Realsense2 doesn't show image in rviz2

[dennyvt]

hello i am running ubuntu20.04 with ROS2 foxy
with Intel RealSense D435
when launching

ros2 launch realsense2_camera rs_launch.py

and running

ros2 topic echo /camera/color/image_raw 

it shows me that it is receiving data:
a small example of the data:

header:
stamp:
sec: 1633950418
nanosec: 576558848
frame_id: camera_color_optical_frame
height: 480
width: 640
encoding: rgb8
is_bigendian: 0
step: 1920
data:

• 90
• 81
• 76
• 90
• 81
• 76
• 92
• 81
• 76
• 89
• 78
• 73
• 80
• 81
  but when opening rviz it doesn't show me images.
  
  anyone else have this problem or can help me fix that problem?
  thanks in advance!

[MartyG-RealSense]

Hi @dennyvt I see from your message title that you are using RViz2. Can you confirm please that you launched it using ros2 run rviz2 rviz2

[dennyvt]

Hi @MartyG-RealSense
thanks for your reply. i normally launch it just like:

rviz2

but when launching it with the command you were advising, i still get the same. received data in the terminal but still no image showing in rviz2.
So i tried your command and can confirm that i launched it using

ros2 run rviz2 rviz2

[MartyG-RealSense]

Do you get an image if you set Fixed Frame to camera_link instead of camera_color_optical_frame

[dennyvt]

if i set fixed frame to camera_link
and add image on rviz2 with topic /camera/color/image_raw
i still do not get an image unfortunately

[MartyG-RealSense]

There was another case in #1970 of a RealSense ROS user who could not obain images in RViz2 when using the ROS2 Foxy wrapper and camera_color_optical_frame. In that particular case, they ended up changing to the ROS1 wrapper and Noetic instead.

Which librealsense SDK version and ROS2 wrapper version are you uaing, please?

[dennyvt]

my bad i did not saw that other case.
In my case ROS2 is what i have to work with.
I am using librealsense 2.48.0 (Built with LibRealSense v2.48.0)
and ROS2 wrapper I cloned the ROS2 branch. (RealSense ROS v3.2.2)

[dennyvt]

i just fixed it.
I saw this issue on Rviz git page ros2/rviz#782
it is a bug in foxy release 6.
Removing foxy release 6 en installing foxy release 5 did the job for me.
thanks for your help.

[MartyG-RealSense]

That's excellent news that you found a solution, @dennyvt - thanks very much for the update!