Comments (10)
Hi @pengzhenghao The RGBD topic has a list of parameters that must be set to true in order to receive RGBD messages. These are enable_rgbd, align_depth.enable, enable_sync, enable_depth and enable_color.
https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#rgbd-topic
Please try the launch command below to see whether the RGBD topic is published.
ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=848x480x15 depth_module.infra_profile:=848x480x15 rgb_camera.color_profile:=848x480x15 enable_rgbd:=true enable_sync:=true align_depth.enable:=true enable_color:=true enable_depth:=true
from realsense-ros.
Hi, thanks for the reply! I have run the script with:
ros2 launch realsense2_camera rs_launch.py \
depth_module.depth_profile:=848x480x15 \
depth_module.infra_profile:=848x480x15 \
rgb_camera.profile:=848x480x15 \
enable_rgbd:=true \
enable_sync:=true \
align_depth.enable:=true \
enable_color:=true \
enable_depth:=true
And the valid topics are:
(ros_env) zhenghao@zhenghao-4090:~$ ros2 topic list | grep camera
/camera/aligned_depth_to_color/camera_info
/camera/aligned_depth_to_color/image_raw
/camera/aligned_depth_to_color/image_raw/compressed
/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/aligned_depth_to_color/image_raw/theora
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/theora
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/imu
There is no RGBD topic. I wonder if it might be possible due to missing packages. So I've tried to install:
unitree@ubuntu:~$ sudo apt install ros-foxy-*rgbd*
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-foxy-*rgbd*
E: Couldn't find any package by glob 'ros-foxy-*rgbd*'
But it turn out that no packages are installed.
from realsense-ros.
There was a previous case at #3070 where RGBD was not being published. As the RGBD topic publishes depth and color in the same topic when align_depth.enable = true, I suggested to use the aligned depth-color topic /camera/camera/aligned_depth_to_color/image_raw
instead of using the RGBD topic.
As your topics are named /camera and not /camera/camera, this suggests to me that your ROS2 wrapper may be outdated and not contain an update to how topics were named. This could happen if you installed the wrapper from ROS packages instead of source code, as the source code procedure installs a version of the 4.54.1 wrapper with the very latest updates, whilst the contents of the package version dates back to June 2023.
from realsense-ros.
Hi @MartyG-RealSense Seems that the ros-foxy-rgbd-launch
is missing for some reason. I am trying to workaround that.
As I never know what the real RGBD message looks like, I am guessing it's a 4 channel or 6 channel images.
4 channel
If launch with
ros2 launch realsense2_camera rs_launch.py \
depth_module.profile:=848x480x15 rgb_camera.profile:=848x480x15 \
align_depth.enable:=true
6 channel
If launch with
ros2 launch realsense2_camera rs_launch.py \
depth_module.profile:=848x480x15 rgb_camera.profile:=848x480x15 \
colorizer.enable:=true align_depth.enable:=true
Questions
The meaning of the image: It's clear that in the colorized depth image the black
means out of detection scope.
But in the grayscale depth image, it seems white
means far away? But all black means out of the scope
? Would that sounds contradicting?
4 or 6 channels in RGBD?: In the native RGBD images, is it transmitting the 4 or 6 channel images?
Do I launch correctly?: As we can't transmit RGBD message for now, a workaround is to send two streams just like what I do above at the same time and combine them in the receiver end. So can I say that after using align_depth.enable:=true
the aligned_depth_to_color
and color
streams are synced so I can just take these two streams?
Any filter to be applied?: This is a off-topic question sorry for putting it here. I saw there are many postprocessing filter such as hole-filling. I am not sure what's the best practice the community always use. Should I enable temporal filter
, spacial filter
, decimation filter
and hole filing filter
all together?
Depth image black out: I sometime notice the depth images will black out for a few moment and return normal. Should I apply the temporal filter to avoid this?
Thank you again for the greatly and promptly help!
from realsense-ros.
Oh I just noticed we reply at the same time, Thanks @MartyG-RealSense I will checkout the latest ROS wrapper and get back to you!
from realsense-ros.
I am trying to build ROS wrapper from source, but it seems that realsense2-gl
is missing...
unitree@ubuntu:~/ros2_ws$ colcon build
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [4.56s]
Starting >>> realsense2_camera
Starting >>> realsense2_description
Finished <<< realsense2_description [1.53s]
--- stderr: realsense2_camera
CMake Warning at CMakeLists.txt:122 (find_package):
By not providing "Findrealsense2-gl.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"realsense2-gl", but CMake did not find one.
Could not find a package configuration file provided by "realsense2-gl"
(requested version 2.54.1) with any of the following names:
realsense2-glConfig.cmake
realsense2-gl-config.cmake
Add the installation prefix of "realsense2-gl" to CMAKE_PREFIX_PATH or set
"realsense2-gl_DIR" to a directory containing one of the above files. If
"realsense2-gl" provides a separate development package or SDK, be sure it
has been installed.
CMake Error at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:77 (message):
ament_target_dependencies() the passed package name 'realsense2-gl' was not
found before
Call Stack (most recent call first):
CMakeLists.txt:256 (ament_target_dependencies)
---
Failed <<< realsense2_camera [3.06s, exited with code 1]
Summary: 2 packages finished [11.5s]
1 package failed: realsense2_camera
1 package had stderr output: realsense2_camera
I just followed the instruction:
# Install ROS2 wrapper from source, don't do: sudo apt install ros-humble-realsense2-*
sudo apt remove ros-foxy-realsense2-*
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd ~/ros2_ws
sudo apt-get install python3-rosdep -y
# Foxy:
sudo rosdep init --include-eol-distros
sudo rosdep update --include-eol-distros
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
# Build
colcon build
colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'
from realsense-ros.
For the future reader who fails to do colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'
and build ROS wrapper in ros-foxy from source:
sudo apt-get install librealsense2-gl-dev
sudo apt-get install libglfw3-dev
I don't know why librealsense2-gl-dev
is not install with sudo apt install librealsense2-*
but this is it.
In case you can't find package librealsense2-gl, follow this: https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages to add sources from intel.
from realsense-ros.
Thanks so much @pengzhenghao for sharing your detailed advice for the benefit of other RealSense ROS users!
from realsense-ros.
Hi @pengzhenghao Do you require further assistance with this case, please? Thanks!
from realsense-ros.
Case closed due to no further comments received.
from realsense-ros.
Related Issues (20)
- When can a version with "rolling" support be released? HOT 3
- Failed to start the depth stream with D415 after updating to RealSense ROS Wrapper Version 4.55.1 HOT 10
- fails to build from sources HOT 23
- Lockup Issue When Switching Multiple Streams in RealSense-ROS HOT 3
- "package 'realsense2_camera' not found HOT 9
- Feature Request: More granular control of Quality of Service (QoS) HOT 1
- Hardware Error: Frames didn't arrive within 5 seconds HOT 21
- Announcement: New branch (ros2-master) for the RealSense ROS Wrapper
- Inconsistent frame-rate using external hardware sync on the D455 Cameras HOT 10
- D435i emitter_on_off problem HOT 8
- DS Neighbor Threshold unavailable in ros params HOT 1
- Checking for default intrinsic and extrinsic parameters HOT 3
- Can't execute "ros2 run realsense2_camera realsense2_camera_node" HOT 60
- Error while building the ROS Wrapepr for Framos D435e Camera. HOT 2
- Issues with projecting pixel to point HOT 7
- Setting Dynamic reconfig parameters does not return. HOT 28
- Inconsistent Point Cloud Data Between Gazebo Simulation and Real-World RealSense D405 HOT 3
- Version Mismatch Between Firmware and Librealsense Causing Invalid Value Error on D455 with ROS Noetic on Jetson Orin Nano HOT 8
- Issues with features appearing as two different features when revisiting an area using RTABMAP. HOT 3
- Best way to install for L515 with ROS1 wrapper HOT 3
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from realsense-ros.