ROS2 Foxy, librealsense 2.48.0, ros-realsense v3.2.2: No images in rviz2, error "Message Filter dropping message: frame 'camera_color_optical_frame' #1970
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admantium-sg
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Hi @admantium-sg Do the Message Filter dropping message information messages continue generating after launch or do they stop at launch after appearing a small number of times, please? In a past RealSense ROS discussion in which this message appeared (which also involved camera_color_optical_frame), it was corrected after using initial_reset:=true but you have already tried that method. I note that you state that you are using a launch file called demo_pointcloud_launch2.py, whereas the ROS2 launch file provided with the ROS2 wrapper is demo_pointcloud_launch.py. If you are using 'launch2' instead of 'launch', are you using your own custom launch file? If you are using a custom launch, do you have the same problem when launching with demo_pointcloud_launch.py |
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Hello Marty, thx for trying to help. the messages are printed continuously as long as rviz is open. My launch file makes a minor modification only: disabled the rviz node because the Raspi4 runs heedless, without desktop environment. |
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There are very few references about this error in relation to RealSense. Further research did though locate a PDF document about a ROS2 manipulation pipeline called EMD that can be used with RealSense. Its last update was dated a week ago (June 30 2021) and described encountering this error with camera_color_optical_frame in ROS2 Foxy. It reported on page 127 of the document (page 123 if using the numbers on the bottom of the page) that it occurred for them if camera_color_optical_frame was not present. https://easy-manipulation-deployment-docs.readthedocs.io/_/downloads/en/latest/pdf/
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Hi, I've been having similar problems on Foxy installed by docker on Jetson Xavier NX, and by going through the issues, I guess this may be connected to #1962 and #1967. (Though when I do |
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Thanks very much @Serafadam - please do report the results of your librealsense rebuild. Good luck! |
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Hello @Serafadam, thank you for commenting here. At the moment, I can still not run D435 on my Pi4 and stream the data to my workstation. Yesterday, I installed ROS1 noetic on my Pi4 and Workstation. Only when the roscore runs on the Pi4, I could start the librealsense-wrapper in ROS. However, no pointcloud or image data were streamed (means Then, reading this issue #1962 , the author says
So, in essence I'm having the same issue with ROS1 and ROS2 by installing the most recent version of librealsense and realsense-ros. Which brings me to #1967:
I will try this solution @MartyG-RealSense , in the meantime, I want to exclude any other error sources. Can you help me with these questions?
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Pi has been used headless by librealsense users. In regard to RealSense ROS, RealSense user @Combinacijus has a ROS2 Foxy headless tutorial for Pi 4 (though not for the RealSense ROS wrapper specifically) in the link below. https://github.com/Combinacijus/RPi4-ROS2-Headless-Tutorial If you are using Raspbian then you should need to install Protobuf as per the Raspberry Pi guides by Acrobotic and Intel. Some RealSense users have found that installation works best with a more modern Protobuf version such as 3.14 rather than the older versions suggested in the guides though. Intel's SDK installation guide for Raspbian was written for Pi 3 and 3+, whilst Acrobotic's is similarly structured but designed for Pi 4. https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_raspbian.md |
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Hi @admantium-sg Do you require further assistance with this case, please? Thanks! |
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Hello Marty, sorry for the late reply, I could continue with my project only this weekend. Eventually I installed ROS1 and continued with librealsense v2.0.48. Also, I need to start When using this command roslaunch realsense2_camera rs_camera.launch camera:=camera1 depth_width:=640 color_width:=640 depth_height:=480 color_height:=480 depth_fps:=30 color_fps:=30 initial_reset:=true -vI do only receive When using roslaunch realsense2_camera rs_camera.launch camera:=camera1 depth_width:=640 color_width:=640 depth_height:=480 color_height:=480 depth_fps:=30 color_fps:=30 pointcloud_texture_stream:=RS2_STREAM_ANY enable_sync:=true align_depth:=true initial_reset:=true filters:=pointcloud -vI can see point cloud data on Log files: I will continue to work on getting |
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Thanks very much @admantium-sg for the detailed feedback. Please do update here about the results of your tests wth the color topics and ROS2 when you have them. Good luck! |
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Hi @admantium-sg Do you have an update about this case that you can provide, please? Thanks! |
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Update while working with ROS1, see #2014 |
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Thanks @admantium-sg for your earlier update about ROS1. Do you have any more questions about the ROS2 Foxy case here, please? Thanks! |
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Hi @admantium-sg Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
Hello,
I have two computers: Rapberry Pi4 and a Linux Workstation, both with Ubuntu20.04 and ROS2 Foxy.
The D435 is connected to the Raspberry Pi4.
Raspberry Pi4 and workstation have IPs in the local network, I can ping between them, and I can see all published ROS topics:
But when I open rviz2 on my workstation, I can not see images from topic /camera/color/image_raw rendered in rviz2, error message in rviz is:
[INFO] [1625329665.271601068] [rviz]: Message Filter dropping message: frame 'camera_color_optical_frame' at time 1625329664,860 for reason 'Unknown'Tried two different installations: Provide Ubuntu packages, and also from scratch compilation/installation with librealsense v2.48.0 and realsense-ros v3.2.2.
The ROS command to start the d435 node is
ros2 launch realsense2_camera demo_pointcloud_launch2.py initial_reset:=trueSample Output
Sample Image Data (when running from my workstation)
ros2 topic echo /camera/color/image_rawAny help is greatly appreciated - want to start building my robots vision sensor with the D435 :)
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