ROS 使用 RealSense D435i 时出现串口异常

喜欢ヅ旅行 2022-09-15 12:58 262阅读 0赞

### ROS 使用 RealSense D435i 时出现串口异常 ###

*  1. 缘由
 *  2. 解决
 *   *  2.1. 创建
     *  2.2. 生效
     *  2.3. 测试

--------------------

# 1. 缘由 #

有网友问 RealSense D435i 采用 [《ROS 摄像头参数标定》][ROS] 的`usb_cam`的功能包时出现的图像都是绿色的  
恰好有个 RealSense D435i 也试一下，确实如此  
而 usb\_cam\_node 已是集成文件，资料又少，就查看不了原因了

想先看一下话题，采用 `realsense2-camera` 功能包，先安装

$ sudo apt install ros-noetic-realsense2-camera

然后启动一下

$ roslaunch realsense2_camera rs_camera.launch

就出现了`failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS`的异常

--------------------

# 2. 解决 #

--------------------

## 2.1. 创建 ##

检查目录`/etc/udev/rules.d/`下是否有`99-realsense-libusb.rules`  
如果有，需要修改内容。  
如果没有，则需要创建规则文件`99-realsense-libusb.rules`，内容如下：

##Version=1.1##
    # Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0a66", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0abf", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0acb", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="04b4", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0af2", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0af6", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0afe", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0aff", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b00", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b01", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b03", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b07", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b48", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b49", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b52", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b64", MODE:="0666", GROUP:="plugdev"
    
    # Intel RealSense recovery devices (DFU)
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0adb", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0adc", MODE:="0666", GROUP:="plugdev"
    SUBSYSTEMS=="usb", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b55", MODE:="0666", GROUP:="plugdev"
    
    # Intel RealSense devices (Movidius, T265)
    SUBSYSTEMS=="usb", ENV{ DEVTYPE}=="usb_device", ATTRS{ idVendor}=="8087", ATTRS{ idProduct}=="0af3", MODE="0666", GROUP="plugdev"
    SUBSYSTEMS=="usb", ENV{ DEVTYPE}=="usb_device", ATTRS{ idVendor}=="8087", ATTRS{ idProduct}=="0b37", MODE="0666", GROUP="plugdev"
    SUBSYSTEMS=="usb", ENV{ DEVTYPE}=="usb_device", ATTRS{ idVendor}=="03e7", ATTRS{ idProduct}=="2150", MODE="0666", GROUP="plugdev"
    
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor_custom", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor_custom", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor_custom", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor_custom", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor_custom", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
    KERNEL=="iio*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
    DRIVER=="hid_sensor*", ATTRS{ idVendor}=="8086", ATTRS{ idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"

--------------------

## 2.2. 生效 ##

重新配置生效规则

$ sudo /etc/init.d/udev restart

--------------------

## 2.3. 测试 ##

拔插设备  
再启动就正常了

$ roslaunch realsense2_camera rs_camera.launch

使用rviz查看不同图像话题效果  
![在这里插入图片描述][watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5rCi6ZSuSC1I_size_10_color_FFFFFF_t_70_g_se_x_16_pic_center]  
在标定时图像话题采用`/camera/color/image_raw`即可，收工。

--------------------

谢谢

[ROS]: https://joveh-h.blog.csdn.net/article/details/113864858
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5rCi6ZSuSC1I_size_10_color_FFFFFF_t_70_g_se_x_16_pic_center]: /images/20220828/4b7aa227b1604e6385be313c7949b252.png