Could not transform from [camera_color_optical_frame] to [camera_link]

[utkarsh867]

System specifications

Camera: D455 (Firmware: 05.13.00.50)
ROS2: Dashing
Computer: NVIDIA Jetson Xavier NX
Branch: tag 3.2.2

Issue

I run the demo pointcloud using:

ros2 launch realsense2_camera demo_pointcloud_launch.py

When rviz2 opens, I get the RGB image from the camera, but I do not get the pointcloud.

There is an error in PointCloud2 Transform as below

I later checked the TF to check if I had the frames. But it is empty.

At this point, I'm almost certain I'm missing something in my process. Does anyone know why these frames may be missing and how I can get them to work?

[MartyG-RealSense]

Hi @utkarsh867 Given that you are using a Jetson Xavier NX, you may be experiencing the same problems that other NX users have had with pointcloud generation in the RealSense ROS wrapper. #1967 has more information about this.

An NX user in #1967 (comment) found that they could obtain a pointcloud when using the earlier librealsense SDK version 2.43.0.

Please test whether you can generate a pointcloud using the alternative ROS2 roslaunch instruction below.

ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=true device_type:=d435

[MartyG-RealSense]

Hi @utkarsh867 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.