常連

### 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

realsenseD435がROSで突然起動しなくなった原因

### 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


### 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

@@ -350,7 +350,7 @@
 再起動
+realsense-viewerでの起動の確認

質問編集履歴