Intel D435i showing up as D430I

[csabahi]

Hi there, I have a D435I which shipped with my Unitree G1, and I am trying to use the realsense-ros but am having issues since my camera shows up as a D435I.

I have tried upgrading the firmware to 5.17 then I downgraded to 5.13 since that is recommended firmware version based on the
rs-enumerate-devices output.

My system is Ubuntu 20.04 with Python 3.8, and the 5.10.104-tegra kernel.
I have built librealsense from source and I am using the v2.50.0 tag, and the realsense-ros at tag 4.0.4

Are there any solutions or do I have to ship it back?

I also get this error when I update the firmware but I am not sure if it's an issue since the fw upgrade worked.

(ros_foxy) unitree@ubuntu:~/ros2_ws$ sudo rs-fw-update -s 243222075223 -f Signed_Image_UVC_5_13_0_50.bin

Search for device with serial number: 243222075223

Updating device: 
Name: Intel RealSense D430I, serial number: 243222075223, update serial number: 251643060063, firmware version: 05.17.00.10, USB type: 3.2
 19/02 00:56:43,744 ERROR [281472842851392] (librealsense-exception.h:52) set_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: Protocol error

Firmware update started

Firmware update progress: 100[%]

Firmware update done

Device 243222075223 successfully updated to FW: 05.13.00.50

[MartyG-RealSense]

Hi @csabahi In systems where RealSense cameras are supplied with a product manufactured by another company (such as Unitree), ideally that company should be contacted rather than RealSense as the company provides technical support for their product.

Unitree provide a guide to using D435i with the G1 robot at https://global-serviceconsole.unitree.com/#/help/031322

Are you able to access the camera with the RealSense Viewer tool as the guide suggests in order to see if the camera is detected as D435i by the Viewer, please?

If it remains detected as D430i, is the camera detectable as D435i if you unplug the USB cable from the side of the camera, turn the connector around the other way and re-insert it? (the cable is two-way insertion at the cable's micro-sized connector end).

If the camera is detected as D430i then the RealSense ROS wrapper's 4.0.4 version would not be able to use it as support for D430i mode in the wrapper was not introduced until wrapper 4.54.1 (which is used with librealsense 2.54.1).

[csabahi]

Hi @MartyG-RealSense. Thanks for your quick reply. I will test out the Realsense Viewer checks shortly.

However I was wondering, I am mainly planning to use the realsense-ros package and use the left and right infra topics. If I were to change my versions of librealsense to 2.54 and realsense ros to 4.54.1 that would allow me to run the node and see the topics based on my system setup?

Thanks

[MartyG-RealSense]

D430i supports depth and left and right infrared but not RGB. So if you use a version of realsense-ros that supports D430i then you should be able to achieve your goal, yes.