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View Code? Open in Web Editor NEWIntel Realsense Tracking and Depth camera simulations
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Intrinsic parameters of the D435 camera
Hi, thank you for your work about realsense gazebo. I am using this project on my PC. But I don't know the camera_cx and camera_cy fx fy .... about the d435 in gazebo. Could you tell me the intrinsic params of the simulation d435?
Depth camera weight too high?
The depth camera shouldn't be that heavy (0.5kg) ? Searched online and found that the D435 weights around 72g (0.072kg) instead.
Reference: https://community.intel.com/t5/Items-with-no-label/D435-D415-weight/m-p/499903#M6056
Problem with RTAB-Map
Hi,
I'm trying to use the D435 from this package in RTAB-Map in Gazebo to implement mapping for my robot. I managed to do it with the default libgazebo_ros_openni_kinect package but I can't get it to work with the D435. The following error message appears in the terminal:
[FATAL] (2022-06-11 15:57:57.107) Memory.cpp:4405::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2022-06-11 15:57:57.107) Memory.cpp:4405::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).]
Checking the RTAB-Map repository I found that this is a problem caused by this " For RGB-D, depth can be X times smaller than RGB (where X is an integer).]" but even if I don't use rgb-d it doesn't work, throwing the same error.
Do you happen to know how to configure RTAB-Map to work with the D435 from this repo?
Pointcloud without color
Hello! Great work. I used it with MAV simulator.
and when I adjust the depthcam.xacro to use the realsense d435 for color pointcloud:
<pointCloud>true</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.25</pointCloudCutoff>
<pointCloudCutoffMax>9.0</pointCloudCutoffMax>
but what i get is pointcloud without color
with situation in gazebo is:
Does it work well for you？I have seen some issues mentioned this problem, but there is not a solution till now. For example，
https://github.com/pal-robotics/realsense_gazebo_plugin/issues/37#issue-916293171.
Looking forward your kind reply and helps! Thanks a lot!!
any compatible VSLAM framework
Hi!
Thank you for your work!
I am a novice in computer vision and was wondering if you had implemented your package with any VSLAM algorithms?
If so, would you be able to point me to the package you used, or even publiish the implementation as an example in your repo.
Meanwhile i'm still trying to make things work on my side. Will uptade if something comes out of it!
Thank you
Attaching t265 camera through sdf files
Greetings. Thanks a lot for this package, helps a lot!
However, I am trying to include this model into the iris drone provided by the PX4 autopilot package. Most of the files in PX4 packages are sdf files. I just wanted to know if there is any workaround for this?
I want to include the t265 camera on the iris drone which is in sdf format.
Thanks in advance!
topic is not updating
I attach the camera to turtlebot3, but when I move the robot, the topic /camera/odom/sample is not updating
Migration to ROS2 humble
Hi.
Is there any plans or some repositories that can be used on ROS2 Humble environment?
Best regards.
Conversion of sensor type[wideanglecamera] not supported.
I added D435i & T265 to my robot model. I did manage to view the topics after launching rviz. However when i launch Gazebo and spawn the model with gazebo_ros verbose activated! the gazebo isn't loading and i got this terminal output:
.. logging to /home/beraru/.ros/log/dd741336-42da-11eb-8077-9c305b2b6a57/roslaunch-beraru-20661.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://beraru:44115/
SUMMARY
========
PARAMETERS
* /gazebo/enable_ros_network: True
* /rosdistro: melodic
* /rosversion: 1.14.10
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [20676]
process[gazebo_gui-2]: started with pid [20679]
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[ INFO] [1608483560.794112644]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1608483560.795562470]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.123
[ INFO] [1608483560.824383065]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1608483560.825728208]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.123
[ INFO] [1608483561.382881395]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1608483561.402083619, 0.007000000]: Physics dynamic reconfigure ready.
Warning [parser.cc:950] XML Element[always_on], child of element[camera] not defined in SDF. Ignoring[always_on]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[update_rate], child of element[camera] not defined in SDF. Ignoring[update_rate]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[always_on], child of element[camera] not defined in SDF. Ignoring[always_on]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[update_rate], child of element[camera] not defined in SDF. Ignoring[update_rate]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[ INFO] [1608483561.934558175, 0.151000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1608483561.936821315, 0.151000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1608483561.938244531, 0.151000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1608483561.940283582, 0.151000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[ INFO] [1608483561.944351223, 0.151000000]: <robotNamespace> set to: //
[ INFO] [1608483561.944391081, 0.151000000]: <topicName> set to: //camerat265/gyro/sample
[ INFO] [1608483561.944412847, 0.151000000]: <frameName> set to: camerat265_link
[ INFO] [1608483561.944444464, 0.151000000]: <updateRateHZ> set to: 10
[ INFO] [1608483561.944470398, 0.151000000]: <gaussianNoise> set to: 1e-06
[ INFO] [1608483561.944500579, 0.151000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1608483561.944569666, 0.151000000]: <rpyOffset> set to: 0 -0 0
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[wideanglecamera] not supported.
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