Launching realsense ROS driver fails

Sensors
1

Following the http://109.230.195.90/perception.html documentation.

I connected to the front Raspberry Pi with SSH and tried to launch (skipped all the installation process since it was already done by you) the ROS driver for the front camera using:

roslaunch realsense2_camera rs_camera.launch enable_sync:=true

I get this error messages:

[ INFO] [1616095486.614527240]:  
 18/03 20:24:46,666 ERROR [2696926224] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 18/03 20:24:46,674 ERROR [2732147728] (sensor.cpp:523) acquire_power failed: failed to set power state
 18/03 20:24:46,689 WARNING [2732147728] (rs.cpp:306) null pointer passed for argument "device"
[ WARN] [1616095486.689629963]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1616095486.689831648]: The requested device with  is NOT found. Will Try again.

Only the Ethernet cable is attached, nothing else. Any idea why this error occurs?

Running rosrun rviz rviz starts Rviz but no camera feed is to be seen.

2

Can you please share the full log of your command:

roslaunch realsense2_camera rs_camera.launch enable_sync:=true

3 
... logging to /home/pi/.ros/log/4265de8a-881f-11eb-a551-dca6327f86e2/roslaunch-raspberrypi-1405.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://raspberrypi:45689/

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: False
 * /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: -2.0
 * /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: False
 * /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: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /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
 * /camer[ INFO] [1616095343.739691215]: Initializing nodelet with 4 worker threads.
[ INFO] [1616095344.429143473]: RealSense ROS v2.2.21
[ INFO] [1616095344.429200862]: Built with LibRealSense v2.41.0
[ INFO] [1616095344.429439177]: Running with LibRealSense v2.41.0
[ INFO] [1616095344.552949121]:  
 18/03 20:22:24,594 ERROR [2695877648] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 18/03 20:22:24,595 ERROR [2731521040] (sensor.cpp:523) acquire_power failed: failed to set power state
 18/03 20:22:24,608 WARNING [2731521040] (rs.cpp:306) null pointer passed for argument "device"
[ERROR] [1616095344.609004140]: The requested device with  is NOT found. Will Try again.
[ WARN] [1616095344.608830955]: Device 1/1 failed with exception: failed to set power state
[ INFO] [1616095350.647297914]:  
 18/03 20:22:30,668 ERROR [2704270352] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 18/03 20:22:30,668 ERROR [2731521040] (sensor.cpp:523) acquire_power failed: failed to set power state
 18/03 20:22:30,669 WARNING [2731521040] (rs.cpp:306) null pointer passed for argument "device"
[ERROR] [1616095350.669820525]: The requested device with  is NOT found. Will Try again.
[ WARN] [1616095350.669758266]: Device 1/1 failed with exception: failed to set power state
[ INFO] [1616095356.700250373]:  
 18/03 20:22:36,722 ERROR [2687484944] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 18/03 20:22:36,722 ERROR [2731521040] (sensor.cpp:523) acquire_power failed: failed to set power state
 18/03 20:22:36,723 WARNING [2731521040] (rs.cpp:306) null pointer passed for argument "device"
[ERROR] [1616095356.723977188]: The requested device with  is NOT found. Will Try again.
[ WARN] [1616095356.723920281]: Device 1/1 failed with exception: failed to set power state

# EDIT: same error over and over, deleted

# EDIT: killed the process here

 * /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/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/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [1416]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4265de8a-881f-11eb-a551-dca6327f86e2
process[rosout-1]: started with pid [1429]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [1446]
process[camera/realsense2_camera-3]: started with pid [1447]
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
4

I didn’t had this issue at the time when I was using things worked fine. I found a similar issue on RealSense forum here. May be this help in debugging. May be you start with that debug and than share because for me it was working. Moreover may be you can start with building the packages.

5

I’m not that eager to start installing stuff on the robot itself since it is set up already and I can break more than I wish to fix :smiley:

I’ll see if there’s a Python cronjob as mentioned in the RealSense forum. Keep you informed.

6

I used to have the same problem, I suggest you follow the answer to this topic, it helped for me : How do you reset a USB device from the command line? - Ask Ubuntu

7

Exactly that helped me as well.

8

Hello, we had the same problem and could partially resolve it with resetting the USB device. But now we get this error when starting rs_camera.launch:

... logging to /home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/roslaunch-raspberrypi-1445.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://raspberrypi:33859/

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: False
 * /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: -2.0
 * /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: False
 * /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: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /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/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/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [1456]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d8db13ba-2d12-11ec-9bc7-dca6327f86e2
process[rosout-1]: started with pid [1469]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [1486]
process[camera/realsense2_camera-3]: started with pid [1487]
[ INFO] [1634231954.071251439]: Initializing nodelet with 4 worker threads.
[ INFO] [1634231954.650881938]: RealSense ROS v2.2.21
[ INFO] [1634231954.651053957]: Built with LibRealSense v2.41.0
[ INFO] [1634231954.651175272]: Running with LibRealSense v2.41.0
[ INFO] [1634231954.705860272]:  
 14/10 19:19:14,901 ERROR [2695877648] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 14/10 19:19:14,902 ERROR [2731521040] (sensor.cpp:523) acquire_power failed: failed to set power state
 14/10 19:19:14,907 WARNING [2731521040] (rs.cpp:306) null pointer passed for argument "device"
[ WARN] [1634231954.907554475]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1634231954.907655457]: The requested device with  is NOT found. Will Try again.
[ INFO] [1634231960.970793583]:  
 14/10 19:19:20,990 ERROR [2704270352] (handle-libusb.h:95) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
 14/10 19:19:20,991 ERROR [2731521040] (sensor.cpp:523) acquire_power failed: failed to set power state
 14/10 19:19:20,992 WARNING [2731521040] (rs.cpp:306) null pointer passed for argument "device"
[ WARN] [1634231960.992276305]: Device 1/1 failed with exception: failed to set power state
[ERROR] [1634231960.992345879]: The requested device with  is NOT found. Will Try again.
[ INFO] [1634231967.060738764]:  
[ INFO] [1634231967.248551042]: Device with serial number 941322072052 was found.

[ INFO] [1634231967.248639912]: Device with physical ID 2-1-2 was found.
[ INFO] [1634231967.248726135]: Device with name Intel RealSense D435I was found.
[ INFO] [1634231967.250627912]: Device with port number 2-1 was found.
[ INFO] [1634231967.250738116]: Device USB type: 3.2
[ INFO] [1634231967.261153079]: getParameters...
[ INFO] [1634231967.541089171]: setupDevice...
[ INFO] [1634231967.541167375]: JSON file is not provided
[ INFO] [1634231967.541218190]: ROS Node Namespace: camera
[ INFO] [1634231967.541267153]: Device Name: Intel RealSense D435I
[ INFO] [1634231967.541306542]: Device Serial No: 941322072052
[ INFO] [1634231967.541346227]: Device physical port: 2-1-2
[ INFO] [1634231967.541387338]: Device FW version: 05.11.01.100
[ INFO] [1634231967.541428283]: Device Product ID: 0x0B3A
[ INFO] [1634231967.541466431]: Enable PointCloud: Off
[ INFO] [1634231967.541511338]: Align Depth: Off
[ INFO] [1634231967.541549505]: Sync Mode: On
[ INFO] [1634231967.541685245]: Device Sensors: 
[ INFO] [1634231967.610052153]: Stereo Module was found.
[ INFO] [1634231967.657609005]: RGB Camera was found.
[ INFO] [1634231967.659048727]: Motion Module was found.
[ INFO] [1634231967.659349227]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1634231967.659597245]: num_filters: 0
[ INFO] [1634231967.659793301]: Setting Dynamic reconfig parameters.
 14/10 19:19:28,033 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ INFO] [1634231968.296262004]: Done Setting Dynamic reconfig parameters.
[ INFO] [1634231968.298435356]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1634231968.301326727]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1634231968.301481356]: setupPublishers...
[ INFO] [1634231968.312205301]: Expected frequency for depth = 30.00000
[ INFO] [1634231968.329816764]: Expected frequency for color = 30.00000
[ INFO] [1634231968.342334375]: setupStreams...
[ INFO] [1634231968.358475819]: insert Depth to Stereo Module
[ INFO] [1634231968.358634875]: insert Color to RGB Camera
 14/10 19:19:28,405 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/10 19:19:28,490 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,490 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,491 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,491 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,491 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,492 WARNING [2687484944] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 61
 14/10 19:19:28,492 ERROR [2731521040] (uvc-device.cpp:862) Probe-commit control transfer failed with error: RS2_USB_STATUS_PIPE
[ERROR] [1634231968.522765282]: An exception has been thrown: 
Failed to resolve the request: 
	Format: Z16, width: 640, height: 480

Into:
	Formats: 
	 Z16


terminate called after throwing an instance of 'rs2::invalid_value_error'
  what():  
Failed to resolve the request: 
	Format: Z16, width: 640, height: 480

Into:
	Formats: 
	 Z16


[camera/realsense2_camera_manager-2] process has died [pid 1486, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera_manager-2.log].
log file: /home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera_manager-2*.log
[camera/realsense2_camera-3] process has finished cleanly
log file: /home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera-3*.log

There’s the /camera/realsense2_camera_manager node running and i can see the /camera/color/image_raw topic in rviz but it’s all black.

Thank you for your help.

9

Hi Can you please share the log file as well?

10

Hi,
while i can’t find the log file named camera-realsense2_camera_manager-2.log, i will send you the other log files in this folder:

camera-relsense2_camera-3-stdout.log:

e[0m[ INFO] [1634231954.012440994]: Loading nodelet /camera/realsense2_camera of type realsense2_camera/RealSenseNodeFactory to manager realsense2_camera_manager with the following remappings:e[0m
e[0m[ INFO] [1634231954.023948717]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] has not been advertised, waiting...e[0m
e[0m[ INFO] [1634231954.092073605]: waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] is now available.e[0m
e[0m[ INFO] [1634231971.775042687]: Bond broken, exitinge[0m

master.log:

[rosmaster.main][INFO] 2021-10-14 19:19:13,634: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2021-10-14 19:19:13,635: Starting ROS Master Node
[xmlrpc][INFO] 2021-10-14 19:19:13,636: XML-RPC server binding to 0.0.0.0:11311
[rosmaster.master][INFO] 2021-10-14 19:19:13,637: Master initialized: port[11311], uri[http://raspberrypi:11311/]
[xmlrpc][INFO] 2021-10-14 19:19:13,637: Started XML-RPC server [http://raspberrypi:11311/]
[xmlrpc][INFO] 2021-10-14 19:19:13,638: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2021-10-14 19:19:13,715: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,718: +PARAM [/roslaunch/uris/host_raspberrypi__33859] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,867: +PARAM [/camera/realsense2_camera/infra_rgb] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,869: +PARAM [/camera/realsense2_camera/enable_color] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,869: +PARAM [/camera/realsense2_camera/confidence_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,870: +PARAM [/camera/realsense2_camera/gyro_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,870: +PARAM [/camera/realsense2_camera/fisheye1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,870: +PARAM [/camera/realsense2_camera/enable_sync] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,872: +SERVICE [/rosout/get_loggers] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:19:13,872: +PARAM [/camera/realsense2_camera/pose_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,873: +PARAM [/camera/realsense2_camera/pointcloud_texture_index] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,873: +PARAM [/camera/realsense2_camera/enable_fisheye] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,875: +SERVICE [/rosout/set_logger_level] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:19:13,875: +PARAM [/camera/realsense2_camera/tf_publish_rate] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,876: +PARAM [/camera/realsense2_camera/topic_odom_in] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,876: +PARAM [/camera/realsense2_camera/odom_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,878: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,878: +PARAM [/camera/realsense2_camera/initial_reset] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,879: +PARAM [/camera/realsense2_camera/accel_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,879: +PARAM [/camera/realsense2_camera/confidence_height] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,880: +PUB [/rosout_agg] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:19:13,881: +PARAM [/camera/realsense2_camera/color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,882: +PARAM [/camera/realsense2_camera/depth_width] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,882: +PARAM [/camera/realsense2_camera/enable_infra1] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,883: +PARAM [/camera/realsense2_camera/color_width] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,884: +PARAM [/camera/realsense2_camera/enable_pose] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,886: +PARAM [/camera/realsense2_camera/enable_infra2] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,886: +PARAM [/camera/realsense2_camera/fisheye_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,888: +PARAM [/camera/realsense2_camera/infra_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,889: +PARAM [/camera/realsense2_camera/color_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,890: +PARAM [/camera/realsense2_camera/fisheye_width] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,892: +PARAM [/camera/realsense2_camera/align_depth] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,892: +PARAM [/camera/realsense2_camera/infra1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,893: +PARAM [/camera/realsense2_camera/enable_confidence] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,894: +SUB [/rosout] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:19:13,894: +PARAM [/camera/realsense2_camera/infra2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,895: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,896: +PARAM [/camera/realsense2_camera/depth_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,896: +PARAM [/camera/realsense2_camera/fisheye2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,896: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,896: +PARAM [/camera/realsense2_camera/fisheye_height] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,896: +PARAM [/camera/realsense2_camera/publish_odom_tf] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,897: +PARAM [/camera/realsense2_camera/enable_fisheye2] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,897: +PARAM [/camera/realsense2_camera/enable_depth] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,897: +PARAM [/camera/realsense2_camera/enable_fisheye1] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,897: +PARAM [/camera/realsense2_camera/depth_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,898: +PARAM [/camera/realsense2_camera/pose_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,898: +PARAM [/camera/realsense2_camera/gyro_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,898: +PARAM [/camera/realsense2_camera/enable_accel] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,898: +PARAM [/camera/realsense2_camera/infra_width] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,899: +PARAM [/camera/realsense2_camera/rosbag_filename] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,899: +PARAM [/camera/realsense2_camera/unite_imu_method] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,899: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,899: +PARAM [/camera/realsense2_camera/fisheye_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,899: +PARAM [/camera/realsense2_camera/accel_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,900: +PARAM [/camera/realsense2_camera/infra_height] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,900: +PARAM [/camera/realsense2_camera/base_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,900: +PARAM [/camera/realsense2_camera/imu_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,900: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,901: +PARAM [/camera/realsense2_camera/device_type] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,901: +PARAM [/camera/realsense2_camera/serial_no] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,901: +PARAM [/camera/realsense2_camera/depth_height] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,901: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,902: +PARAM [/camera/realsense2_camera/confidence_width] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,902: +PARAM [/camera/realsense2_camera/linear_accel_cov] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,902: +PARAM [/camera/realsense2_camera/allow_no_texture_points] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,902: +PARAM [/camera/realsense2_camera/accel_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,902: +PARAM [/camera/realsense2_camera/aligned_depth_to_color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,903: +PARAM [/camera/realsense2_camera/filters] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,903: +PARAM [/camera/realsense2_camera/infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,903: +PARAM [/camera/realsense2_camera/color_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,903: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,904: +PARAM [/camera/realsense2_camera/pointcloud_texture_stream] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,904: +PARAM [/camera/realsense2_camera/fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,904: +PARAM [/camera/realsense2_camera/infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,904: +PARAM [/camera/realsense2_camera/color_height] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,904: +PARAM [/camera/realsense2_camera/publish_tf] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,905: +PARAM [/camera/realsense2_camera/depth_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,905: +PARAM [/camera/realsense2_camera/usb_port_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,905: +PARAM [/camera/realsense2_camera/calib_odom_file] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,905: +PARAM [/camera/realsense2_camera/fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,905: +PARAM [/camera/realsense2_camera/enable_gyro] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,906: +PARAM [/camera/realsense2_camera/enable_pointcloud] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,906: +PARAM [/camera/realsense2_camera/json_file_path] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,906: +PARAM [/camera/realsense2_camera/fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,906: +PARAM [/camera/realsense2_camera/clip_distance] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,907: +PARAM [/camera/realsense2_camera/enable_infra] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:13,907: +PARAM [/camera/realsense2_camera/gyro_fps] by /roslaunch
[rosmaster.master][INFO] 2021-10-14 19:19:14,003: +PUB [/rosout] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:14,006: +SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:14,008: +SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:14,021: +PARAM [/camera/realsense2_camera] by /camera/realsense2_camera
[rosmaster.master][INFO] 2021-10-14 19:19:14,036: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:39551/']
[rosmaster.master][INFO] 2021-10-14 19:19:14,040: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:39551/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:19:14,060: +PUB [/rosout] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,063: +SERVICE [/camera/realsense2_camera_manager/get_loggers] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,065: +SERVICE [/camera/realsense2_camera_manager/set_logger_level] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,073: +SERVICE [/camera/realsense2_camera_manager/load_nodelet] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,075: +SERVICE [/camera/realsense2_camera_manager/unload_nodelet] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,077: +SERVICE [/camera/realsense2_camera_manager/list] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,137: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:39551/', 'http://raspberrypi:42781/']
[rosmaster.master][INFO] 2021-10-14 19:19:14,139: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:39551/', 'http://raspberrypi:42781/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:19:14,663: +SERVICE [/camera/enable] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,672: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,683: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:14,748: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:14,758: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:14,840: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:42781/ ['http://raspberrypi:42781/', 'http://raspberrypi:39551/']
[rosmaster.master][INFO] 2021-10-14 19:19:14,843: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:42781/ ['http://raspberrypi:42781/', 'http://raspberrypi:39551/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:19:27,255: +PUB [/tf_static] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:27,257: +PUB [/tf] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,120: +PUB [/camera/stereo_module/parameter_descriptions] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,125: +PUB [/camera/stereo_module/parameter_updates] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,127: +SERVICE [/camera/stereo_module/set_parameters] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,266: +PUB [/camera/rgb_camera/parameter_descriptions] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,269: +PUB [/camera/rgb_camera/parameter_updates] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,272: +SERVICE [/camera/rgb_camera/set_parameters] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,289: +PUB [/camera/motion_module/parameter_descriptions] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,292: +PUB [/camera/motion_module/parameter_updates] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,295: +SERVICE [/camera/motion_module/set_parameters] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,307: +PUB [/diagnostics] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,326: +PUB [/camera/depth/image_rect_raw] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,328: +PUB [/camera/depth/camera_info] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,335: +PUB [/camera/color/image_raw] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,337: +PUB [/camera/color/camera_info] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:28,341: +PUB [/camera/extrinsics/depth_to_color] /camera/realsense2_camera_manager http://raspberrypi:42781/
[rosmaster.master][INFO] 2021-10-14 19:19:31,969: -PUB [/rosout] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:31,969: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/']
[rosmaster.master][INFO] 2021-10-14 19:19:31,972: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:19:31,973: -PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:31,975: -SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://raspberrypi:39551/
[rosmaster.master][INFO] 2021-10-14 19:19:31,977: -SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera rosrpc://raspberrypi:39591
[rosmaster.master][INFO] 2021-10-14 19:19:31,979: -SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera rosrpc://raspberrypi:39591
[rosmaster.master][INFO] 2021-10-14 19:19:32,068: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:42781/ ['http://raspberrypi:42781/']
[rosmaster.master][INFO] 2021-10-14 19:19:32,070: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:39551/ ['http://raspberrypi:42781/']
[rosmaster.master][INFO] 2021-10-14 19:19:32,072: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:42781/ ['http://raspberrypi:42781/']: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.master][INFO] 2021-10-14 19:19:32,073: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://raspberrypi:39551/ ['http://raspberrypi:42781/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2021-10-14 19:19:32,076: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.threadpool][ERROR] 2021-10-14 19:19:32,081: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1054, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 892, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 854, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 831, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2021-10-14 19:19:44,727: +PUB [/rosout] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:44,729: +SERVICE [/rviz_1634231984719232883/get_loggers] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:44,732: +SERVICE [/rviz_1634231984719232883/set_logger_level] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:44,791: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/', 'http://raspberrypi:34685/']
[rosmaster.master][INFO] 2021-10-14 19:19:44,793: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/', 'http://raspberrypi:34685/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:19:45,391: +SUB [/tf] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,402: +SUB [/tf_static] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,632: +PUB [/initialpose] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,637: +PUB [/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,650: -PUB [/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,653: -PUB [/initialpose] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,666: +PUB [/initialpose] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,669: +PUB [/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,672: +PUB [/move_base_simple/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,674: -PUB [/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:45,676: +PUB [/clicked_point] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:46,421: +SERVICE [/rviz_1634231984719232883/reload_shaders] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:59,057: +SUB [/camera/color/image_raw] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:19:59,068: +SUB [/camera/color/camera_info] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,905: -PUB [/rosout] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,910: -PUB [/initialpose] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,914: -PUB [/move_base_simple/goal] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,919: -PUB [/clicked_point] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,923: -SUB [/tf] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,928: -SUB [/tf_static] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,932: -SUB [/camera/color/image_raw] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,936: -SUB [/camera/color/camera_info] /rviz_1634231984719232883 http://raspberrypi:34685/
[rosmaster.master][INFO] 2021-10-14 19:31:35,942: -SERVICE [/rviz_1634231984719232883/get_loggers] /rviz_1634231984719232883 rosrpc://raspberrypi:33239
[rosmaster.master][INFO] 2021-10-14 19:31:35,947: -SERVICE [/rviz_1634231984719232883/set_logger_level] /rviz_1634231984719232883 rosrpc://raspberrypi:33239
[rosmaster.master][INFO] 2021-10-14 19:31:35,951: -SERVICE [/rviz_1634231984719232883/reload_shaders] /rviz_1634231984719232883 rosrpc://raspberrypi:33239
[rosmaster.master][INFO] 2021-10-14 19:31:35,962: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/']
[rosmaster.master][INFO] 2021-10-14 19:31:35,965: publisherUpdate[/rosout] -> http://raspberrypi:40619/ ['http://raspberrypi:42781/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2021-10-14 19:31:37,870: -PUB [/rosout_agg] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:31:37,875: -SUB [/rosout] /rosout http://raspberrypi:40619/
[rosmaster.master][INFO] 2021-10-14 19:31:37,879: -SERVICE [/rosout/get_loggers] /rosout rosrpc://raspberrypi:56789
[rosmaster.master][INFO] 2021-10-14 19:31:37,883: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://raspberrypi:56789
[rosmaster.main][INFO] 2021-10-14 19:31:38,054: keyboard interrupt, will exit
[rosmaster.main][INFO] 2021-10-14 19:31:38,054: stopping master...
[rospy.core][INFO] 2021-10-14 19:31:38,054: signal_shutdown [atexit]
11

roslaunch-rasberrypi-1445.log:

[roslaunch][INFO] 2021-10-14 19:19:11,371: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2021-10-14 19:19:11,393: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2021-10-14 19:19:11,394: roslaunch starting with args ['/opt/ros/kinetic/bin/roslaunch', 'realsense2_camera', 'rs_camera.launch', 'enable_sync:=true']
[roslaunch][INFO] 2021-10-14 19:19:11,395: roslaunch env is {'NO_AT_BRIDGE': '1', 'ROS_DISTRO': 'kinetic', 'LC_NUMERIC': 'de_DE.UTF-8', 'LC_MEASUREMENT': 'de_DE.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SESSION_TYPE': 'tty', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/pi/catkin_ws/devel/share/common-lisp', 'LOGNAME': 'pi', 'USER': 'pi', 'LC_ALL': 'en_US.UTF-8', 'LC_PAPER': 'de_DE.UTF-8', 'HOME': '/home/pi', 'CMAKE_PREFIX_PATH': '/home/pi/catkin_ws/devel:/opt/ros/kinetic', 'DISPLAY': 'localhost:11.0', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'ROS_LOG_FILENAME': '/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/roslaunch-raspberrypi-1445.log', 'LANGUAGE': 'en_US.UTF-8', 'LC_MONETARY': 'de_DE.UTF-8', 'LD_LIBRARY_PATH': '/usr/local/lib:/home/pi/catkin_ws/devel/lib:/home/pi/catkin_ws/devel/lib:/opt/ros/kinetic/lib', 'TEXTDOMAIN': 'Linux-PAM', 'ROS_MASTER_URI': 'http://localhost:11311', 'ROS_PYTHON_VERSION': '2', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'de_DE.UTF-8', 'PYTHONPATH': '/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/usr/local/lib', 'SHLVL': '1', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games', 'MAIL': '/var/mail/pi', 'PKG_CONFIG_PATH': '/home/pi/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/pi/catkin_ws:/home/pi/catkin_ws/src/ddynamic_reconfigure:/home/pi/catkin_ws/src/realsense-ros/realsense2_camera:/home/pi/catkin_ws/src/realsense-ros/realsense2_description:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c4', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'de_DE.UTF-8', 'SSH_CONNECTION': '192.168.123.162 46366 192.168.123.12 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'UNITREE_LEGGED_SDK_PATH': '/home/pi/unitree_legged_sdk', 'SSH_TTY': '/dev/pts/2', 'SSH_CLIENT': '192.168.123.162 46366 22', 'LC_TELEPHONE': 'de_DE.UTF-8', 'UNITREE_PLATFORM': 'amd64', 'PWD': '/home/pi', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'XDG_SESSION_CLASS': 'user', 'ROS_VERSION': '1', 'LC_NAME': 'de_DE.UTF-8', 'ALIENGO_SDK_PATH': '/home/pi/aliengo_sdk', 'LC_TIME': 'de_DE.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'}
[roslaunch][INFO] 2021-10-14 19:19:11,395: starting in server mode
[roslaunch.parent][INFO] 2021-10-14 19:19:11,395: starting roslaunch parent run
[roslaunch][INFO] 2021-10-14 19:19:11,396: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml
[roslaunch][INFO] 2021-10-14 19:19:12,884: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2021-10-14 19:19:12,885: loading config file /home/pi/catkin_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch
[roslaunch][INFO] 2021-10-14 19:19:13,033: Added node of type [nodelet/nodelet] in namespace [/camera/]
[roslaunch][INFO] 2021-10-14 19:19:13,056: Added node of type [nodelet/nodelet] in namespace [/camera/]
[roslaunch][INFO] 2021-10-14 19:19:13,057: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch][INFO] 2021-10-14 19:19:13,057: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,059: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,060: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,060: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2021-10-14 19:19:13,061: starting parent XML-RPC server
[roslaunch.server][INFO] 2021-10-14 19:19:13,061: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2021-10-14 19:19:13,061: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2021-10-14 19:19:13,062: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-10-14 19:19:13,062: Started XML-RPC server [http://raspberrypi:33859/]
[xmlrpc][INFO] 2021-10-14 19:19:13,063: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2021-10-14 19:19:13,075: started roslaunch server http://raspberrypi:33859/
[roslaunch.parent][INFO] 2021-10-14 19:19:13,075: ... parent XML-RPC server started
[roslaunch][INFO] 2021-10-14 19:19:13,079: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,080: auto-starting new master
[roslaunch][INFO] 2021-10-14 19:19:13,081: create_master_process: rosmaster, /opt/ros/kinetic/share/ros, 11311, 3, None
[roslaunch][INFO] 2021-10-14 19:19:13,081: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,081: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,082: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2021-10-14 19:19:13,082: process[master]: starting os process
[roslaunch][INFO] 2021-10-14 19:19:13,082: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/master.log']]
[roslaunch][INFO] 2021-10-14 19:19:13,082: process[master]: cwd will be [/home/pi/.ros]
[roslaunch][INFO] 2021-10-14 19:19:13,091: process[master]: started with pid [1456]
[roslaunch][INFO] 2021-10-14 19:19:13,092: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,194: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,296: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,397: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,499: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,601: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,702: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,707: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,709: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2021-10-14 19:19:13,713: setting /run_id to d8db13ba-2d12-11ec-9bc7-dca6327f86e2
[roslaunch][INFO] 2021-10-14 19:19:13,716: setting /roslaunch/uris/host_raspberrypi__33859' to http://raspberrypi:33859/
[roslaunch][INFO] 2021-10-14 19:19:13,723: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2021-10-14 19:19:13,723: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,723: process[rosout-1]: env[{'NO_AT_BRIDGE': '1', 'ROS_DISTRO': 'kinetic', 'LC_NUMERIC': 'de_DE.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SESSION_TYPE': 'tty', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/pi/catkin_ws/devel/share/common-lisp', 'LOGNAME': 'pi', 'USER': 'pi', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games', 'LC_PAPER': 'de_DE.UTF-8', 'HOME': '/home/pi', 'ROS_PACKAGE_PATH': '/home/pi/catkin_ws:/home/pi/catkin_ws/src/ddynamic_reconfigure:/home/pi/catkin_ws/src/realsense-ros/realsense2_camera:/home/pi/catkin_ws/src/realsense-ros/realsense2_description:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/pi/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/roslaunch-raspberrypi-1445.log', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'en_US.UTF-8', 'LC_MEASUREMENT': 'de_DE.UTF-8', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/usr/local/lib:/home/pi/catkin_ws/devel/lib:/home/pi/catkin_ws/devel/lib:/opt/ros/kinetic/lib', 'TEXTDOMAIN': 'Linux-PAM', 'ALIENGO_SDK_PATH': '/home/pi/aliengo_sdk', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_PYTHON_VERSION': '2', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'de_DE.UTF-8', 'PYTHONPATH': '/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/usr/local/lib', 'SHLVL': '1', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/pi/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig', 'LC_ALL': 'en_US.UTF-8', 'XDG_SESSION_ID': 'c4', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'de_DE.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'DISPLAY': 'localhost:11.0', 'UNITREE_LEGGED_SDK_PATH': '/home/pi/unitree_legged_sdk', 'SSH_TTY': '/dev/pts/2', 'SSH_CLIENT': '192.168.123.162 46366 22', 'LC_TELEPHONE': 'de_DE.UTF-8', 'LC_MONETARY': 'de_DE.UTF-8', 'PWD': '/home/pi', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_CLASS': 'user', 'ROS_VERSION': '1', 'LC_NAME': 'de_DE.UTF-8', 'MAIL': '/var/mail/pi', 'LC_TIME': 'de_DE.UTF-8', 'SSH_CONNECTION': '192.168.123.162 46366 192.168.123.12 22', 'UNITREE_PLATFORM': 'amd64'}]
[roslaunch][INFO] 2021-10-14 19:19:13,825: process[rosout-1]: args[[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2021-10-14 19:19:13,825: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,826: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,826: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2021-10-14 19:19:13,826: ... registered process [rosout-1]
[roslaunch][INFO] 2021-10-14 19:19:13,826: process[rosout-1]: starting os process
[roslaunch][INFO] 2021-10-14 19:19:13,827: process[rosout-1]: start w/ args [[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout', u'__log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/rosout-1.log']]
[roslaunch][INFO] 2021-10-14 19:19:13,827: process[rosout-1]: cwd will be [/home/pi/.ros]
[roslaunch][INFO] 2021-10-14 19:19:13,837: process[rosout-1]: started with pid [1469]
[roslaunch][INFO] 2021-10-14 19:19:13,837: ... successfully launched [rosout-1]
[roslaunch][INFO] 2021-10-14 19:19:13,838: load_parameters starting ...
[roslaunch][INFO] 2021-10-14 19:19:13,923: ... load_parameters complete
[roslaunch][INFO] 2021-10-14 19:19:13,923: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2021-10-14 19:19:13,924: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2021-10-14 19:19:13,924: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,924: process[camera/realsense2_camera_manager-2]: env[{'NO_AT_BRIDGE': '1', 'ROS_DISTRO': 'kinetic', 'LC_NUMERIC': 'de_DE.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SESSION_TYPE': 'tty', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/pi/catkin_ws/devel/share/common-lisp', 'LOGNAME': 'pi', 'USER': 'pi', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games', 'LC_PAPER': 'de_DE.UTF-8', 'HOME': '/home/pi', 'ROS_PACKAGE_PATH': '/home/pi/catkin_ws:/home/pi/catkin_ws/src/ddynamic_reconfigure:/home/pi/catkin_ws/src/realsense-ros/realsense2_camera:/home/pi/catkin_ws/src/realsense-ros/realsense2_description:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/pi/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/roslaunch-raspberrypi-1445.log', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'en_US.UTF-8', 'LC_MEASUREMENT': 'de_DE.UTF-8', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/usr/local/lib:/home/pi/catkin_ws/devel/lib:/home/pi/catkin_ws/devel/lib:/opt/ros/kinetic/lib', 'TEXTDOMAIN': 'Linux-PAM', 'ALIENGO_SDK_PATH': '/home/pi/aliengo_sdk', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_PYTHON_VERSION': '2', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'de_DE.UTF-8', 'PYTHONPATH': '/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/usr/local/lib', 'SHLVL': '1', 'ROS_NAMESPACE': u'/camera', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/pi/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig', 'LC_ALL': 'en_US.UTF-8', 'XDG_SESSION_ID': 'c4', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'de_DE.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'DISPLAY': 'localhost:11.0', 'UNITREE_LEGGED_SDK_PATH': '/home/pi/unitree_legged_sdk', 'SSH_TTY': '/dev/pts/2', 'SSH_CLIENT': '192.168.123.162 46366 22', 'LC_TELEPHONE': 'de_DE.UTF-8', 'LC_MONETARY': 'de_DE.UTF-8', 'PWD': '/home/pi', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_CLASS': 'user', 'ROS_VERSION': '1', 'LC_NAME': 'de_DE.UTF-8', 'MAIL': '/var/mail/pi', 'LC_TIME': 'de_DE.UTF-8', 'SSH_CONNECTION': '192.168.123.162 46366 192.168.123.12 22', 'UNITREE_PLATFORM': 'amd64'}]
[roslaunch][INFO] 2021-10-14 19:19:13,927: process[camera/realsense2_camera_manager-2]: args[[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'manager', u'__name:=realsense2_camera_manager']]
[roslaunch][INFO] 2021-10-14 19:19:13,927: ... created process [camera/realsense2_camera_manager-2]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,928: ProcessMonitor.register[camera/realsense2_camera_manager-2]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,928: ProcessMonitor.register[camera/realsense2_camera_manager-2] complete
[roslaunch][INFO] 2021-10-14 19:19:13,928: ... registered process [camera/realsense2_camera_manager-2]
[roslaunch][INFO] 2021-10-14 19:19:13,928: process[camera/realsense2_camera_manager-2]: starting os process
[roslaunch][INFO] 2021-10-14 19:19:13,929: process[camera/realsense2_camera_manager-2]: start w/ args [[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'manager', u'__name:=realsense2_camera_manager', u'__log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera_manager-2.log']]
[roslaunch][INFO] 2021-10-14 19:19:13,929: process[camera/realsense2_camera_manager-2]: cwd will be [/home/pi/.ros]
[roslaunch][INFO] 2021-10-14 19:19:13,938: process[camera/realsense2_camera_manager-2]: started with pid [1486]
[roslaunch][INFO] 2021-10-14 19:19:13,939: ... successfully launched [camera/realsense2_camera_manager-2]
[roslaunch][INFO] 2021-10-14 19:19:13,939: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2021-10-14 19:19:13,940: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2021-10-14 19:19:13,940: process[camera/realsense2_camera-3]: env[{'NO_AT_BRIDGE': '1', 'ROS_DISTRO': 'kinetic', 'LC_NUMERIC': 'de_DE.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SESSION_TYPE': 'tty', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/pi/catkin_ws/devel/share/common-lisp', 'LOGNAME': 'pi', 'USER': 'pi', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games', 'LC_PAPER': 'de_DE.UTF-8', 'HOME': '/home/pi', 'ROS_PACKAGE_PATH': '/home/pi/catkin_ws:/home/pi/catkin_ws/src/ddynamic_reconfigure:/home/pi/catkin_ws/src/realsense-ros/realsense2_camera:/home/pi/catkin_ws/src/realsense-ros/realsense2_description:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/pi/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/roslaunch-raspberrypi-1445.log', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'en_US.UTF-8', 'LC_MEASUREMENT': 'de_DE.UTF-8', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/usr/local/lib:/home/pi/catkin_ws/devel/lib:/home/pi/catkin_ws/devel/lib:/opt/ros/kinetic/lib', 'TEXTDOMAIN': 'Linux-PAM', 'ALIENGO_SDK_PATH': '/home/pi/aliengo_sdk', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_PYTHON_VERSION': '2', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'de_DE.UTF-8', 'PYTHONPATH': '/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/usr/local/lib', 'SHLVL': '1', 'ROS_NAMESPACE': u'/camera', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/pi/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig', 'LC_ALL': 'en_US.UTF-8', 'XDG_SESSION_ID': 'c4', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'de_DE.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'DISPLAY': 'localhost:11.0', 'UNITREE_LEGGED_SDK_PATH': '/home/pi/unitree_legged_sdk', 'SSH_TTY': '/dev/pts/2', 'SSH_CLIENT': '192.168.123.162 46366 22', 'LC_TELEPHONE': 'de_DE.UTF-8', 'LC_MONETARY': 'de_DE.UTF-8', 'PWD': '/home/pi', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_CLASS': 'user', 'ROS_VERSION': '1', 'LC_NAME': 'de_DE.UTF-8', 'MAIL': '/var/mail/pi', 'LC_TIME': 'de_DE.UTF-8', 'SSH_CONNECTION': '192.168.123.162 46366 192.168.123.12 22', 'UNITREE_PLATFORM': 'amd64'}]
[roslaunch][INFO] 2021-10-14 19:19:13,944: process[camera/realsense2_camera-3]: args[[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'load', 'realsense2_camera/RealSenseNodeFactory', 'realsense2_camera_manager', u'__name:=realsense2_camera']]
[roslaunch][INFO] 2021-10-14 19:19:13,944: ... created process [camera/realsense2_camera-3]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,945: ProcessMonitor.register[camera/realsense2_camera-3]
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,945: ProcessMonitor.register[camera/realsense2_camera-3] complete
[roslaunch][INFO] 2021-10-14 19:19:13,945: ... registered process [camera/realsense2_camera-3]
[roslaunch][INFO] 2021-10-14 19:19:13,945: process[camera/realsense2_camera-3]: starting os process
[roslaunch][INFO] 2021-10-14 19:19:13,946: process[camera/realsense2_camera-3]: start w/ args [[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'load', 'realsense2_camera/RealSenseNodeFactory', 'realsense2_camera_manager', u'__name:=realsense2_camera', u'__log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera-3.log']]
[roslaunch][INFO] 2021-10-14 19:19:13,946: process[camera/realsense2_camera-3]: cwd will be [/home/pi/.ros]
[roslaunch][INFO] 2021-10-14 19:19:13,956: process[camera/realsense2_camera-3]: started with pid [1487]
[roslaunch][INFO] 2021-10-14 19:19:13,957: ... successfully launched [camera/realsense2_camera-3]
[roslaunch][INFO] 2021-10-14 19:19:13,958: ... launch_nodes complete
[roslaunch.pmon][INFO] 2021-10-14 19:19:13,958: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1245277088)>
[roslaunch.parent][INFO] 2021-10-14 19:19:13,958: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2021-10-14 19:19:13,959: spin
[roslaunch][ERROR] 2021-10-14 19:19:28,601: [camera/realsense2_camera_manager-2] process has died [pid 1486, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera_manager-2.log].
log file: /home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera_manager-2*.log
[roslaunch.pmon][INFO] 2021-10-14 19:19:28,602: ProcessMonitor.unregister[camera/realsense2_camera_manager-2] starting
[roslaunch.pmon][INFO] 2021-10-14 19:19:28,602: ProcessMonitor.unregister[camera/realsense2_camera_manager-2] complete
[roslaunch][INFO] 2021-10-14 19:19:32,211: [camera/realsense2_camera-3] process has finished cleanly
log file: /home/pi/.ros/log/d8db13ba-2d12-11ec-9bc7-dca6327f86e2/camera-realsense2_camera-3*.log
[roslaunch.pmon][INFO] 2021-10-14 19:19:32,212: ProcessMonitor.unregister[camera/realsense2_camera-3] starting
[roslaunch.pmon][INFO] 2021-10-14 19:19:32,212: ProcessMonitor.unregister[camera/realsense2_camera-3] complete
[roslaunch.pmon][INFO] 2021-10-14 19:31:37,737: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon -1245277088)>
[roslaunch.pmon][INFO] 2021-10-14 19:31:37,741: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1245277088)>
[roslaunch.pmon][INFO] 2021-10-14 19:31:37,742: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1245277088)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0xb5d46b50>, <roslaunch.nodeprocess.LocalProcess object at 0xb5cf23b0>]
[roslaunch.pmon][INFO] 2021-10-14 19:31:37,748: ProcessMonitor exit: killing rosout-1
[roslaunch][INFO] 2021-10-14 19:31:37,749: [rosout-1] killing on exit
[roslaunch][INFO] 2021-10-14 19:31:37,750: process[rosout-1]: killing os process with pid[1469] pgid[1469]
[roslaunch][INFO] 2021-10-14 19:31:37,751: [rosout-1] sending SIGINT to pgid [1469]
[roslaunch][INFO] 2021-10-14 19:31:37,751: [rosout-1] sent SIGINT to pgid [1469]
[roslaunch][INFO] 2021-10-14 19:31:38,052: process[rosout-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2021-10-14 19:31:38,053: ProcessMonitor exit: killing master
[roslaunch][INFO] 2021-10-14 19:31:38,053: [master] killing on exit
[roslaunch][INFO] 2021-10-14 19:31:38,053: process[master]: killing os process with pid[1456] pgid[1456]
[roslaunch][INFO] 2021-10-14 19:31:38,053: [master] sending SIGINT to pgid [1456]
[roslaunch][INFO] 2021-10-14 19:31:38,054: [master] sent SIGINT to pgid [1456]
[roslaunch][INFO] 2021-10-14 19:31:38,254: process[master]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2021-10-14 19:31:38,255: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2021-10-14 19:31:38,255: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2021-10-14 19:31:38,303: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2021-10-14 19:31:38,303: runner.stop()
[roslaunch][INFO] 2021-10-14 19:31:38,304: shutting down processing monitor...
[roslaunch][INFO] 2021-10-14 19:31:38,304: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1245277088)>
[roslaunch.pmon][INFO] 2021-10-14 19:31:38,304: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1245277088)>
[roslaunch][INFO] 2021-10-14 19:31:38,304: ... shutting down processing monitor complete
[roslaunch][INFO] 2021-10-14 19:31:38,304: done
[roslaunch.pmon][INFO] 2021-10-14 19:31:38,305: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1245277088)>
[rospy.core][INFO] 2021-10-14 19:31:38,305: signal_shutdown [atexit]
12

rosout.log:



1634231953.878408365  Node Startup
1634231954.092092735 INFO [/home/pi/ros_catkin_ws/src/ros_comm/roscpp/src/libros/service.cpp:122(service::waitForService) [topics: /rosout] waitForService: Service [/camera/realsense2_camera_manager/load_nodelet] is now available.
1634231954.071530105 INFO [/home/pi/ros_catkin_ws/src/nodelet_core/nodelet/src/loader.cpp:233(Loader::Impl::advertiseRosApi) [topics: /rosout] Initializing nodelet with 4 worker threads.
1634231954.650918494 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:37(RealSenseNodeFactory::RealSenseNodeFactory) [topics: /rosout] RealSense ROS v2.2.21
1634231954.651075846 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:38(RealSenseNodeFactory::RealSenseNodeFactory) [topics: /rosout] Built with LibRealSense v2.41.0
1634231954.651196642 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:39(RealSenseNodeFactory::RealSenseNodeFactory) [topics: /rosout] Running with LibRealSense v2.41.0
1634231954.705897994 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:98(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond]  
1634231954.907581642 WARN [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:108(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device 1/1 failed with exception: failed to set power state
1634231954.907682846 ERROR [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:181(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] The requested device with  is NOT found. Will Try again.
1634231960.971199286 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:98(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond]  
1634231960.992304694 WARN [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:108(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device 1/1 failed with exception: failed to set power state
1634231960.992366268 ERROR [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:181(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] The requested device with  is NOT found. Will Try again.
1634231967.061056709 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:98(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond]  
1634231967.248594486 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:112(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device with serial number 941322072052 was found.

1634231967.248664098 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:115(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device with physical ID 2-1-2 was found.
1634231967.248745727 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:117(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device with name Intel RealSense D435I was found.
1634231967.250665060 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:135(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device with port number 2-1 was found.
1634231967.250758301 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:188(RealSenseNodeFactory::getDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond] Device USB type: 3.2
1634231967.261198079 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:611(BaseRealSenseNode::getParameters) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] getParameters...
1634231967.541128153 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:717(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] setupDevice...
1634231967.541189357 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:741(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] JSON file is not provided
1634231967.541234542 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:743(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] ROS Node Namespace: camera
1634231967.541283375 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:746(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device Name: Intel RealSense D435I
1634231967.541321764 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:748(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device Serial No: 941322072052
1634231967.541361634 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:752(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device physical port: 2-1-2
1634231967.541403560 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:755(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device FW version: 05.11.01.100
1634231967.541443301 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:758(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device Product ID: 0x0B3A
1634231967.541482486 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:760(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Enable PointCloud: Off
1634231967.541526505 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:761(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Align Depth: Off
1634231967.541564283 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:762(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Sync Mode: On
1634231967.541705301 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:792(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Device Sensors: 
1634231967.610095579 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:831(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Stereo Module was found.
1634231967.657653801 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:831(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] RGB Camera was found.
1634231967.659081653 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:831(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Motion Module was found.
1634231967.659376819 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:840(BaseRealSenseNode::setupDevice) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] (Confidence, 0) sensor isn't supported by current device! -- Skipping...
1634231967.659623727 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1179(BaseRealSenseNode::setupFilters) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] num_filters: 0
1634231967.659824708 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:577(BaseRealSenseNode::registerDynamicReconfigCb) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf] Setting Dynamic reconfig parameters.
1634231968.296304689 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:593(BaseRealSenseNode::registerDynamicReconfigCb) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates] Done Setting Dynamic reconfig parameters.
1634231968.298476838 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1034(BaseRealSenseNode::enable_devices) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates] depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
1634231968.301369671 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1034(BaseRealSenseNode::enable_devices) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates] color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
1634231968.301508060 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:859(BaseRealSenseNode::setupPublishers) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates] setupPublishers...
1634231968.312257745 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:34(FrequencyDiagnostics::FrequencyDiagnostics) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics] Expected frequency for depth = 30.00000
1634231968.329856041 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:34(FrequencyDiagnostics::FrequencyDiagnostics) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics, /camera/depth/image_rect_raw, /camera/depth/camera_info] Expected frequency for color = 30.00000
1634231968.342387967 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1736(BaseRealSenseNode::setupStreams) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics, /camera/depth/image_rect_raw, /camera/depth/camera_info, /camera/color/image_raw, /camera/color/camera_info, /camera/extrinsics/depth_to_color] setupStreams...
1634231968.358515634 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1769(BaseRealSenseNode::setupStreams) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics, /camera/depth/image_rect_raw, /camera/depth/camera_info, /camera/color/image_raw, /camera/color/camera_info, /camera/extrinsics/depth_to_color] insert Depth to Stereo Module
1634231968.358662097 INFO [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1769(BaseRealSenseNode::setupStreams) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics, /camera/depth/image_rect_raw, /camera/depth/camera_info, /camera/color/image_raw, /camera/color/camera_info, /camera/extrinsics/depth_to_color] insert Color to RGB Camera
1634231968.522843986 ERROR [/home/pi/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1790(BaseRealSenseNode::setupStreams) [topics: /rosout, /camera/realsense2_camera_manager/bond, /tf_static, /tf, /camera/stereo_module/parameter_descriptions, /camera/stereo_module/parameter_updates, /camera/rgb_camera/parameter_descriptions, /camera/rgb_camera/parameter_updates, /camera/motion_module/parameter_descriptions, /camera/motion_module/parameter_updates, /diagnostics, /camera/depth/image_rect_raw, /camera/depth/camera_info, /camera/color/image_raw, /camera/color/camera_info, /camera/extrinsics/depth_to_color] An exception has been thrown: 
Failed to resolve the request: 
	Format: Z16, width: 640, height: 480

Into:
	Formats: 
	 Z16


1634231971.775083724 INFO [/home/pi/ros_catkin_ws/src/nodelet_core/nodelet/src/nodelet.cpp:341(main) [topics: /rosout, /camera/realsense2_camera_manager/bond] Bond broken, exiting
1634231985.271282994 INFO [/home/pi/ros_catkin_ws/src/rviz/src/rviz/ogre_helpers/render_system.cpp:441(RenderWindow* rviz::RenderSystem::makeRenderWindow) [topics: /rosout] Stereo is NOT SUPPORTED
1634231985.271641383 INFO [/home/pi/ros_catkin_ws/src/rviz/src/rviz/ogre_helpers/render_system.cpp:222(RenderSystem::detectGlVersion) [topics: /rosout] OpenGl version: 3.1 (GLSL 1.4).

sorry for the multiple replies but it seems like there’s a character limit