Robot Hardware and Cameras Troubleshooting
Cannot connect to RealSense camera
Problem: I cannot connect to my Realsense camera.
Solution: Reconnect the Realsense and then check if you can view it in the realsense program: if the program is not on your system, follow the Realsense Drivers instructions. The expected set of realsense packages should look something like this:
$ apt list --installed | grep realsense
librealsense2-dbg/focal,now 2.48.0-0~realsense0.4976 amd64 [installed]
librealsense2-dev/focal,now 2.48.0-0~realsense0.4976 amd64 [installed]
librealsense2-dkms/focal,now 1.3.18-0ubuntu1 all [installed]
librealsense2-gl-dbg/focal 2.48.0-0~realsense0.4976 amd64
librealsense2-gl-dev/focal 2.48.0-0~realsense0.4976 amd64
librealsense2-gl/focal,now 2.48.0-0~realsense0.4976 amd64 [installed,automatic]
librealsense2-net-dbg/focal 2.48.0-0~realsense0.4976 amd64
librealsense2-net-dev/focal 2.48.0-0~realsense0.4976 amd64
librealsense2-net/focal,now 2.48.0-0~realsense0.4976 amd64 [installed,automatic]
librealsense2-udev-rules/focal,now 2.48.0-0~realsense0.4976 amd64 [installed,automatic]
librealsense2-utils/focal,now 2.48.0-0~realsense0.4976 amd64 [installed]
librealsense2/focal,now 2.48.0-0~realsense0.4976 amd64 [installed,automatic]
ros-humble-librealsense2-dbgsym/focal 2.48.0-1focal.20210701.133935 amd64
ros-humble-librealsense2/focal,now 2.48.0-1focal.20210701.133935 amd64 [installed]
ros-humble-realsense-msgs-dbgsym/focal 2.0.8-2focal.20210630.230828 amd64
ros-humble-realsense-msgs/focal 2.0.8-2focal.20210630.230828 amd64
ros-humble-realsense2-camera-dbgsym/focal 3.2.2-1focal.20210705.140737 amd64
ros-humble-realsense2-camera-msgs-dbgsym/focal 3.2.2-1focal.20210705.135802 amd64
ros-humble-realsense2-camera-msgs/focal 3.2.2-1focal.20210705.135802 amd64
ros-humble-realsense2-camera/focal 3.2.2-1focal.20210705.140737 amd64
ros-humble-realsense2-description/focal 3.2.2-1focal.20210705.140354 amd64
Cannot launch RealSense after performing driver update
Problem: Can't use 2 Realsense video feeds after required driver update.
Solution: Use realsense_ros - v3.2.2, librealsense2 - v2.49.00. To downgrade these packages run install_librealsense.sh in moveit_studio/bin and rebuild your workspace.
RealSense node messages that "reduced performance is expected"
Problem: One of the cameras does not come up properly when MoveIt Pro is launched:
[realsense2_camera_node-15] [RealSenseCameraNode]: Device 123456789012 is connected using a 2.1 port. Reduced performance is expected.
Solution: 1. Verify that the cable and USB port are both rated USB 3. 2. Unplug the cable from the camera and the computer and plug it back in. 3. Open the realsense-viewer and perform a hardware reset by clicking “More” and selecting “Hardware Reset”. 4. Try connecting a different cable.
Cannot configure the Robotiq gripper on a Universal Robot
Problem: When I launch my Universal Robot equipped with a Robotiq gripper, I get an error message Cannot configure the Robotiq gripper and cannot control the gripper.
Solution: If you have both the "Robotiq Grippers" and "rs483" URCap installed, they have compatibility problems. Disable the "Robotiq Grippers" URCap. Refer to Example UR5 Hardware Setup Guide for details.