Realsense connection fix (#115)

* Fix realsense connection issues

* Update changelog

* Add URL to realsense fix

CHANGELOG.md

@@ -28,6 +28,7 @@ This project uses a [CalVer](https://calver.org/) versioning scheme with monthly
 
 ### Fixed
 - Fixed bug in `get_colored_point_cloud()` that removed some points see issue #25.
+- Fixed bug requiring unplug-and-plug of USB cable for Realsense: see issue #109.
 - Removed camera imports in `airo_camera_toolkit.cameras`: see issue #110.
 - Added `__init__.py` to `realsense` and `utils` in `airo_camera_toolkit.cameras`, fixing installs with pip and issue #113.
 

airo-camera-toolkit/airo_camera_toolkit/cameras/realsense/realsense.py

@@ -59,6 +59,12 @@ def __init__(
             depth_resolution = Realsense.RESOLUTION_720 if fps <= 30 else Realsense.RESOLUTION_480
             config.enable_stream(rs.stream.depth, depth_resolution[0], depth_resolution[1], rs.format.z16, fps)
 
+        # Avoid having to reconnect the USB cable, see https://github.com/IntelRealSense/librealsense/issues/6628#issuecomment-646558144
+        ctx = rs.context()
+        devices = ctx.query_devices()
+        for dev in devices:
+            dev.hardware_reset()
+
         self.pipeline = rs.pipeline()
 
         self.pipeline.start(config)