RealSense viewer does not recognize RealSense D435 and No device connected problem

[Euclid-7]

I am using an ubuntu 20.04 noetic computer.
The realsense d435 is connected directly to the USB port of this computer via a cable.
I want to run video_output.py to record video from my realsense d435, but it says no device connected.

~/catkin_ws/src/librealsense/scripts$ rosrun nav_metrics_tools video_output.py
Traceback (most recent call last):
File "/home/whill/catkin_ws/devel/lib/nav_metrics_tools/video_output.py", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/whill/catkin_ws/src/nav_metrics_tools/scripts/video_output.py", line 13, in
profile = pipeline.start(config)
RuntimeError: No device connected

Below is the content of video_output.py.

import pyrealsense2 as rs
import numpy as np
import cv2
import time

Configure depth and color streams

config = rs.config()
config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config.enable_record_to_file('../video/d435data.bag')

Start streaming

pipeline = rs.pipeline()
pipeline.start(config)
start = time.time()
frame_no = 1
try:
while True:
# Wait for a coherent pair of frames: depth and color
frames = pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
ir_frame = frames.get_infrared_frame()
fps = frame_no / (time.time() - start)
print(fps)
frame_no = frame_no+1
if not ir_frame or not color_frame :
ir_image = np.asanyarray(ir_frame .get_data())
color_image = np.asanyarray(color_frame.get_data())

finally:
pipeline.stop()

It doesn't seem to be a problem with USB recognition, so I think there may have been a problem with the way librealsense was downloaded, installed, or built.

~/catkin_ws/src/librealsense/scripts$ lsusb
Bus 004 Device 002: ID 8086:0b07 Intel Corp. Intel(R) RealSense(TM) Depth Camera 435
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 003: ID 04f2:b704 Chicony Electronics Co., Ltd FJ Camera
Bus 003 Device 002: ID 06cb:00f3 Synaptics, Inc.
Bus 003 Device 004: ID 8087:0026 Intel Corp.
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

~/catkin_ws/src/librealsense/scripts$ modinfo uvcvideo | grep "version:"
version: 1.1.1-realsense-1.3.27
srcversion: A5F8CFCB90CF528ABE09084

The control transferred returned error is not persistent, so I think it's probably okay to ignore it.

~$ roslaunch realsense2_camera rs_camera.launch
... logging to /home/whill/.ros/log/277c3704-afc5-11f0-96dc-b367be3c40d6/roslaunch-whill-FMVUXF3B-146412.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://whill-FMVUXF3B:39925/

SUMMARY

PARAMETERS

• /camera/realsense2_camera/accel_fps: -1
• /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: -1
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: -1
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
• /camera/realsense2_camera/color_width: -1
• /camera/realsense2_camera/confidence_fps: -1
• /camera/realsense2_camera/confidence_height: -1
• /camera/realsense2_camera/confidence_width: -1
• /camera/realsense2_camera/depth_fps: -1
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: -1
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
• /camera/realsense2_camera/depth_width: -1
• /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: False
• /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: -1
• /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
• /camera/realsense2_camera/fisheye_height: -1
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /camera/realsense2_camera/fisheye_width: -1
• /camera/realsense2_camera/gyro_fps: -1
• /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: 848
• /camera/realsense2_camera/initial_reset: False
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/odom_frame_id: camera_odom_frame
• /camera/realsense2_camera/ordered_pc: False
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/pose_frame_id: camera_pose_frame
• /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
• /camera/realsense2_camera/publish_odom_tf: True
• /camera/realsense2_camera/publish_tf: True
• /camera/realsense2_camera/reconnect_timeout: 6.0
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/stereo_module/exposure/1: 7500
• /camera/realsense2_camera/stereo_module/exposure/2: 1
• /camera/realsense2_camera/stereo_module/gain/1: 16
• /camera/realsense2_camera/stereo_module/gain/2: 16
• /camera/realsense2_camera/tf_publish_rate: 0.0
• /camera/realsense2_camera/topic_odom_in: odom_in
• /camera/realsense2_camera/unite_imu_method:
• /camera/realsense2_camera/usb_port_id:
• /camera/realsense2_camera/wait_for_device_timeout: -1.0
• /rosdistro: noetic
• /rosversion: 1.17.0

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

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [146433]
process[camera/realsense2_camera-2]: started with pid [146434]
[ INFO] [1761193683.496236269]: Initializing nodelet with 8 worker threads.
[ INFO] [1761193683.593209736]: RealSense ROS v2.3.2
[ INFO] [1761193683.593243477]: Built with LibRealSense v2.50.0
[ INFO] [1761193683.593261162]: Running with LibRealSense v2.50.0
[ INFO] [1761193683.617316514]:
[ INFO] [1761193683.641274449]: Device with serial number 135122079343 was found.

[ INFO] [1761193683.641316588]: Device with physical ID 4-1-2 was found.
[ INFO] [1761193683.641337426]: Device with name Intel RealSense D435 was found.
[ INFO] [1761193683.641721972]: Device with port number 4-1 was found.
[ INFO] [1761193683.641747372]: Device USB type: 3.2
[ INFO] [1761193683.642740631]: getParameters...
[ INFO] [1761193683.662940495]: setupDevice...
[ INFO] [1761193683.662958408]: JSON file is not provided
[ INFO] [1761193683.662968017]: ROS Node Namespace: camera
[ INFO] [1761193683.662977451]: Device Name: Intel RealSense D435
[ INFO] [1761193683.662985243]: Device Serial No: 135122079343
[ INFO] [1761193683.662993147]: Device physical port: 4-1-2
[ INFO] [1761193683.663000606]: Device FW version: 05.17.00.10
[ INFO] [1761193683.663008131]: Device Product ID: 0x0B07
[ INFO] [1761193683.663016335]: Enable PointCloud: Off
[ INFO] [1761193683.663026458]: Align Depth: Off
[ INFO] [1761193683.663033683]: Sync Mode: Off
[ INFO] [1761193683.663058265]: Device Sensors:
[ INFO] [1761193683.676597634]: Stereo Module was found.
[ INFO] [1761193683.681826599]: RGB Camera was found.
[ INFO] [1761193683.681855828]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1761193683.681873826]: num_filters: 0
[ INFO] [1761193683.681884095]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1761193684.111895142]: Done Setting Dynamic reconfig parameters.
[ INFO] [1761193684.112240430]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1761193684.112539057]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1761193684.112554309]: setupPublishers...
[ INFO] [1761193684.113750314]: Expected frequency for depth = 30.00000
[ INFO] [1761193684.127974496]: Expected frequency for color = 30.00000
[ INFO] [1761193684.137108879]: setupStreams...
23/10 13:28:04,174 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1761193684.225124482]: SELECTED BASE:Depth, 0
[ INFO] [1761193684.241812156]: RealSense Node Is Up!
[ WARN] [1761193684.293556315]:
23/10 13:28:04,294 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
23/10 13:28:04,344 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
23/10 13:28:04,496 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
23/10 13:28:04,621 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
23/10 13:28:04,672 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
23/10 13:28:04,824 WARNING [139640402368256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

As shown in the attached photo, when I start realsense-viewer, under Add Sources on the left side of the photo, it just says Connect a RealSense Camera or Add Source, but no information about the realsense d435 is displayed.
I feel like the problem of the No device connected and the problem of the image not being displayed on realsense-viewer are somehow related.
Before installing the librealsense related packages, the image was displayed properly in realsense-viewer.

Below are the steps I took to install, download, and build librealsense from start to finish, but I'm not sure if this is the right procedure:
First, I referred to the following page:https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

~/catkin_ws/src/$ sudo mkdir -p /etc/apt/keyrings
~/catkin_ws/src/$ curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

~/catkin_ws/src/$ echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo lsb_release -cs main" |
~/catkin_ws/src/$ sudo tee /etc/apt/sources.list.d/librealsense.list
~/catkin_ws/src/$ sudo apt-get update

~/catkin_ws/src/$ sudo apt-get install librealsense2-dkms
~/catkin_ws/src/$ sudo apt-get install librealsense2-utils
~/catkin_ws/src/$ sudo apt-get install librealsense2-dev
~/catkin_ws/src/$ sudo apt-get install librealsense2-dbg
~/catkin_ws/src/$ sudo apt-get update
~/catkin_ws/src/$ sudo apt-get upgrade

~/catkin_ws/src/$ pip3 install pyrealsense2
~/catkin_ws/src/$ sudo apt-get update && sudo apt-get upgrade
~/catkin_ws/src/$ sudo apt-get install python3 python3-dev
~/catkin_ws/src/$ git clone https://github.com/IntelRealSense/librealsense.git
~/catkin_ws/src/$ cd librealsense
~/catkin_ws/src/librealsense/$ mkdir build
~/catkin_ws/src/librealsense/$ cd build
~/catkin_ws/src/librealsense/build/$ cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=$(which python3)
~/catkin_ws/src/librealsense/build/$ make -j4
~/catkin_ws/src/librealsense/build/$ sudo make install
~/catkin_ws/src/librealsense/build/$ export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/pyrealsense2

As shown in the picture, export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/pyrealsense2 is written at the bottom of ~/.bashrc.

I have three concerns.
First, after I ran cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=$(which python3) in the ~/catkin_ws/src/librealsense/ directory, I accidentally ran make -j4 and catkin_make install in the ~/catkin_ws/src/librealsense/ directory. Immediately afterwards, I ran make -j4 and catkin_make install again in the ~/catkin_ws/src/librealsense/build directory, and both succeeded without errors.
Second, I ran cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=$(which python3) -D-DFORCE_LIBUVC=true in the ~/catkin_ws/src/librealsense/build directory. This did not work to improve the error in video_output.py, so I changed it to DFORCE_LIBUVC=false and ran cmake again, which was successful.
Third, as I was installing, downloading, and building librealsense, a screen that looked like secure boot appeared.

I want to run video_output.py to record video from my realsense d435!!
I would appreciate some guidance. Thank you in advance.

[MartyG-RealSense]

Hi @Euclid-7 I note that your pyrealsense2 Python script is designed to record a bag file. ROS1 has a built-in bag recording function called rosbag record that you could try instead.

Input the rs_camera.launch roslaunch command and then when the launch has completed with the message RealSense Node Is Up, input the command below to record all topics that are currently being published to a bag file.

rosbag record -a

https://wiki.ros.org/rosbag/Commandline#rosbag_record

Are you able to record a bag in ROS1 using this method, please?