serial_no: 053122250128
 * /cam_2/realsense2_camera/tf_publish_rate: 0.0
 * /cam_2/realsense2_camera/topic_odom_in: odom_in
 * /cam_2/realsense2_camera/unite_imu_method: 
 * /cam_2/realsense2_camera/usb_port_id: 
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /cam_2/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[cam_2/realsense2_camera_manager-1]: started with pid [23655]
process[cam_2/realsense2_camera-2]: started with pid [23656]
[ INFO] [1620023266.560183621]: Initializing nodelet with 8 worker threads.
[ INFO] [1620023266.625776454]: RealSense ROS v2.2.22
[ INFO] [1620023266.625797485]: Built with LibRealSense v2.42.0
[ INFO] [1620023266.625804678]: Running with LibRealSense v2.42.0
[ INFO] [1620023266.646971673]:  
[ WARN] [1620023266.652993967]: Device 1/3 failed with exception: failed to set power state
 03/05 16:27:46,652 ERROR [140139590305536] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 03/05 16:27:46,652 ERROR [140139615483648] (sensor.cpp:523) acquire_power failed: failed to set power state
 03/05 16:27:46,652 WARNING [140139615483648] (rs.cpp:306) null pointer passed for argument "device"
 03/05 16:27:46,729 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1620023266.879249627]: Device with serial number * was found.

[ INFO] [1620023266.879277967]: Device with physical ID 2-2.4-7 was found.
[ INFO] [1620023266.879291941]: Device with name Intel RealSense D455 was found.
[ INFO] [1620023266.879571566]: Device with port number 2-2.4 was found.
[ INFO] [1620023266.879589393]: Device USB type: 3.2
[ INFO] [1620023266.880768568]: getParameters...
[ INFO] [1620023266.906465297]: setupDevice...
[ INFO] [1620023266.906497494]: JSON file is not provided
[ INFO] [1620023266.906507559]: ROS Node Namespace: cam_2
[ INFO] [1620023266.906521207]: Device Name: Intel RealSense D455
[ INFO] [1620023266.906530823]: Device Serial No: *
[ INFO] [1620023266.906538913]: Device physical port: 2-2.4-7
[ INFO] [1620023266.906550059]: Device FW version: 05.12.13.50
[ INFO] [1620023266.906559594]: Device Product ID: 0x0B5C
[ INFO] [1620023266.906569666]: Enable PointCloud: On
[ INFO] [1620023266.906579291]: Align Depth: Off
[ INFO] [1620023266.906589052]: Sync Mode: On
[ INFO] [1620023266.906625332]: Device Sensors: 
[ INFO] [1620023266.929115065]: Stereo Module was found.
[ INFO] [1620023266.939533201]: RGB Camera was found.
[ INFO] [1620023266.939829890]: Motion Module was found.
[ INFO] [1620023266.939856109]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1620023266.939875602]: Add Filter: spatial
[ INFO] [1620023266.940198596]: Add Filter: temporal
[ INFO] [1620023266.940502859]: Add Filter: pointcloud
[ INFO] [1620023266.940789485]: num_filters: 3
[ INFO] [1620023266.940802794]: Setting Dynamic reconfig parameters.
[ INFO] [1620023267.368512013]: Done Setting Dynamic reconfig parameters.
[ INFO] [1620023267.368907470]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1620023267.369645111]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1620023267.369668962]: setupPublishers...
[ INFO] [1620023267.370824259]: Expected frequency for depth = 30.00000
[ INFO] [1620023267.386364551]: Expected frequency for color = 30.00000
[ INFO] [1620023267.396254492]: setupStreams...
[ INFO] [1620023267.417498629]: insert Depth to Stereo Module
[ INFO] [1620023267.417546521]: insert Color to RGB Camera
[ INFO] [1620023267.466236248]: SELECTED BASE:Depth, 0
[ INFO] [1620023267.471884995]: RealSense Node Is Up!
 03/05 16:27:47,550 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ WARN] [1620023267.680723885]: 
 03/05 16:27:47,681 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:47,731 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:47,782 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:47,832 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:47,883 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 03/05 16:27:47,933 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:47,985 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:48,035 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:48,085 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:53,244 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:55,295 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:55,345 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:56,396 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:56,446 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/05 16:27:58,498 WARNING [140139598698240] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
@RealSenseSupport
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@victorll998 Do you mean that two D455 cameras connected to one USB hub?

@victorll998
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@RealSenseSupport Yes

@victorll998
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I also have done the same tests when I connect each d455 to thunderbolt3. The warnings are relieved compared to use the USB hub but still are coming at a disturbingly high rate.

@RealSenseSupport
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@victorll998 Do you mean you still get frequent "control_transfer returned error" if you connect each D455 to host USB port directly? Do you still get such issue if you reduce RGB resolution to 848x480?

@norman1479
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norman1479 commented May 18, 2021

Hi All, we get the same message a few dozen times from each camera node after start-up, on industrial computers with 2, 3 or 4 D435 cameras each, all attached to host USB ports. Resolutions used for both color and depth are 848x480.

Some of the output from lspci:

00:00.0 Host bridge: Intel Corporation 8th Gen Core Processor Host Bridge/DRAM Registers (rev 07) 00:01.0 PCI bridge: Intel Corporation Xeon E3-1200 v5/E3-1500 v5/6th Gen Core Processor PCIe Controller (x16) (rev 07) 000:08.0 System peripheral: Intel Corporation Xeon E3-1200 v5/v6 / E3-1500 v5 / 6th/7th/8th Gen Core Processor Gaussian 01:00.2 USB controller: NVIDIA Corporation TU104 USB 3.1 Host Controller (rev a1)

@victorll998
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@RealSenseSupport When I connect each D455 to the host USB port (thunderbolt3) I still get frequent "control_transfer returned error". I have the same issue even though I reduce RGB resolution to 848x480.

I also found this issue could be related to auto-exposure because I can see the frequent "control_transfer returned error" when I change the ambient light. To rule out possibilities of camera hiccup, could you take a look and see if you can reproduce the same error?

@RealSenseSupport
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@victorll998 So you will get "control_transfer returned error" when connect two D455 to the host. But no such issue if connect one D455, right?

How did you install librealsense and ROS wrapper? By apt-get install or build from source?

@RealSenseSupport
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@victorll998 Could you please update so that we can provide further support on this? Thanks!

@RealSenseSupport
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@victorll998 Do you still have issue? Looking forward to your update. Thanks!

@RealSenseSupport
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@victorll998 Could you please update? Please note that the issue will be closed if we don't hear from you for another 7 days. Thanks!

@RealSenseSupport
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@victorll998 Sorry we don't hear from you for weeks. This issue will be closed. Please feel free to create another one if you still have any issues or questions. Thanks!

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