前提・実現したいこと
realsenseD435を使用して3Dスラムの実行を行いたいです。
今まで
roslaunch realsense2_camera rs_aligned_depth.launch
で普通に動作していましたが、突然エラーを吐いてカメラが強制的に停止してしまいます。
発生している問題・エラーメッセージ
[camera/realsense2_camera_manager-2] process has died [pid 9526, exit code 127, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/camera-realsense2_camera_manager-2.log].
log file: /home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/camera-realsense2_camera_manager-2*.log
### 該当のソースコード ... logging to /home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/roslaunch-ros3-9483.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.1.63:42252/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: 250 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: True * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -1.0 * /camera/realsense2_camera/color_fps: 30 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: 480 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: 640 * /camera/realsense2_camera/confidence_fps: 30 * /camera/realsense2_camera/confidence_height: 480 * /camera/realsense2_camera/confidence_width: 640 * /camera/realsense2_camera/depth_fps: 30 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: 480 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: 640 * /camera/realsense2_camera/device_type: * /camera/realsense2_camera/enable_accel: True * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_confidence: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: False * /camera/realsense2_camera/enable_fisheye2: False * /camera/realsense2_camera/enable_fisheye: True * /camera/realsense2_camera/enable_gyro: True * /camera/realsense2_camera/enable_infra1: True * /camera/realsense2_camera/enable_infra2: True * /camera/realsense2_camera/enable_infra: False * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_pose: False * /camera/realsense2_camera/enable_sync: True * /camera/realsense2_camera/filters: * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: 30 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: 480 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: 640 * /camera/realsense2_camera/gyro_fps: 400 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 480 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: 640 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/ordered_pc: False * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/stereo_module/exposure/1: 7500 * /camera/realsense2_camera/stereo_module/exposure/2: 1 * /camera/realsense2_camera/stereo_module/gain/1: 16 * /camera/realsense2_camera/stereo_module/gain/2: 16 * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: camera/odom_in * /camera/realsense2_camera/unite_imu_method: none * /camera/realsense2_camera/usb_port_id: * /rosdistro: kinetic * /rosversion: 1.12.17 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [9494] ROS_MASTER_URI=http://192.168.1.63:11311 setting /run_id to 4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7 process[rosout-1]: started with pid [9509] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [9526] process[camera/realsense2_camera-3]: started with pid [9527] [ INFO] [1634274661.953555775]: Initializing nodelet with 4 worker threads. [ INFO] [1634274662.071551072]: RealSense ROS v2.3.1 [ INFO] [1634274662.071580150]: Built with LibRealSense v2.49.0 [ INFO] [1634274662.071593136]: Running with LibRealSense v2.49.0 [ INFO] [1634274662.089526970]: [ INFO] [1634274662.092531776]: Device with serial number 032622073852 was found. [ INFO] [1634274662.092551946]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-2/4-2:1.0/video4linux/video0 was found. [ INFO] [1634274662.092563221]: Device with name Intel RealSense D435 was found. [ INFO] [1634274662.093005078]: Device with port number 4-2 was found. [ INFO] [1634274662.093024643]: Device USB type: 3.2 [ INFO] [1634274662.094350358]: getParameters... [ INFO] [1634274662.145195576]: setupDevice... [ INFO] [1634274662.145220824]: JSON file is not provided [ INFO] [1634274662.145231772]: ROS Node Namespace: camera [ INFO] [1634274662.145251071]: Device Name: Intel RealSense D435 [ INFO] [1634274662.145261324]: Device Serial No: 032622073852 [ INFO] [1634274662.145274792]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-2/4-2:1.0/video4linux/video0 [ INFO] [1634274662.145287139]: Device FW version: 05.12.15.50 [ INFO] [1634274662.145297315]: Device Product ID: 0x0B07 [ INFO] [1634274662.145306932]: Enable PointCloud: Off [ INFO] [1634274662.145316589]: Align Depth: On [ INFO] [1634274662.145325865]: Sync Mode: On [ INFO] [1634274662.145359038]: Device Sensors: [ INFO] [1634274662.147191325]: Stereo Module was found. [ INFO] [1634274662.151384000]: RGB Camera was found. [ INFO] [1634274662.151410087]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1634274662.151420466]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1634274662.151448138]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1634274662.151470466]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1634274662.151744275]: num_filters: 1 [ INFO] [1634274662.151759078]: Setting Dynamic reconfig parameters. /opt/ros/kinetic/lib/nodelet/nodelet: symbol lookup error: /home/misumi/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN20ddynamic_reconfigure19DDynamicReconfigureC1ERKN3ros10NodeHandleEb [camera/realsense2_camera_manager-2] process has died [pid 9526, exit code 127, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/camera-realsense2_camera_manager-2.log]. log file: /home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/camera-realsense2_camera_manager-2*.log [camera/realsense2_camera-3] process has finished cleanly log file: /home/misumi/.ros/log/4a0341b2-2d76-11ec-a1f3-f80f41e4b2b7/camera-realsense2_camera-3*.log ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done ```ここに言語名を入力
試したこと
機器の抜き差し
再起動
realsense-viewerでの起動の確認
補足情報(FW/ツールのバージョンなど)
ubuntu 16.04 LTS
RaspberryPi3
rosはkinetik
turtlebot3 waffle pi
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