Nothing showing up in RVIZ with D435 #1938
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Hi @KartmanCanada Does the pointcloud-enabled roslaunch instruction in the comment linked to below work for you please? roslaunch realsense2_camera rs_camera.launch align_depth:=true color_width:=848 color_height:=480 color_fps:=30 filters:=pointcloud |
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Tired the command line above... same result. :( Below is a log from my original command line from original issue post: started roslaunch server http://Xavier:36927/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to d7eb0d2a-d074-11eb-9ed0-204ef60a034f [ INFO] [1624048586.360343078]: Device with physical ID 2-3.1-11 was found.
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If you use this roslaunch: roslaunch realsense2_camera rs_camera.launch filters:=colorizer,pointcloud align_depth:=true pointcloud_texture_stream:=RS2_STREAM_COLOR Are you able to change the Color Transformer from 'Intensity' to 'RGB8' Are you also able to change the style to points |
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Did a cut/paste of your above command line....
Very frustrating... if I run realsense-viewer, I can get the point cloud with RBG overlay. I also tried the realsense2_camera launch file 'rs_rgbd.launch'. This too allows visualization in rviz |
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Thanks for your patience. What is the result if you generate an ordered pointcloud by adding the command ordered_pc:=true into the roslaunch instruction. |
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no change... except the console output for the wrapper now includes: [ INFO] [1624050998.557003460]: publishing ordered pointcloud. |
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There was once a case of the No stream match for pointcloud chosen texture Process - Color warning that was found to be caused by an unstable USB connection. So please next try adding the command below to the roslaunch to perform a reset of the camera at launch to see whether that can clear a potential USB issue in the wrapper's camera connection. initial_reset:=true |
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Done. Still no change to rviz visualization (no Color or Position Transforms offered in the rviz pulldowns) roslaunch realsense2_camera rs_camera.launch filters:=colorizer,pointcloud align_depth:=true pointcloud_texture_stream:=RS2_STREAM_COLOR ordered_pc:=true initial_reset:=true Checking log directory for disk usage. This may take a while. started roslaunch server http://Xavier:45437/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to e5789694-d07c-11eb-8554-204ef60a034f [ INFO] [1624052045.476807886]: Device with physical ID 2-3.1-11 was found. [ INFO] [1624052051.842476251]: Device with physical ID 2-3.1-11 was found. |
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This is quite unusual. Next time that you launch, instead of using RViz can you instead check whether the depth stream is publishing any data by inputting the command below into the ROS terminal after launch has completed: rostopic echo /camera/depth/image_rect_raw/header |
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rostopic echo /camera/depth/image_rect_raw/header seq: 0 seq: 1 seq: 2 seq: 3 seq: 4 |
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That suggests to me that it is publishing the depth. Indeed, in your original message you mentioned that "When I run roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY I can open RVIZ and get a pointcloud2 to visualize but only with AxisColor, Intensity, or FlatColor". I will tag @doronhi the RealSense ROS wrapper developer into this discussion for his advice. Thanks very much again for your patience. |
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While I wait for a further response, I've been messing about more... Interestingly, in RVIZ, if I add an "image" display, I get no images from the /camera1/color/image/raw. But, I do get images from /camera1/depth/image_rect_raw. I should be able to display the depth and RGB images, no? Could this be the source of the issue with the missing RGB8 color transform when trying to visualize the RealSense point cloud?
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The issue definitely seems related to the fact that no color images reach realsense2_camera driver. |
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Just tried some more playing about and the RS cameras seems to be a bit unreliable if I kill and restart wrapper... (i.e., missing RGB image streams and missing device on init but successful on retry when starting wrapper. If I unplug and replug the USB connector physically, this seems to help.... After unplug and replug, I was able to get the RGB image in RVIZ but, after swapping back to RS2_STREAM_COLOR, still no RGB8 option under pointcloud visualization |
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ros-melodic-realsense2-camera depends on, and automatically installs ros-melodic-librealsense2. |
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Removed the ROS packages as indicated. Under Method2, Step1 - key and repositories added fine but, when I try to install the DKMS, I get the following message: Further up on the install page it says, DKMS install is supported by "Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15" but my Xavier NX install from NVIDIA page is "Linux Xavier 4.9.201-tegra". How do I get the DKMS installed as part of Method2? |
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Hi @KartmanCanada Method 2 describes installing librealsense and the RealSense ROS wrapper separately - librealsense first and then the ROS wrapper secondly after librealsense has been installed. So to install librealsense from packages on a Jetson board, an approprite set of instructions would be the ones in section 4. Install with Debian Packages of librealsense's official Jetson installation page. https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md |
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Following the Jetson path above seems to have left me at SDK 2.41... see message below when i try to build the ros_realsense: The following configuration files were considered but not accepted: |
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When you run the RealSense Viewer, which version number is shown at the top of the Viewer window, please?
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The link below may be a useful reference for installing on Jetson. It was last updated in November 2020. https://developer.ridgerun.com/wiki/index.php?title=Robot_Operating_System_ROS_on_Jetson_Platforms The section on RealSense ROS installation begins here: |
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fine... except you're sending me in circles.... this is what I had 3x days
ago and will only install SDK 2.41. But the ros_realsense (latest requires
SDK 2.45...
On Jetson (Xavier NX), how do I get EITHER SDK to 2.45 -or- ros_realsense
to install on 2.41. I've spent days on this an have gotten nowhere.
Help please.
…On Mon, Jun 21, 2021 at 1:09 PM MartyG-RealSense ***@***.***> wrote:
The link below may be a useful reference for installing ROS on Jetson. It
was last updated in November 2020.
https://developer.ridgerun.com/wiki/index.php?title=Robot_Operating_System_ROS_on_Jetson_Platforms
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@MartyG-RealSense , thanks for pointing out the link error - Method 2 - step 1 should refer users with Jetson to the appropriate librealsense2 installation guide. I'll take care of that. |
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Thanks very much @doronhi |
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Regarding the kernel patches, as seen in the release notes for librealsense2 v2.43.0 if you have Jetpack 4.4.1 you don't need kernel patches. |
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Allow me to use this discussion, I was about to open same issue. My setup: AGX Xavier + 2x D430(no RGB) camera I can only get pointcloud to publish with |
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So, to be clear... the current recommended path is:
1) Debian install of librealsense2 (Jetson/RealSense install documents)
2) Build realsense_ros from source (step 2 of "Method 2")
I did a clean install of Jetson yesterday. Item1 above installed librealsense v2.41 and then the source of realsense_ros wouldn't build as it wanted 2.45.Has this been resolved? (I did notice today that the instructions are already updated to push Jetson users to the Jetson instructions. Thanks for that update)
In the Jetson instructions, this mentions picking a backend under "libreealsense SDK backend". I figured this would become clearer as I worked through the install, got the cameras working, and gained experience. Right now, I find this section confusing. Just FYI.
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Hi @KartmanCanada RSUSB is a librealsense installation method that is performed over an internet connection. It installs dependencies over the internet instead of doing so with kernel patching. This means that when librealsense is installed with the RSUSB method, it is not dependent on Linux versions or kernel versions and does not require patching. It does have limitations compared to the patching-based installation method though, such as being unsuitable for projects that use more than one camera. It is useful for situations where kernel patching is not possible or when a problem is being caused by a conflict with the kernel though. In regard to the official Jetson instructions' reference to performing a binary installation from Debian packages using DFORCE_RSUSB_BACKEND, I am admittedly uncertain what the instructions are referring to since DFORCE_RSUSB_BACKEND is usually related to installing librealsense from source code rather than packages. So I would recommend ignoring the mention of RSUSB when doing a package-based Jetson installation, as knowledge of RSUSB is not required to perform the package installation steps. In regard to RSUSB installation from source code, the suggested method in the Jetson instructions to install from source code using the libuvc_installation.sh script seems similar to the libuvc backend installation process in the link below. This method of installing librealsense over an internet connection with libuvc_installation.sh was used before the RSUSB system was introduced. https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md |
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@MartyG-RealSense thank you for the clarification... When will the Debian repository have something newer than 2.41 of librealsense? This issue has wandered waaaaay off track but, in the end, I hope it'll prove helpful. I looked at the /var/lib/apt/lists for "https://librealsense.intel.com/Debian/apt-repo bionic main" and, even after an "apt update" the newest version number is 2.41. The next step of building realsense_ros is demanding 2.45 on my system. Again, this all started because I was unable to get an RGB textured point cloud... My sincere hope is that getting librealsense v2.45 and a locally built version of realsense_ros v2.3 will fix my initial issue. I appreacate the support but this is taking more time/effort than I'd budgeted. |
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Regarding your question of When will the Debian repository have something newer than 2.41 of librealsense?, I will field that to @doronhi as I am not involved in development activities or Debian package creation. Thanks so much for your patience! |
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@RealSenseCustomerSupport , Isn't a librealsense2 debian package version 2.45.0 already available for Jetson? Any idea why @KartmanCanada keeps on receiving the old 2.41.0 version? |
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@doronhi @RealSenseCustomerSupport @RealSenseSupport Any response on Debian 2.41 package in repository for Jetson? I need 2.45 and I've been blocked for almost a week now. Please advise. I keep doing 'apt update' and 'apt upgrade" to check... still stuck at 2.41. Local build of realsense_ros is demanding 2.45. |
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Hi @KartmanCanada , to the best of my knowledge there was an issue updating librealsense2 debian packages for Jetson. Until further response from @RealSenseSupport, and since you are currently blocked, I can only suggest building librealsense2 from code:
If the viewer runs ok with all the streams you need, carry on to building realsense2_camera. |
If change the parameter 'name="pointcloud_texture_stream"' from RS2_STREAM_COLOR to RS2_STREAM_ANY. I can view both the depth and RGB images plus the point cloud is available but only with intensity (no RGB8 overlay) I've wasted a week on this. Can we please fix? Image and log below SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 56d82404-d572-11eb-b94d-204ef60a034f [ INFO] [1624597266.986941430]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.0/video4linux/video0 was found. [ INFO] [1624597266.996913885]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.0/video4linux/video0 was found. [ INFO] [1624597267.029768222]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.0/video4linux/video4 was found. |
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This issue seems to be very similar to my issue but I don't see a resolution. I would prefer not to unplug the RealSense cameras and put them back in the boxes. How do we resolve this? |
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I have in the past suggested adding the topic depth/color/points/PointCloud2 with the Add button in RViz. |
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Hi @KartmanCanada Do you have an update about this case that you can provide, please? Thanks! |
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A common factor that I identified between this case and two other cases that had no Color Transformer options available was that they were on computing boards with Arm processors (one with Raspberry Pi 3B+, and the other on Nvidia Jetson Xavier NX like in your own case). |
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Hi @KartmanCanada Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
I apologize in advance as my ROS install is on an Xavier NX module but I'm writing this on a different device. This will make some log sharing quite awkward. That said, my issue is likely a simple fix. In fact, my limited ROS experience (i.e., I'm learning!) is a major contributor.
RealSense ROS v2.3.0
LibRealSense v2.45.0
D435 firmware 5.12.14.50 (latest)
Platform Xavier NX
OS Ubuntu 18.04
When I run: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY
When I run: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_COLOR
Please help me to understand what I'm missing! Thanks.
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