ergoCub 1.0 S/N:000 – realSense device stops streaming images when running teleoperation

[mebbaid]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

The realsense stops streaming images when running teleoperation.

Detailed context

Today we tried to test the teleoperation on the SN000. At some point the robot stops sending rgb images and the operator view is stuck. I tried to read the /depthCamera/rgbImage:o port directly which showed no data being sent. We restarted the device, and again after a couple of minutes of teleoperation the streaming crashes.

I tried running the device from terminal inside the head and it throws this error
realsense.txt

Additional context

No response

How does it affect you?

No response

[maggia80]

@mebbaid I remember we updated the FW of the realsense camera at some point. Could it be that ergoCub SN00) still doesn't have the upgraded FW?
Otherwise is an hardware issue

[S-Dafarra]

Thanks @maggia80! We just did that. The version was 5.14, now we updated to 5.16 following #1797 (comment)

We tried to move the camera tilt from one limit to the other for a minute or so and the camera feed was stable. We can check if it keeps happening

[S-Dafarra]

I have been told this issue occurred again recently during some experiments run by @mebbaid and @illkid3. I am not sure about the context, but it might be related.

[S-Dafarra]

cc @fedeceola @SimoneMic

[fedeceola]

Hi, this issue with the realsense occurred also to us while running some experiments.

[AntonioConsilvio]

Hi! I will check the Realsense hardware connection soon.

[steb6]

I wanted to add that this happened to me while doing teleoperation, but not with the usual perception demo

[AntonioConsilvio]

Hi, today with the help of e we checked the hardware connection.

Maybe there could be a loose connection of the USB-C on the Xavier side.

We inserted the connector better and checked that it worked for about 1 hour.

Everything seemed to work properly, however leave me feedback regarding the RealSense operation when you try it out.

cc @mebbaid @S-Dafarra @steb6 @fedeceola @SimoneMic

[S-Dafarra]

It is still happening unfortunately

[S-Dafarra]

@AntonioConsilvio applied some more padding to keep the connector stable.

Moreover, I realized that we were using a very old librealsense2 SDK compiled from source. I have uninstalled it and installed a more recent SDK version following https://github.com/IntelRealSense/librealsense/blob/e1688cc318457f7dd57abcdbedd3398062db3009/doc/installation_jetson.md#4-install-with-debian-packages

Now the connection seems stable. We have been using for some hours continuously and we did not notice issues.

Probably this is good to go

[filippoborgogni]

Hi! We replaced the USB cable that connects the realSense to the Xavier.
The old cable didn't seems damaged, but we replaced it to make a try.
Let us know if the problem happens again!
Cc @S-Dafarra @mebbaid @steb6 @AntonioConsilvio

[S-Dafarra]

Unfortunately this occurred also during the ECCV demo

[AntonioConsilvio]

Hi @S-Dafarra, just to clarify, the intervention mentioned by @filippoborgogni was performed after ECCV!

[S-Dafarra]

@SimoneMic did this happen during Festival della Scienza by any chance?

[SimoneMic]

No @S-Dafarra, we had flawless operation from the realsense for three days.

[github-actions]

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