realsense-ros
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IntelRealSense
How to use T265 with ros2 humble?
Hi!
I have a T265 camera and I would like to use with ROS 2 humble .
I tried to use the rs_launch.py but I get the following output on the terminal. It seems that the camera is not recognized.
[realsense2_camera_node-1] [INFO] [1686121684.150617212] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-1] [INFO] [1686121684.150939659] [camera.camera]: Built with LibRealSense v2.53.1
[realsense2_camera_node-1] [INFO] [1686121684.151042448] [camera.camera]: Running with LibRealSense v2.53.1
[realsense2_camera_node-1] [WARN] [1686121686.306030276] [camera.camera]: Device 1/1 failed with exception: Unable to open device interface
[realsense2_camera_node-1] [ERROR] [1686121686.306250542] [camera.camera]: The requested device with is NOT found. Will Try again.
[realsense2_camera_node-1] [WARN] [1686121694.449949520] [camera.camera]: Device 1/1 failed with exception: Unable to open device interface
Am I missing anything ? I could not find anything in the latest documentation related to that.
Thank you.
In my case, topics are up, but fail to publish anything.
ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-06-27-11-34-59-282891-USR-21212
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [11738]
[realsense2_camera_node-1] [1751024099.418625913 t265_node INFO] RealSense ROS v4.51.1
[realsense2_camera_node-1] [1751024099.418791018 t265_node INFO] Built with LibRealSense v2.53.1
[realsense2_camera_node-1] [1751024099.418813740 t265_node INFO] Running with LibRealSense v2.53.1
[realsense2_camera_node-1] 27/06 11:34:59,420 WARNING [133434634663488] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.17.auto
A lot of:
[realsense2_camera_node-1] 27/06 11:34:59,420 WARNING [133434634663488] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
And then
[realsense2_camera_node-1] 27/06 11:34:59,713 ERROR [133434634663488] (librealsense-exception.h:52) /dev/video1 is no video capture device Last Error: Invalid argument
[realsense2_camera_node-1] 27/06 11:34:59,713 ERROR [133434634663488] (sensor.cpp:664) acquire_power failed: /dev/video1 is no video capture device Last Error: Invalid argument
[realsense2_camera_node-1] 27/06 11:34:59,793 WARNING [133434634663488] (rs.cpp:310) null pointer passed for argument "device"
[realsense2_camera_node-1] [1751024099.793172954 t265_node WARN] Device 1/2 failed with exception: /dev/video1 is no video capture device Last Error: Invalid argument
[realsense2_camera_node-1] [1751024099.802958091 t265_node INFO] Device with serial number 15322110409 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [1751024099.803057452 t265_node INFO] Device with physical ID 2-2.3-63 was found.
[realsense2_camera_node-1] [1751024099.803072670 t265_node INFO] Device with name Intel RealSense T265 was found.
[realsense2_camera_node-1] [1751024099.803445915 t265_node INFO] Device with port number 2-2.3 was found.
[realsense2_camera_node-1] [1751024099.803463129 t265_node INFO] Device USB type: 3.1
[realsense2_camera_node-1] [1751024099.807286957 t265_node INFO] No calib_odom_file. No input odometry accepted.
[realsense2_camera_node-1] [1751024099.807334509 t265_node INFO] getParameters...
[realsense2_camera_node-1] [1751024099.807585345 t265_node INFO] JSON file is not provided
[realsense2_camera_node-1] [1751024099.807600684 t265_node INFO] Device Name: Intel RealSense T265
[realsense2_camera_node-1] [1751024099.807612502 t265_node INFO] Device Serial No: 15322110409
[realsense2_camera_node-1] [1751024099.807623185 t265_node INFO] Device physical port: 2-2.3-63
[realsense2_camera_node-1] [1751024099.807632425 t265_node INFO] Device FW version: 0.2.0.951
[realsense2_camera_node-1] [1751024099.807641119 t265_node INFO] Device Product ID: 0x0B37
[realsense2_camera_node-1] [1751024099.807649767 t265_node INFO] Sync Mode: Off
[realsense2_camera_node-1] [1751024099.807917908 t265_node WARN] Could not set param: tracking_module.frames_queue_size with 256 Range: [0, 32]: parameter 'tracking_module.frames_queue_size' could not be set: Parameter {tracking_module.frames_queue_size} doesn't comply with integer range.
[realsense2_camera_node-1] [1751024099.808712728 t265_node INFO] Set ROS param tracking_module.profile to default: 848x800x30
[realsense2_camera_node-1] [1751024099.808784737 t265_node INFO] Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [1751024099.808820824 t265_node INFO] Set ROS param accel_fps to default: 62
[realsense2_camera_node-1] [1751024099.814458809 t265_node WARN] Could not set param: pointcloud.stream_index_filter with -1 Range: [-1, -2147483648]: parameter 'pointcloud.stream_index_filter' could not be set: Parameter {pointcloud.stream_index_filter} doesn't comply with integer range.
[realsense2_camera_node-1] [1751024099.815327943 t265_node INFO] Stopping Sensor: Tracking Module
[realsense2_camera_node-1] [1751024099.818787787 t265_node INFO] Starting Sensor: Tracking Module
[realsense2_camera_node-1] [1751024099.819544253 t265_node INFO] Open profile: stream_type: Fisheye(1), Format: Y8, Width: 848, Height: 800, FPS: 30
[realsense2_camera_node-1] [1751024099.819562820 t265_node INFO] Open profile: stream_type: Fisheye(2), Format: Y8, Width: 848, Height: 800, FPS: 30
[realsense2_camera_node-1] [1751024099.819571810 t265_node INFO] Open profile: stream_type: Pose(0)Format: 6DOF, FPS: 200
[realsense2_camera_node-1] [1751024099.844412033 t265_node INFO] RealSense Node Is Up!
[realsense2_camera_node-1] [1751024099.907222356 t265_node WARN]
Topics seem to be up, but nothing comes up from them, nor in rviz.
ros2 topic list
/extrinsics/pose_to_fisheye1
/extrinsics/pose_to_fisheye2
/fisheye1/camera_info
/fisheye1/image_raw
/fisheye1/metadata
/fisheye2/camera_info
/fisheye2/image_raw
/fisheye2/metadata
/imu
/parameter_events
/pose/metadata
/pose/sample
/rosout
/tf
/tf_static
rs-enumerate-devices works for me, detecting the camera (same error with the /dev/video1),
rs-enumerate-devices
27/06 11:44:20,271 ERROR [132074332447296] (librealsense-exception.h:52) /dev/video1 is no video capture device Last Error: Invalid argument
27/06 11:44:20,271 ERROR [132074332447296] (sensor.cpp:664) acquire_power failed: /dev/video1 is no video capture device Last Error: Invalid argument
Could not create device - /dev/video1 is no video capture device Last Error: Invalid argument . Check SDK logs for details
Device info:
Name : Intel RealSense T265
Serial Number : 15322110409
Firmware Version : 0.2.0.951
Physical Port : 2-2.3-63
Product Id : 0B37
Usb Type Descriptor : 3.1
Product Line : T200
Stream Profiles supported by Tracking Module
Supported modes:
stream resolution fps format
Fisheye 1 848x800 @ 30Hz Y8
Fisheye 2 848x800 @ 30Hz Y8
Gyro N/A @ 200Hz MOTION_XYZ32F
Accel N/A @ 62Hz MOTION_XYZ32F
Pose N/A @ 200Hz 6DOF
But realsense-viewer can't seem to find the way to find the camera neither.. Python api wise, works and visual/pose feedback can be obtained. I edited the log to not output the high amount of "Failed to read busnum/devnum.
realsense-viewer
27/06 11:45:44,116 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device1
27/06 11:45:44,116 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0
27/06 11:45:44,116 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.17.auto
27/06 11:45:44,116 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
27/06 11:45:44,116 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.22.auto
27/06 11:45:44,370 INFO [136215629543296] (synthetic-stream-gl.cpp:80) Initializing rendering, GLSL=1
27/06 11:45:44,370 INFO [136215629543296] (synthetic-stream-gl.cpp:89) 0 GPU objects initialized
27/06 11:45:44,370 INFO [136215629543296] (synthetic-stream-gl.cpp:132) Initializing processing, GLSL=1
27/06 11:45:44,404 INFO [136215629543296] (synthetic-stream-gl.cpp:146) 0 GPU objects initialized
27/06 11:45:44,446 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device1
27/06 11:45:44,446 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0
27/06 11:45:44,446 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.17.auto
27/06 11:45:44,446 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
27/06 11:45:44,447 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.11.auto
27/06 11:45:44,534 INFO [136215629543296] (tm-info.cpp:53) Picked 1/16 devices
27/06 11:45:44,534 INFO [136215629543296] (context.cpp:382) Found 2 RealSense devices (mask 0xff)
27/06 11:45:44,624 INFO [136215629543296] (rs.cpp:2701) Framebuffer size changed to 1344 x 840
27/06 11:45:44,625 INFO [136215629543296] (rs.cpp:2701) Scale Factor is now 1
27/06 11:45:44,895 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device1
27/06 11:45:44,895 INFO [136215629543296] (backend-hid.cpp:1173) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0
27/06 11:45:44,895 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.17.auto
27/06 11:45:44,895 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
27/06 11:45:44,895 WARNING [136215629543296] (backend-hid.cpp:1203) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/
27/06 11:45:45,033 INFO [136215629543296] (tm-info.cpp:53) Picked 1/10 devices
27/06 11:45:45,033 INFO [136215629543296] (context.cpp:382) Found 2 RealSense devices (mask 0xfe)
27/06 11:45:45,061 ERROR [136214728398400] (librealsense-exception.h:52) /dev/video1 is no video capture device Last Error: Invalid argument
27/06 11:45:45,061 ERROR [136214728398400] (sensor.cpp:664) acquire_power failed: /dev/video1 is no video capture device Last Error: Invalid argument
27/06 11:45:45,063 WARNING [136214728398400] (rs.cpp:310) null pointer passed for argument "device"
27/06 11:45:45,063 WARNING [136214728398400] (rs.cpp:2704) Couldn't refresh devices - /dev/video1 is no video capture device Last Error: Invalid argument
