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No imu topic published #5

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ashBabu opened this issue Jan 30, 2024 · 8 comments
Closed

No imu topic published #5

ashBabu opened this issue Jan 30, 2024 · 8 comments

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@ashBabu
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ashBabu commented Jan 30, 2024

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true

Running the above straight away throws error. I would like to get the /camera/imu topic.

662 ERROR [139936804103744] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,663 ERROR [139936804103744] (backend-hid.cpp:1005) Hid device is busy!
[realsense2_camera_node-1] [ERROR] [1706656717.663373915] [camera.camera]: ./src/rs_node_setup.cpp:370:An exception has been thrown: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] Failed to start device: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] [INFO] [1706656717.664063767] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1706656717.667175929] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1]  30/01 23:18:37,667 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
[realsense2_camera_node-1]  30/01 23:18:37,667 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-1]  30/01 23:18:37,668 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.5.auto
[realsense2_camera_node-1]  30/01 23:18:37,668 WARNING [139936384665152] (backend-hid.h:48) write_fs_attribute with accel_3d-dev1 failed. The specified path /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/trigger/current_trigger is not valid
[realsense2_camera_node-1]  30/01 23:18:37,668 ERROR [139936644707904] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,669 ERROR [139936644707904] (backend-hid.cpp:1005) Hid device is busy!
[realsense2_camera_node-1] [ERROR] [1706656717.669156742] [camera.camera]: ./src/rs_node_setup.cpp:370:An exception has been thrown: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1] [ERROR] [1706656717.669198501] [camera.camera]: Error updating the sensors: Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.5/0003:8086:0B5C.003C/HID-SENSOR-200073.7.auto/iio:device1/scan_elements/in_accel_y_en Last Error: Read-only file system
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.4.auto
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.3.auto
[realsense2_camera_node-1]  30/01 23:18:37,694 WARNING [139936804103744] (backend-hid.cpp:1205) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.5.auto
[realsense2_camera_node-1] [INFO] [1706656717.695129269] [camera.camera]: Device with serial number 318122301758 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1706656717.695212644] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1.1/4-1.1:1.0/video4linux/video4 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695230950] [camera.camera]: Device with name Intel RealSense D456 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695577886] [camera.camera]: Device with port number 4-1.1 was found.
[realsense2_camera_node-1] [INFO] [1706656717.695596253] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1706656717.695807486] [camera.camera]: Stop Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1706656717.695832956] [camera.camera]: Close Sensor. 
[realsense2_camera_node-1] [WARN] [1706656718.101862981] [camera.camera]: 
[realsense2_camera_node-1]  30/01 23:18:38,267 ERROR [139936795711040] (librealsense-exception.h:52) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Protocol error
[realsense2_camera_node-1]  30/01 23:18:38,267 ERROR [139936795711040] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Protocol error
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device
[realsense2_camera_node-1]  30/01 23:18:38,280 ERROR [139936636315200] (backend-v4l2.cpp:2771) xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: 20 error: No such device
@2b-t
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2b-t commented Jan 31, 2024

You are right the container currently does not have permissions to access the IMU. On my Realsense D435i I had to add 'c 10:* rmw' to the device_cgroup_rules in the docker-compose.yml

realsense-ros2-docker/docker/docker-compose.yml

Lines 11 to 13 in f459a56

device_cgroup_rules:
- 'c 81:* rmw'
- 'c 189:* rmw'

or you could clearly run the container as privileged by setting privileged: true inside the docker-compose.yml (not recommended).

Which permissions a device needs can be determined by following my guide here or by comparing the output of $ ls -l /dev before and after unplugging the device.

When just testing I had then the same issue as IntelRealSense/realsense-ros#2542 where the
/camera/imu topic would not output anything and I had then to run the launch file with the additional unite_imu_method parameter

$ ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true enable_gyro:=true enable_accel:=true unite_imu_method:=2

Let me know if this solves your problems. I will add a corresponding section to the read-me.

@ashBabu
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ashBabu commented Jan 31, 2024

Thanks for the info. Unfortunately adding device-cgroup-rules did not help but privileged helps but as you said it's not the recommended way.
I am no expert here but when I run ls -l /dev, the ones corresponding to number 81 is under the plugdev and video group. But the ones corresponding to 10 are under root, kvm etc. Does some kind of udev rules help?

@2b-t
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2b-t commented Jan 31, 2024 •
edited
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Could you send me the full output of $ ls -l /dev? Is there by any chance a device HID-SENSOR-200073.7.auto or similar?

@ashBabu
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ashBabu commented Jan 31, 2024

Yes there is HID-SENSOR-..... Please find below the output of ls -l /dev

With realsense connected

[ash@headlightai] [~] - ls -l /dev
total 0
crw-------   1 root root     10,   119 Jan 31 10:47 acpi_thermal_rel
crw-r--r--   1 root root     10,   235 Jan 31 10:47 autofs
drwxr-xr-x   2 root root           800 Jan 31 10:47 block
crw-rw----   1 root disk     10,   234 Jan 31 10:47 btrfs-control
drwxr-xr-x   3 root root            60 Jan 27 22:21 bus
drwxr-xr-x   2 root root          6040 Jan 31 22:21 char
crw--w----   1 root tty       5,     1 Jan 31 10:47 console
lrwxrwxrwx   1 root root            11 Jan 27 22:21 core -> /proc/kcore
drwxr-xr-x  22 root root           440 Jan 27 22:21 cpu
crw-------   1 root root     10,   123 Jan 31 10:47 cpu_dma_latency
crw-------   1 root root     10,   203 Jan 27 22:21 cuse
drwxr-xr-x   8 root root           160 Jan 27 22:21 disk
drwxr-xr-x   2 root root            60 Jan 27 22:21 dma_heap
drwxr-xr-x   3 root root           140 Jan 27 22:21 dri
crw-------   1 root root    510,     0 Jan 31 10:47 drm_dp_aux0
crw-------   1 root root    510,     1 Jan 31 10:47 drm_dp_aux1
crw-------   1 root root    510,     2 Jan 31 10:47 drm_dp_aux2
crw-------   1 root root    510,     3 Jan 31 10:47 drm_dp_aux3
crw-------   1 root root    510,     4 Jan 31 10:47 drm_dp_aux4
crw-------   1 root root     10,   125 Jan 31 10:47 ecryptfs
crw-rw----   1 root video    29,     0 Jan 31 10:47 fb0
lrwxrwxrwx   1 root root            13 Jan 27 22:21 fd -> /proc/self/fd
crw-rw-rw-   1 root root      1,     7 Jan 31 10:47 full
crw-rw-rw-   1 root root     10,   229 Jan 31 10:47 fuse
crw-------   1 root root    254,     0 Jan 31 10:47 gpiochip0
crw-------   1 root root    240,     0 Jan 31 10:47 hidraw0
crw-------   1 root root    240,     1 Jan 31 10:47 hidraw1
crw-------   1 root root    240,     2 Jan 31 10:47 hidraw2
crw-------   1 root root    240,     3 Jan 31 12:26 hidraw3
crw-------   1 root root    240,     4 Jan 31 12:26 hidraw4
crw-------   1 root root    240,     5 Jan 31 12:26 hidraw5
crw-------   1 root root     10,   122 Jan 31 10:47 HID-SENSOR-2000e1.3.auto
crw-------   1 root root     10,   121 Jan 31 10:47 HID-SENSOR-2000e1.4.auto
crw-------   1 root root     10,   120 Jan 31 10:47 HID-SENSOR-2000e1.5.auto
crwxrwxrwx   1 root root     10,   117 Jan 31 21:55 HID-SENSOR-2000e1.9.auto
crw-------   1 root root     10,   228 Jan 31 10:47 hpet
drwxr-xr-x   2 root root             0 Jan 27 22:21 hugepages
crw-------   1 root root     10,   183 Jan 31 10:47 hwrng
crw-------   1 root root     89,     0 Jan 31 10:47 i2c-0
crw-------   1 root root     89,     1 Jan 31 10:47 i2c-1
crw-------   1 root root     89,    10 Jan 31 10:47 i2c-10
crw-------   1 root root     89,    11 Jan 31 10:47 i2c-11
crw-------   1 root root     89,    12 Jan 31 10:47 i2c-12
crw-------   1 root root     89,    13 Jan 31 10:47 i2c-13
crw-------   1 root root     89,    14 Jan 31 10:47 i2c-14
crw-------   1 root root     89,    15 Jan 31 10:47 i2c-15
crw-------   1 root root     89,    16 Jan 31 10:47 i2c-16
crw-------   1 root root     89,    17 Jan 31 10:47 i2c-17
crw-------   1 root root     89,     2 Jan 31 10:47 i2c-2
crw-------   1 root root     89,     3 Jan 31 10:47 i2c-3
crw-------   1 root root     89,     4 Jan 31 10:47 i2c-4
crw-------   1 root root     89,     5 Jan 31 10:47 i2c-5
crw-------   1 root root     89,     6 Jan 31 10:47 i2c-6
crw-------   1 root root     89,     7 Jan 31 10:47 i2c-7
crw-------   1 root root     89,     8 Jan 31 10:47 i2c-8
crw-------   1 root root     89,     9 Jan 31 10:47 i2c-9
crw-------   1 root root    237,     0 Jan 31 10:47 iio:device0
crw-rw-rw-   1 root plugdev 237,     1 Jan 31 21:55 iio:device1
crw-rw-rw-   1 root plugdev 237,     2 Jan 31 21:55 iio:device2
lrwxrwxrwx   1 root root            12 Jan 27 22:21 initctl -> /run/initctl
drwxr-xr-x   4 root root           620 Jan 31 12:26 input
crw-r--r--   1 root root      1,    11 Jan 31 10:47 kmsg
crw-rw----+  1 root kvm      10,   232 Jan 31 10:47 kvm
lrwxrwxrwx   1 root root            28 Jan 27 22:21 log -> /run/systemd/journal/dev-log
brw-rw----   1 root disk      7,     0 Jan 31 10:47 loop0
brw-rw----   1 root disk      7,     1 Jan 31 10:47 loop1
brw-rw----   1 root disk      7,    10 Jan 31 10:47 loop10
brw-rw----   1 root disk      7,    11 Jan 31 10:47 loop11
brw-rw----   1 root disk      7,    12 Jan 31 10:47 loop12
brw-rw----   1 root disk      7,    13 Jan 31 10:47 loop13
brw-rw----   1 root disk      7,    14 Jan 31 10:47 loop14
brw-rw----   1 root disk      7,    15 Jan 31 10:47 loop15
brw-rw----   1 root disk      7,    16 Jan 31 10:47 loop16
brw-rw----   1 root disk      7,    17 Jan 31 10:47 loop17
brw-rw----   1 root disk      7,    18 Jan 31 10:47 loop18
brw-rw----   1 root disk      7,    19 Jan 31 10:47 loop19
brw-rw----   1 root disk      7,     2 Jan 31 10:47 loop2
brw-rw----   1 root disk      7,    20 Jan 31 10:47 loop20
brw-rw----   1 root disk      7,    21 Jan 31 10:47 loop21
brw-rw----   1 root disk      7,    22 Jan 31 10:47 loop22
brw-rw----   1 root disk      7,    23 Jan 31 10:47 loop23
brw-rw----   1 root disk      7,    24 Jan 31 10:47 loop24
brw-rw----   1 root disk      7,    25 Jan 31 10:47 loop25
brw-rw----   1 root disk      7,    26 Jan 31 10:47 loop26
brw-rw----   1 root disk      7,    27 Jan 31 10:47 loop27
brw-rw----   1 root disk      7,     3 Jan 31 10:47 loop3
brw-rw----   1 root disk      7,     4 Jan 31 10:47 loop4
brw-rw----   1 root disk      7,     5 Jan 31 10:47 loop5
brw-rw----   1 root disk      7,     6 Jan 31 10:47 loop6
brw-rw----   1 root disk      7,     7 Jan 31 10:47 loop7
brw-rw----   1 root disk      7,     8 Jan 31 10:47 loop8
brw-rw----   1 root disk      7,     9 Jan 31 10:47 loop9
crw-rw----   1 root disk     10,   237 Jan 31 10:47 loop-control
drwxr-xr-x   2 root root            60 Jan 27 22:21 mapper
crw-------   1 root root     10,   227 Jan 31 10:47 mcelog
crw-rw----+  1 root video   511,     0 Jan 31 10:47 media0
crw-rw----+  1 root video   511,     1 Jan 31 10:47 media1
crw-rw-rw-+  1 root plugdev 511,     2 Jan 31 21:55 media2
crw-rw-rw-+  1 root plugdev 511,     3 Jan 31 21:55 media3
crw-------   1 root root    236,     0 Jan 31 10:47 mei0
crw-r-----   1 root kmem      1,     1 Jan 31 10:47 mem
drwxrwxrwt   2 root root            40 Jan 27 22:21 mqueue
crw-------   1 root root     90,     0 Jan 31 10:47 mtd0
crw-------   1 root root     90,     1 Jan 31 10:47 mtd0ro
drwxr-xr-x   2 root root            60 Jan 27 22:21 net
crw-------   1 root root    238,     0 Jan 31 10:47 ng0n1
crw-rw-rw-   1 root root      1,     3 Jan 31 10:47 null
crw-rw-rw-   1 root root    195,     0 Jan 27 22:21 nvidia0
drwxr-xr-x   2 root root            80 Jan 29 14:36 nvidia-caps
crw-rw-rw-   1 root root    195,   255 Jan 27 22:21 nvidiactl
crw-rw-rw-   1 root root    195,   254 Jan 27 22:21 nvidia-modeset
crw-rw-rw-   1 root root    506,     0 Jan 27 22:21 nvidia-uvm
crw-rw-rw-   1 root root    506,     1 Jan 27 22:21 nvidia-uvm-tools
crw-------   1 root root    239,     0 Jan 31 10:47 nvme0
brw-rw----   1 root disk    259,     0 Jan 31 10:47 nvme0n1
brw-rw----   1 root disk    259,     1 Jan 31 10:47 nvme0n1p1
brw-rw----   1 root disk    259,     2 Jan 31 10:47 nvme0n1p2
brw-rw----   1 root disk    259,     3 Jan 31 10:47 nvme0n1p3
brw-rw----   1 root disk    259,     4 Jan 31 10:47 nvme0n1p4
brw-rw----   1 root disk    259,     5 Jan 31 10:47 nvme0n1p5
brw-rw----   1 root disk    259,     6 Jan 31 10:47 nvme0n1p6
brw-rw----   1 root disk    259,     7 Jan 31 10:47 nvme0n1p7
brw-rw----   1 root disk    259,     8 Jan 31 10:47 nvme0n1p8
brw-rw----   1 root disk    259,     9 Jan 31 10:47 nvme0n1p9
crw-------   1 root root     10,   144 Jan 27 22:21 nvram
crw-r-----   1 root kmem      1,     4 Jan 31 10:47 port
crw-------   1 root root    108,     0 Jan 31 10:47 ppp
crw-------   1 root root     10,     1 Jan 31 10:47 psaux
crw-rw-rw-   1 root tty       5,     2 Jan 31 22:37 ptmx
crw-------   1 root root    246,     0 Jan 31 10:47 ptp0
drwxr-xr-x   2 root root             0 Jan 27 22:21 pts
crw-rw-rw-   1 root root      1,     8 Jan 31 10:47 random
crw-rw-r--+  1 root root     10,   242 Jan 31 10:47 rfkill
lrwxrwxrwx   1 root root             4 Jan 31 10:47 rtc -> rtc0
crw-------   1 root root    248,     0 Jan 31 10:47 rtc0
drwxrwxrwt   2 root root          3740 Jan 31 22:37 shm
crw-------   1 root root     10,   231 Jan 31 10:47 snapshot
drwxr-xr-x   3 root root           340 Jan 30 15:31 snd
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stderr -> /proc/self/fd/2
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stdin -> /proc/self/fd/0
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stdout -> /proc/self/fd/1
crw-rw----   1 tss  root     10,   224 Jan 31 10:47 tpm0
crw-rw----   1 tss  tss     253, 65536 Jan 31 10:47 tpmrm0
crw-rw-rw-   1 root tty       5,     0 Jan 31 10:47 tty
crw--w----   1 root tty       4,     0 Jan 31 10:47 tty0
crw--w----   1 root tty       4,     1 Jan 31 10:47 tty1
crw--w----   1 root tty       4,    10 Jan 31 10:47 tty10
crw--w----   1 root tty       4,    11 Jan 31 10:47 tty11
crw--w----   1 root tty       4,    12 Jan 31 10:47 tty12
crw--w----   1 root tty       4,    13 Jan 31 10:47 tty13
crw--w----   1 root tty       4,    14 Jan 31 10:47 tty14
crw--w----   1 root tty       4,    15 Jan 31 10:47 tty15
crw--w----   1 root tty       4,    16 Jan 31 10:47 tty16
crw--w----   1 root tty       4,    17 Jan 31 10:47 tty17
crw--w----   1 root tty       4,    18 Jan 31 10:47 tty18
crw--w----   1 root tty       4,    19 Jan 31 10:47 tty19
crw--w----   1 ash  tty       4,     2 Jan 31 10:47 tty2
crw--w----   1 root tty       4,    20 Jan 31 10:47 tty20
crw--w----   1 root tty       4,    21 Jan 31 10:47 tty21
crw--w----   1 root tty       4,    22 Jan 31 10:47 tty22
crw--w----   1 root tty       4,    23 Jan 31 10:47 tty23
crw--w----   1 root tty       4,    24 Jan 31 10:47 tty24
crw--w----   1 root tty       4,    25 Jan 31 10:47 tty25
crw--w----   1 root tty       4,    26 Jan 31 10:47 tty26
crw--w----   1 root tty       4,    27 Jan 31 10:47 tty27
crw--w----   1 root tty       4,    28 Jan 31 10:47 tty28
crw--w----   1 root tty       4,    29 Jan 31 10:47 tty29
crw--w----   1 root tty       4,     3 Jan 31 10:47 tty3
crw--w----   1 root tty       4,    30 Jan 31 10:47 tty30
crw--w----   1 root tty       4,    31 Jan 31 10:47 tty31
crw--w----   1 root tty       4,    32 Jan 31 10:47 tty32
crw--w----   1 root tty       4,    33 Jan 31 10:47 tty33
crw--w----   1 root tty       4,    34 Jan 31 10:47 tty34
crw--w----   1 root tty       4,    35 Jan 31 10:47 tty35
crw--w----   1 root tty       4,    36 Jan 31 10:47 tty36
crw--w----   1 root tty       4,    37 Jan 31 10:47 tty37
crw--w----   1 root tty       4,    38 Jan 31 10:47 tty38
crw--w----   1 root tty       4,    39 Jan 31 10:47 tty39
crw--w----   1 root tty       4,     4 Jan 31 10:47 tty4
crw--w----   1 root tty       4,    40 Jan 31 10:47 tty40
crw--w----   1 root tty       4,    41 Jan 31 10:47 tty41
crw--w----   1 root tty       4,    42 Jan 31 10:47 tty42
crw--w----   1 root tty       4,    43 Jan 31 10:47 tty43
crw--w----   1 root tty       4,    44 Jan 31 10:47 tty44
crw--w----   1 root tty       4,    45 Jan 31 10:47 tty45
crw--w----   1 root tty       4,    46 Jan 31 10:47 tty46
crw--w----   1 root tty       4,    47 Jan 31 10:47 tty47
crw--w----   1 root tty       4,    48 Jan 31 10:47 tty48
crw--w----   1 root tty       4,    49 Jan 31 10:47 tty49
crw--w----   1 root tty       4,     5 Jan 31 10:47 tty5
crw--w----   1 root tty       4,    50 Jan 31 10:47 tty50
crw--w----   1 root tty       4,    51 Jan 31 10:47 tty51
crw--w----   1 root tty       4,    52 Jan 31 10:47 tty52
crw--w----   1 root tty       4,    53 Jan 31 10:47 tty53
crw--w----   1 root tty       4,    54 Jan 31 10:47 tty54
crw--w----   1 root tty       4,    55 Jan 31 10:47 tty55
crw--w----   1 root tty       4,    56 Jan 31 10:47 tty56
crw--w----   1 root tty       4,    57 Jan 31 10:47 tty57
crw--w----   1 root tty       4,    58 Jan 31 10:47 tty58
crw--w----   1 root tty       4,    59 Jan 31 10:47 tty59
crw--w----   1 root tty       4,     6 Jan 31 10:47 tty6
crw--w----   1 root tty       4,    60 Jan 31 10:47 tty60
crw--w----   1 root tty       4,    61 Jan 31 10:47 tty61
crw--w----   1 root tty       4,    62 Jan 31 10:47 tty62
crw--w----   1 root tty       4,    63 Jan 31 10:47 tty63
crw--w----   1 root tty       4,     7 Jan 31 10:47 tty7
crw--w----   1 root tty       4,     8 Jan 31 10:47 tty8
crw--w----   1 root tty       4,     9 Jan 31 10:47 tty9
crw-------   1 root root      5,     3 Jan 31 10:47 ttyprintk
crw-rw----   1 root dialout   4,    64 Jan 31 10:47 ttyS0
crw-rw----   1 root dialout   4,    65 Jan 31 10:47 ttyS1
crw-rw----   1 root dialout   4,    74 Jan 31 10:47 ttyS10
crw-rw----   1 root dialout   4,    75 Jan 31 10:47 ttyS11
crw-rw----   1 root dialout   4,    76 Jan 31 10:47 ttyS12
crw-rw----   1 root dialout   4,    77 Jan 31 10:47 ttyS13
crw-rw----   1 root dialout   4,    78 Jan 31 10:47 ttyS14
crw-rw----   1 root dialout   4,    79 Jan 31 10:47 ttyS15
crw-rw----   1 root dialout   4,    80 Jan 31 10:47 ttyS16
crw-rw----   1 root dialout   4,    81 Jan 31 10:47 ttyS17
crw-rw----   1 root dialout   4,    82 Jan 31 10:47 ttyS18
crw-rw----   1 root dialout   4,    83 Jan 31 10:47 ttyS19
crw-rw----   1 root dialout   4,    66 Jan 31 10:47 ttyS2
crw-rw----   1 root dialout   4,    84 Jan 31 10:47 ttyS20
crw-rw----   1 root dialout   4,    85 Jan 31 10:47 ttyS21
crw-rw----   1 root dialout   4,    86 Jan 31 10:47 ttyS22
crw-rw----   1 root dialout   4,    87 Jan 31 10:47 ttyS23
crw-rw----   1 root dialout   4,    88 Jan 31 10:47 ttyS24
crw-rw----   1 root dialout   4,    89 Jan 31 10:47 ttyS25
crw-rw----   1 root dialout   4,    90 Jan 31 10:47 ttyS26
crw-rw----   1 root dialout   4,    91 Jan 31 10:47 ttyS27
crw-rw----   1 root dialout   4,    92 Jan 31 10:47 ttyS28
crw-rw----   1 root dialout   4,    93 Jan 31 10:47 ttyS29
crw-rw----   1 root dialout   4,    67 Jan 31 10:47 ttyS3
crw-rw----   1 root dialout   4,    94 Jan 31 10:47 ttyS30
crw-rw----   1 root dialout   4,    95 Jan 31 10:47 ttyS31
crw-rw----   1 root dialout   4,    68 Jan 31 10:47 ttyS4
crw-rw----   1 root dialout   4,    69 Jan 31 10:47 ttyS5
crw-rw----   1 root dialout   4,    70 Jan 31 10:47 ttyS6
crw-rw----   1 root dialout   4,    71 Jan 31 10:47 ttyS7
crw-rw----   1 root dialout   4,    72 Jan 31 10:47 ttyS8
crw-rw----   1 root dialout   4,    73 Jan 31 10:47 ttyS9
crw-rw----   1 root kvm      10,   124 Jan 31 10:47 udmabuf
crw-------   1 root root     10,   239 Jan 27 22:21 uhid
crw-------   1 root root     10,   223 Jan 31 10:47 uinput
crw-rw-rw-   1 root root      1,     9 Jan 31 10:47 urandom
drwxr-xr-x   2 root root            80 Jan 31 12:26 usb
crw-------   1 root root     10,   126 Jan 31 10:47 userfaultfd
crw-------   1 root root     10,   240 Jan 27 22:21 userio
drwxr-xr-x   4 root root            80 Jan 30 23:34 v4l
crw-rw----   1 root tty       7,     0 Jan 31 10:47 vcs
crw-rw----   1 root tty       7,     1 Jan 31 10:47 vcs1
crw-rw----   1 root tty       7,     2 Jan 31 10:47 vcs2
crw-rw----   1 root tty       7,     3 Jan 31 10:47 vcs3
crw-rw----   1 root tty       7,     4 Jan 31 10:47 vcs4
crw-rw----   1 root tty       7,     5 Jan 31 10:47 vcs5
crw-rw----   1 root tty       7,     6 Jan 31 10:47 vcs6
crw-rw----   1 root tty       7,   128 Jan 31 10:47 vcsa
crw-rw----   1 root tty       7,   129 Jan 31 10:47 vcsa1
crw-rw----   1 root tty       7,   130 Jan 31 10:47 vcsa2
crw-rw----   1 root tty       7,   131 Jan 31 10:47 vcsa3
crw-rw----   1 root tty       7,   132 Jan 31 10:47 vcsa4
crw-rw----   1 root tty       7,   133 Jan 31 10:47 vcsa5
crw-rw----   1 root tty       7,   134 Jan 31 10:47 vcsa6
crw-rw----   1 root tty       7,    64 Jan 31 10:47 vcsu
crw-rw----   1 root tty       7,    65 Jan 31 10:47 vcsu1
crw-rw----   1 root tty       7,    66 Jan 31 10:47 vcsu2
crw-rw----   1 root tty       7,    67 Jan 31 10:47 vcsu3
crw-rw----   1 root tty       7,    68 Jan 31 10:47 vcsu4
crw-rw----   1 root tty       7,    69 Jan 31 10:47 vcsu5
crw-rw----   1 root tty       7,    70 Jan 31 10:47 vcsu6
drwxr-xr-x   2 root root            60 Jan 27 22:21 vfio
crw-------   1 root root     10,   127 Jan 31 10:47 vga_arbiter
crw-------   1 root root     10,   137 Jan 27 22:21 vhci
crw-rw----   1 root kvm      10,   238 Jan 27 22:21 vhost-net
crw-rw----   1 root kvm      10,   241 Jan 27 22:21 vhost-vsock
crw-rw----+  1 root video    81,     0 Jan 31 10:47 video0
crw-rw----+  1 root video    81,     1 Jan 31 10:47 video1
crw-rw----+  1 root video    81,     2 Jan 31 10:47 video2
crw-rw----+  1 root video    81,     3 Jan 31 10:47 video3
crw-rw-rw-+  1 root plugdev  81,     4 Jan 31 21:55 video4
crw-rw-rw-+  1 root plugdev  81,     5 Jan 31 21:55 video5
crw-rw-rw-+  1 root plugdev  81,     6 Jan 31 21:55 video6
crw-rw-rw-+  1 root plugdev  81,     7 Jan 31 21:55 video7
crw-rw-rw-+  1 root plugdev  81,     8 Jan 31 21:55 video8
crw-rw-rw-+  1 root plugdev  81,     9 Jan 31 21:55 video9
drwxr-xr-x   2 root root            60 Jan 27 22:21 wmi
crw-rw-rw-   1 root root      1,     5 Jan 31 10:47 zero
crw-------   1 root root     10,   249 Jan 27 22:21 zfs

Without realsense

ash@headlightai] [~] - ls -l /dev
total 0
crw-------   1 root root     10,   119 Jan 31 10:47 acpi_thermal_rel
crw-r--r--   1 root root     10,   235 Jan 31 10:47 autofs
drwxr-xr-x   2 root root           800 Jan 31 10:47 block
crw-rw----   1 root disk     10,   234 Jan 31 10:47 btrfs-control
drwxr-xr-x   3 root root            60 Jan 27 22:21 bus
drwxr-xr-x   2 root root          5800 Jan 31 22:38 char
crw--w----   1 root tty       5,     1 Jan 31 10:47 console
lrwxrwxrwx   1 root root            11 Jan 27 22:21 core -> /proc/kcore
drwxr-xr-x  22 root root           440 Jan 27 22:21 cpu
crw-------   1 root root     10,   123 Jan 31 10:47 cpu_dma_latency
crw-------   1 root root     10,   203 Jan 27 22:21 cuse
drwxr-xr-x   8 root root           160 Jan 27 22:21 disk
drwxr-xr-x   2 root root            60 Jan 27 22:21 dma_heap
drwxr-xr-x   3 root root           140 Jan 27 22:21 dri
crw-------   1 root root    510,     0 Jan 31 10:47 drm_dp_aux0
crw-------   1 root root    510,     1 Jan 31 10:47 drm_dp_aux1
crw-------   1 root root    510,     2 Jan 31 10:47 drm_dp_aux2
crw-------   1 root root    510,     3 Jan 31 10:47 drm_dp_aux3
crw-------   1 root root    510,     4 Jan 31 10:47 drm_dp_aux4
crw-------   1 root root     10,   125 Jan 31 10:47 ecryptfs
crw-rw----   1 root video    29,     0 Jan 31 10:47 fb0
lrwxrwxrwx   1 root root            13 Jan 27 22:21 fd -> /proc/self/fd
crw-rw-rw-   1 root root      1,     7 Jan 31 10:47 full
crw-rw-rw-   1 root root     10,   229 Jan 31 10:47 fuse
crw-------   1 root root    254,     0 Jan 31 10:47 gpiochip0
crw-------   1 root root    240,     0 Jan 31 10:47 hidraw0
crw-------   1 root root    240,     1 Jan 31 10:47 hidraw1
crw-------   1 root root    240,     2 Jan 31 10:47 hidraw2
crw-------   1 root root    240,     3 Jan 31 12:26 hidraw3
crw-------   1 root root    240,     4 Jan 31 12:26 hidraw4
crw-------   1 root root    240,     5 Jan 31 12:26 hidraw5
crw-------   1 root root     10,   122 Jan 31 10:47 HID-SENSOR-2000e1.3.auto
crw-------   1 root root     10,   121 Jan 31 10:47 HID-SENSOR-2000e1.4.auto
crw-------   1 root root     10,   120 Jan 31 10:47 HID-SENSOR-2000e1.5.auto
crw-------   1 root root     10,   228 Jan 31 10:47 hpet
drwxr-xr-x   2 root root             0 Jan 27 22:21 hugepages
crw-------   1 root root     10,   183 Jan 31 10:47 hwrng
crw-------   1 root root     89,     0 Jan 31 10:47 i2c-0
crw-------   1 root root     89,     1 Jan 31 10:47 i2c-1
crw-------   1 root root     89,    10 Jan 31 10:47 i2c-10
crw-------   1 root root     89,    11 Jan 31 10:47 i2c-11
crw-------   1 root root     89,    12 Jan 31 10:47 i2c-12
crw-------   1 root root     89,    13 Jan 31 10:47 i2c-13
crw-------   1 root root     89,    14 Jan 31 10:47 i2c-14
crw-------   1 root root     89,    15 Jan 31 10:47 i2c-15
crw-------   1 root root     89,    16 Jan 31 10:47 i2c-16
crw-------   1 root root     89,    17 Jan 31 10:47 i2c-17
crw-------   1 root root     89,     2 Jan 31 10:47 i2c-2
crw-------   1 root root     89,     3 Jan 31 10:47 i2c-3
crw-------   1 root root     89,     4 Jan 31 10:47 i2c-4
crw-------   1 root root     89,     5 Jan 31 10:47 i2c-5
crw-------   1 root root     89,     6 Jan 31 10:47 i2c-6
crw-------   1 root root     89,     7 Jan 31 10:47 i2c-7
crw-------   1 root root     89,     8 Jan 31 10:47 i2c-8
crw-------   1 root root     89,     9 Jan 31 10:47 i2c-9
crw-------   1 root root    237,     0 Jan 31 10:47 iio:device0
lrwxrwxrwx   1 root root            12 Jan 27 22:21 initctl -> /run/initctl
drwxr-xr-x   4 root root           620 Jan 31 12:26 input
crw-r--r--   1 root root      1,    11 Jan 31 10:47 kmsg
crw-rw----+  1 root kvm      10,   232 Jan 31 10:47 kvm
lrwxrwxrwx   1 root root            28 Jan 27 22:21 log -> /run/systemd/journal/dev-log
brw-rw----   1 root disk      7,     0 Jan 31 10:47 loop0
brw-rw----   1 root disk      7,     1 Jan 31 10:47 loop1
brw-rw----   1 root disk      7,    10 Jan 31 10:47 loop10
brw-rw----   1 root disk      7,    11 Jan 31 10:47 loop11
brw-rw----   1 root disk      7,    12 Jan 31 10:47 loop12
brw-rw----   1 root disk      7,    13 Jan 31 10:47 loop13
brw-rw----   1 root disk      7,    14 Jan 31 10:47 loop14
brw-rw----   1 root disk      7,    15 Jan 31 10:47 loop15
brw-rw----   1 root disk      7,    16 Jan 31 10:47 loop16
brw-rw----   1 root disk      7,    17 Jan 31 10:47 loop17
brw-rw----   1 root disk      7,    18 Jan 31 10:47 loop18
brw-rw----   1 root disk      7,    19 Jan 31 10:47 loop19
brw-rw----   1 root disk      7,     2 Jan 31 10:47 loop2
brw-rw----   1 root disk      7,    20 Jan 31 10:47 loop20
brw-rw----   1 root disk      7,    21 Jan 31 10:47 loop21
brw-rw----   1 root disk      7,    22 Jan 31 10:47 loop22
brw-rw----   1 root disk      7,    23 Jan 31 10:47 loop23
brw-rw----   1 root disk      7,    24 Jan 31 10:47 loop24
brw-rw----   1 root disk      7,    25 Jan 31 10:47 loop25
brw-rw----   1 root disk      7,    26 Jan 31 10:47 loop26
brw-rw----   1 root disk      7,    27 Jan 31 10:47 loop27
brw-rw----   1 root disk      7,     3 Jan 31 10:47 loop3
brw-rw----   1 root disk      7,     4 Jan 31 10:47 loop4
brw-rw----   1 root disk      7,     5 Jan 31 10:47 loop5
brw-rw----   1 root disk      7,     6 Jan 31 10:47 loop6
brw-rw----   1 root disk      7,     7 Jan 31 10:47 loop7
brw-rw----   1 root disk      7,     8 Jan 31 10:47 loop8
brw-rw----   1 root disk      7,     9 Jan 31 10:47 loop9
crw-rw----   1 root disk     10,   237 Jan 31 10:47 loop-control
drwxr-xr-x   2 root root            60 Jan 27 22:21 mapper
crw-------   1 root root     10,   227 Jan 31 10:47 mcelog
crw-rw----+  1 root video   511,     0 Jan 31 10:47 media0
crw-rw----+  1 root video   511,     1 Jan 31 10:47 media1
crw-------   1 root root    236,     0 Jan 31 10:47 mei0
crw-r-----   1 root kmem      1,     1 Jan 31 10:47 mem
drwxrwxrwt   2 root root            40 Jan 27 22:21 mqueue
crw-------   1 root root     90,     0 Jan 31 10:47 mtd0
crw-------   1 root root     90,     1 Jan 31 10:47 mtd0ro
drwxr-xr-x   2 root root            60 Jan 27 22:21 net
crw-------   1 root root    238,     0 Jan 31 10:47 ng0n1
crw-rw-rw-   1 root root      1,     3 Jan 31 10:47 null
crw-rw-rw-   1 root root    195,     0 Jan 27 22:21 nvidia0
drwxr-xr-x   2 root root            80 Jan 29 14:36 nvidia-caps
crw-rw-rw-   1 root root    195,   255 Jan 27 22:21 nvidiactl
crw-rw-rw-   1 root root    195,   254 Jan 27 22:21 nvidia-modeset
crw-rw-rw-   1 root root    506,     0 Jan 27 22:21 nvidia-uvm
crw-rw-rw-   1 root root    506,     1 Jan 27 22:21 nvidia-uvm-tools
crw-------   1 root root    239,     0 Jan 31 10:47 nvme0
brw-rw----   1 root disk    259,     0 Jan 31 10:47 nvme0n1
brw-rw----   1 root disk    259,     1 Jan 31 10:47 nvme0n1p1
brw-rw----   1 root disk    259,     2 Jan 31 10:47 nvme0n1p2
brw-rw----   1 root disk    259,     3 Jan 31 10:47 nvme0n1p3
brw-rw----   1 root disk    259,     4 Jan 31 10:47 nvme0n1p4
brw-rw----   1 root disk    259,     5 Jan 31 10:47 nvme0n1p5
brw-rw----   1 root disk    259,     6 Jan 31 10:47 nvme0n1p6
brw-rw----   1 root disk    259,     7 Jan 31 10:47 nvme0n1p7
brw-rw----   1 root disk    259,     8 Jan 31 10:47 nvme0n1p8
brw-rw----   1 root disk    259,     9 Jan 31 10:47 nvme0n1p9
crw-------   1 root root     10,   144 Jan 27 22:21 nvram
crw-r-----   1 root kmem      1,     4 Jan 31 10:47 port
crw-------   1 root root    108,     0 Jan 31 10:47 ppp
crw-------   1 root root     10,     1 Jan 31 10:47 psaux
crw-rw-rw-   1 root tty       5,     2 Jan 31 22:39 ptmx
crw-------   1 root root    246,     0 Jan 31 10:47 ptp0
drwxr-xr-x   2 root root             0 Jan 27 22:21 pts
crw-rw-rw-   1 root root      1,     8 Jan 31 10:47 random
crw-rw-r--+  1 root root     10,   242 Jan 31 10:47 rfkill
lrwxrwxrwx   1 root root             4 Jan 31 10:47 rtc -> rtc0
crw-------   1 root root    248,     0 Jan 31 10:47 rtc0
drwxrwxrwt   2 root root          3740 Jan 31 22:39 shm
crw-------   1 root root     10,   231 Jan 31 10:47 snapshot
drwxr-xr-x   3 root root           340 Jan 30 15:31 snd
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stderr -> /proc/self/fd/2
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stdin -> /proc/self/fd/0
lrwxrwxrwx   1 root root            15 Jan 27 22:21 stdout -> /proc/self/fd/1
crw-rw----   1 tss  root     10,   224 Jan 31 10:47 tpm0
crw-rw----   1 tss  tss     253, 65536 Jan 31 10:47 tpmrm0
crw-rw-rw-   1 root tty       5,     0 Jan 31 10:47 tty
crw--w----   1 root tty       4,     0 Jan 31 10:47 tty0
crw--w----   1 root tty       4,     1 Jan 31 10:47 tty1
crw--w----   1 root tty       4,    10 Jan 31 10:47 tty10
crw--w----   1 root tty       4,    11 Jan 31 10:47 tty11
crw--w----   1 root tty       4,    12 Jan 31 10:47 tty12
crw--w----   1 root tty       4,    13 Jan 31 10:47 tty13
crw--w----   1 root tty       4,    14 Jan 31 10:47 tty14
crw--w----   1 root tty       4,    15 Jan 31 10:47 tty15
crw--w----   1 root tty       4,    16 Jan 31 10:47 tty16
crw--w----   1 root tty       4,    17 Jan 31 10:47 tty17
crw--w----   1 root tty       4,    18 Jan 31 10:47 tty18
crw--w----   1 root tty       4,    19 Jan 31 10:47 tty19
crw--w----   1 ash  tty       4,     2 Jan 31 10:47 tty2
crw--w----   1 root tty       4,    20 Jan 31 10:47 tty20
crw--w----   1 root tty       4,    21 Jan 31 10:47 tty21
crw--w----   1 root tty       4,    22 Jan 31 10:47 tty22
crw--w----   1 root tty       4,    23 Jan 31 10:47 tty23
crw--w----   1 root tty       4,    24 Jan 31 10:47 tty24
crw--w----   1 root tty       4,    25 Jan 31 10:47 tty25
crw--w----   1 root tty       4,    26 Jan 31 10:47 tty26
crw--w----   1 root tty       4,    27 Jan 31 10:47 tty27
crw--w----   1 root tty       4,    28 Jan 31 10:47 tty28
crw--w----   1 root tty       4,    29 Jan 31 10:47 tty29
crw--w----   1 root tty       4,     3 Jan 31 10:47 tty3
crw--w----   1 root tty       4,    30 Jan 31 10:47 tty30
crw--w----   1 root tty       4,    31 Jan 31 10:47 tty31
crw--w----   1 root tty       4,    32 Jan 31 10:47 tty32
crw--w----   1 root tty       4,    33 Jan 31 10:47 tty33
crw--w----   1 root tty       4,    34 Jan 31 10:47 tty34
crw--w----   1 root tty       4,    35 Jan 31 10:47 tty35
crw--w----   1 root tty       4,    36 Jan 31 10:47 tty36
crw--w----   1 root tty       4,    37 Jan 31 10:47 tty37
crw--w----   1 root tty       4,    38 Jan 31 10:47 tty38
crw--w----   1 root tty       4,    39 Jan 31 10:47 tty39
crw--w----   1 root tty       4,     4 Jan 31 10:47 tty4
crw--w----   1 root tty       4,    40 Jan 31 10:47 tty40
crw--w----   1 root tty       4,    41 Jan 31 10:47 tty41
crw--w----   1 root tty       4,    42 Jan 31 10:47 tty42
crw--w----   1 root tty       4,    43 Jan 31 10:47 tty43
crw--w----   1 root tty       4,    44 Jan 31 10:47 tty44
crw--w----   1 root tty       4,    45 Jan 31 10:47 tty45
crw--w----   1 root tty       4,    46 Jan 31 10:47 tty46
crw--w----   1 root tty       4,    47 Jan 31 10:47 tty47
crw--w----   1 root tty       4,    48 Jan 31 10:47 tty48
crw--w----   1 root tty       4,    49 Jan 31 10:47 tty49
crw--w----   1 root tty       4,     5 Jan 31 10:47 tty5
crw--w----   1 root tty       4,    50 Jan 31 10:47 tty50
crw--w----   1 root tty       4,    51 Jan 31 10:47 tty51
crw--w----   1 root tty       4,    52 Jan 31 10:47 tty52
crw--w----   1 root tty       4,    53 Jan 31 10:47 tty53
crw--w----   1 root tty       4,    54 Jan 31 10:47 tty54
crw--w----   1 root tty       4,    55 Jan 31 10:47 tty55
crw--w----   1 root tty       4,    56 Jan 31 10:47 tty56
crw--w----   1 root tty       4,    57 Jan 31 10:47 tty57
crw--w----   1 root tty       4,    58 Jan 31 10:47 tty58
crw--w----   1 root tty       4,    59 Jan 31 10:47 tty59
crw--w----   1 root tty       4,     6 Jan 31 10:47 tty6
crw--w----   1 root tty       4,    60 Jan 31 10:47 tty60
crw--w----   1 root tty       4,    61 Jan 31 10:47 tty61
crw--w----   1 root tty       4,    62 Jan 31 10:47 tty62
crw--w----   1 root tty       4,    63 Jan 31 10:47 tty63
crw--w----   1 root tty       4,     7 Jan 31 10:47 tty7
crw--w----   1 root tty       4,     8 Jan 31 10:47 tty8
crw--w----   1 root tty       4,     9 Jan 31 10:47 tty9
crw-------   1 root root      5,     3 Jan 31 10:47 ttyprintk
crw-rw----   1 root dialout   4,    64 Jan 31 10:47 ttyS0
crw-rw----   1 root dialout   4,    65 Jan 31 10:47 ttyS1
crw-rw----   1 root dialout   4,    74 Jan 31 10:47 ttyS10
crw-rw----   1 root dialout   4,    75 Jan 31 10:47 ttyS11
crw-rw----   1 root dialout   4,    76 Jan 31 10:47 ttyS12
crw-rw----   1 root dialout   4,    77 Jan 31 10:47 ttyS13
crw-rw----   1 root dialout   4,    78 Jan 31 10:47 ttyS14
crw-rw----   1 root dialout   4,    79 Jan 31 10:47 ttyS15
crw-rw----   1 root dialout   4,    80 Jan 31 10:47 ttyS16
crw-rw----   1 root dialout   4,    81 Jan 31 10:47 ttyS17
crw-rw----   1 root dialout   4,    82 Jan 31 10:47 ttyS18
crw-rw----   1 root dialout   4,    83 Jan 31 10:47 ttyS19
crw-rw----   1 root dialout   4,    66 Jan 31 10:47 ttyS2
crw-rw----   1 root dialout   4,    84 Jan 31 10:47 ttyS20
crw-rw----   1 root dialout   4,    85 Jan 31 10:47 ttyS21
crw-rw----   1 root dialout   4,    86 Jan 31 10:47 ttyS22
crw-rw----   1 root dialout   4,    87 Jan 31 10:47 ttyS23
crw-rw----   1 root dialout   4,    88 Jan 31 10:47 ttyS24
crw-rw----   1 root dialout   4,    89 Jan 31 10:47 ttyS25
crw-rw----   1 root dialout   4,    90 Jan 31 10:47 ttyS26
crw-rw----   1 root dialout   4,    91 Jan 31 10:47 ttyS27
crw-rw----   1 root dialout   4,    92 Jan 31 10:47 ttyS28
crw-rw----   1 root dialout   4,    93 Jan 31 10:47 ttyS29
crw-rw----   1 root dialout   4,    67 Jan 31 10:47 ttyS3
crw-rw----   1 root dialout   4,    94 Jan 31 10:47 ttyS30
crw-rw----   1 root dialout   4,    95 Jan 31 10:47 ttyS31
crw-rw----   1 root dialout   4,    68 Jan 31 10:47 ttyS4
crw-rw----   1 root dialout   4,    69 Jan 31 10:47 ttyS5
crw-rw----   1 root dialout   4,    70 Jan 31 10:47 ttyS6
crw-rw----   1 root dialout   4,    71 Jan 31 10:47 ttyS7
crw-rw----   1 root dialout   4,    72 Jan 31 10:47 ttyS8
crw-rw----   1 root dialout   4,    73 Jan 31 10:47 ttyS9
crw-rw----   1 root kvm      10,   124 Jan 31 10:47 udmabuf
crw-------   1 root root     10,   239 Jan 27 22:21 uhid
crw-------   1 root root     10,   223 Jan 31 10:47 uinput
crw-rw-rw-   1 root root      1,     9 Jan 31 10:47 urandom
drwxr-xr-x   2 root root            80 Jan 31 12:26 usb
crw-------   1 root root     10,   126 Jan 31 10:47 userfaultfd
crw-------   1 root root     10,   240 Jan 27 22:21 userio
drwxr-xr-x   4 root root            80 Jan 30 23:34 v4l
crw-rw----   1 root tty       7,     0 Jan 31 10:47 vcs
crw-rw----   1 root tty       7,     1 Jan 31 10:47 vcs1
crw-rw----   1 root tty       7,     2 Jan 31 10:47 vcs2
crw-rw----   1 root tty       7,     3 Jan 31 10:47 vcs3
crw-rw----   1 root tty       7,     4 Jan 31 10:47 vcs4
crw-rw----   1 root tty       7,     5 Jan 31 10:47 vcs5
crw-rw----   1 root tty       7,     6 Jan 31 10:47 vcs6
crw-rw----   1 root tty       7,   128 Jan 31 10:47 vcsa
crw-rw----   1 root tty       7,   129 Jan 31 10:47 vcsa1
crw-rw----   1 root tty       7,   130 Jan 31 10:47 vcsa2
crw-rw----   1 root tty       7,   131 Jan 31 10:47 vcsa3
crw-rw----   1 root tty       7,   132 Jan 31 10:47 vcsa4
crw-rw----   1 root tty       7,   133 Jan 31 10:47 vcsa5
crw-rw----   1 root tty       7,   134 Jan 31 10:47 vcsa6
crw-rw----   1 root tty       7,    64 Jan 31 10:47 vcsu
crw-rw----   1 root tty       7,    65 Jan 31 10:47 vcsu1
crw-rw----   1 root tty       7,    66 Jan 31 10:47 vcsu2
crw-rw----   1 root tty       7,    67 Jan 31 10:47 vcsu3
crw-rw----   1 root tty       7,    68 Jan 31 10:47 vcsu4
crw-rw----   1 root tty       7,    69 Jan 31 10:47 vcsu5
crw-rw----   1 root tty       7,    70 Jan 31 10:47 vcsu6
drwxr-xr-x   2 root root            60 Jan 27 22:21 vfio
crw-------   1 root root     10,   127 Jan 31 10:47 vga_arbiter
crw-------   1 root root     10,   137 Jan 27 22:21 vhci
crw-rw----   1 root kvm      10,   238 Jan 27 22:21 vhost-net
crw-rw----   1 root kvm      10,   241 Jan 27 22:21 vhost-vsock
crw-rw----+  1 root video    81,     0 Jan 31 10:47 video0
crw-rw----+  1 root video    81,     1 Jan 31 10:47 video1
crw-rw----+  1 root video    81,     2 Jan 31 10:47 video2
crw-rw----+  1 root video    81,     3 Jan 31 10:47 video3
drwxr-xr-x   2 root root            60 Jan 27 22:21 wmi
crw-rw-rw-   1 root root      1,     5 Jan 31 10:47 zero
crw-------   1 root root     10,   249 Jan 27 22:21 zfs

@2b-t
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2b-t commented Jan 31, 2024 •
edited
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So the character devices of the D456 are:

crwxrwxrwx   1 root root     10,   117 Jan 31 21:55 HID-SENSOR-2000e1.9.auto
crw-rw-rw-   1 root plugdev 237,     1 Jan 31 21:55 iio:device1
crw-rw-rw-   1 root plugdev 237,     2 Jan 31 21:55 iio:device2
crw-rw-rw-+  1 root plugdev 511,     2 Jan 31 21:55 media2
crw-rw-rw-+  1 root plugdev 511,     3 Jan 31 21:55 media3
crw-rw-rw-+  1 root plugdev  81,     4 Jan 31 21:55 video4
crw-rw-rw-+  1 root plugdev  81,     5 Jan 31 21:55 video5
crw-rw-rw-+  1 root plugdev  81,     6 Jan 31 21:55 video6
crw-rw-rw-+  1 root plugdev  81,     7 Jan 31 21:55 video7
crw-rw-rw-+  1 root plugdev  81,     8 Jan 31 21:55 video8
crw-rw-rw-+  1 root plugdev  81,     9 Jan 31 21:55 video9

Similarly for my D435i they are:

crw-------   1 root  root     10, 122 Jan 31 00:26 HID-SENSOR-2000e1.7.auto
crw-------   1 root  root    511,   0 Jan 31 00:26 iio:device0
crw-------   1 root  root    511,   1 Jan 31 00:26 iio:device1
crw-rw----+  1 root  video   234,   0 Jan 31 00:26 media0
crw-rw----+  1 root  video   234,   1 Jan 31 00:26 media1
drwxr-xr-x   4 root  root          80 Jan 31 00:26 v4l
crw-rw----+  1 root  video    81,   0 Jan 31 00:26 video0
crw-rw----+  1 root  video    81,   1 Jan 31 00:26 video1
crw-rw----+  1 root  video    81,   2 Jan 31 00:26 video2
crw-rw----+  1 root  video    81,   3 Jan 31 00:26 video3
crw-rw----+  1 root  video    81,   4 Jan 31 00:26 video4
crw-rw----+  1 root  video    81,   5 Jan 31 00:26 video5

Your initial error message complained about HID-SENSOR-2000* and so it does for my D435i if I want to use the IMU. As said in my case adding a device_cgroup_rules for major number 10 worked. You might also put 237 and 511 to see if it helps (but it should not). So:

version: "3.9"
services:
  realsense_ros2:
    build:
      context: ..
      dockerfile: docker/Dockerfile
      #target: librealsense
    tty: true
    volumes:
      - /dev:/dev
    device_cgroup_rules:
      - 'c 10:* rmw'
      - 'c 81:* rmw'
      - 'c 189:* rmw'
      - 'c 237:* rmw'
      - 'c 511:* rmw'

Are you using the very same image and docker-compose file as in my example where you are root inside the container? If not that might be the problem. As you can see the video streams are owned by user root/group video while the IMU is root/root. What is the output of $ groups $USERNAME inside the container in case you are not root?

@ashBabu
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ashBabu commented Feb 1, 2024

Putting 10, 81, 189, 237 and 511 did not help.
I am using your own docker compose file
image

groups $USERNAME returns root

image

Thanks for your help. Please let me know if you find could find any mistake in mine.

@2b-t
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2b-t commented Feb 2, 2024

Sorry @ashBabu
Just noticed that I actually made a mistake and forgot to change my container back to unprivileged. This means I was running it as privileged the entire time. Without privileged I actually run into the same issue like you.

I then tried to mount /sys and /sys/devices manually with rw access which did not work. After looking into it, it seems that in the default runtime runc you are not able to do so for security reasons and you have to make a container privileged, otherwise /sys will be read-only. On the Docker forum somebody mentioned that in another Docker runtime, Sysbox runtime, this should be possible. I tried it quickly and was not able to get my image up and running without modifications and I am not sure if it is worth dedicating time to it.

So I assume in case you want to use the Realsense IMU sadly currently you will have to run your container as privileged. I am sorry if I made you waste your time, it simply slipped my eye that I forgot to remove this flag again.

@ashBabu
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ashBabu commented Feb 2, 2024

No worries and thank you for your time as well

@2b-t 2b-t closed this as completed in 2e579a3 Feb 4, 2024
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