pointcloud is occasionally not published #1077
Comments
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It sound very very frustrating indeed and I am sorry for that. |
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Thanks for your response. My kernel version is 5.0.0-37-generic. However, I encountered similar problem. Any of the aligned_to_depth topics won't show up. It is also present when point cloud won't publish. When I enabled the RS2_STREAM_ANY the problem still persists. Could it be related to time stamp issues? Edit: I have installed librealsense from source about two weeks ago according to this and recently I tried to upgrade it but it said that I already have the latest version. Is there any possible mistake I made? I'm now trying to reinstall and keep this updated. |
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I fixed the problem by changing the kernel to 4.15.0 instead of 5.0.0. This link states that in order to use realsense on 5.0.0 you have to build from source which I have done but the mentioned problem still exist so I think I'll just stick with older kernel. |
I have installed realsense-ros and now trying to display pointcloud on rviz by using command roslaunch realsense2_camera rs_camera.launch filters:=pointcloud. The rgb, depth, and infrared worked just fine.
Here is my environment:
OS: Ubuntu 18.04
ROS: Melodic
Librealsense: v2.32.1
Realsense ROS: v2.2.12
Device: D435
The problem is when I look at /camera/depth/color/points it doesn't publish any data at all resulted to the no pointcloud visualization in rviz. I tried to reset the calibration settings from this but had no luck. I tried to reinstall the firmware and somehow the pointcloud is published. Then I closed and relaunched the ros session and the pointcloud didn't work again. I tried the same solution as before but it still didn't work!! I tried to restart ubuntu and redo the solution but still no luck. A few days later when I started the ubuntu again it magically worked! I closed the ros session again and it back again, won't published any topic! This really drives me crazy.
Here is the log when the pointcloud is working
SUMMARY
PARAMETERS
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [6137]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0d82faf4-482e-11ea-9b90-80a589506033
process[rosout-1]: started with pid [6148]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [6155]
process[camera/realsense2_camera-3]: started with pid [6156]
[ INFO] [1580917322.843298497]: Initializing nodelet with 8 worker threads.
[ INFO] [1580917323.179705136]: RealSense ROS v2.2.12
[ INFO] [1580917323.179744994]: Running with LibRealSense v2.32.1
[ INFO] [1580917323.188405438]:
[ INFO] [1580917323.200738071]: Device with serial number 935422070010 was found.
[ INFO] [1580917323.200785894]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0 was found.
[ INFO] [1580917323.200822337]: Device with name Intel RealSense D435 was found.
[ INFO] [1580917323.201101881]: Device with port number 4-1 was found.
[ INFO] [1580917323.204751071]: getParameters...
[ INFO] [1580917323.237487268]: setupDevice...
[ INFO] [1580917323.237524628]: JSON file is not provided
[ INFO] [1580917323.237537566]: ROS Node Namespace: camera
[ INFO] [1580917323.237560951]: Device Name: Intel RealSense D435
[ INFO] [1580917323.237575420]: Device Serial No: 935422070010
[ INFO] [1580917323.237595820]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0
[ INFO] [1580917323.237617718]: Device FW version: 05.12.02.100
[ INFO] [1580917323.237639592]: Device Product ID: 0x0B07
[ INFO] [1580917323.237649877]: Enable PointCloud: On
[ INFO] [1580917323.237660322]: Align Depth: Off
[ INFO] [1580917323.237669379]: Sync Mode: On
[ INFO] [1580917323.237769406]: Device Sensors:
[ INFO] [1580917323.237798502]: Stereo Module was found.
[ INFO] [1580917323.237813207]: RGB Camera was found.
[ INFO] [1580917323.237835947]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237847057]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237857021]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237869085]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237880761]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237890965]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580917323.237910860]: Add Filter: pointcloud
[ INFO] [1580917323.241614085]: num_filters: 1
[ INFO] [1580917323.241635376]: Setting Dynamic reconfig parameters.
[ INFO] [1580917323.271845704]: Done Setting Dynamic reconfig parameters.
[ INFO] [1580917323.276816629]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1580917323.292155004]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1580917323.292203450]: setupPublishers...
[ INFO] [1580917323.294086127]: Expected frequency for depth = 30.00000
[ INFO] [1580917323.316182196]: Expected frequency for color = 30.00000
[ INFO] [1580917323.331596359]: setupStreams...
[ INFO] [1580917323.332579753]: insert Depth to Stereo Module
[ INFO] [1580917323.332611223]: insert Color to RGB Camera
[ INFO] [1580917323.346514531]: SELECTED BASE:Depth, 0
[ INFO] [1580917323.353536110]: RealSense Node Is Up!
05/02 22:42:03,509 WARNING [139950896965376] (ds5-timestamp.cpp:76) UVC metadata payloads not available. Please refer to the installation chapter for details.
[ WARN] [1580917323.515729065]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
and here's the log when the pointcloud isn't working
SUMMARY
PARAMETERS
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [8518]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 623fc912-4835-11ea-9b90-80a589506033
process[rosout-1]: started with pid [8529]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [8536]
process[camera/realsense2_camera-3]: started with pid [8537]
[ INFO] [1580920471.466440241]: Initializing nodelet with 8 worker threads.
[ INFO] [1580920471.803397450]: RealSense ROS v2.2.12
[ INFO] [1580920471.803430836]: Running with LibRealSense v2.32.1
[ INFO] [1580920471.811491079]:
[ INFO] [1580920471.875659615]: Device with serial number 935422070010 was found.
[ INFO] [1580920471.875708387]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0 was found.
[ INFO] [1580920471.875726188]: Device with name Intel RealSense D435 was found.
[ INFO] [1580920471.876074985]: Device with port number 4-1 was found.
[ INFO] [1580920471.880275403]: getParameters...
[ INFO] [1580920471.912674323]: setupDevice...
[ INFO] [1580920471.912709677]: JSON file is not provided
[ INFO] [1580920471.912722455]: ROS Node Namespace: camera
[ INFO] [1580920471.912742773]: Device Name: Intel RealSense D435
[ INFO] [1580920471.912756994]: Device Serial No: 935422070010
[ INFO] [1580920471.912770860]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video0
[ INFO] [1580920471.912782779]: Device FW version: 05.12.02.100
[ INFO] [1580920471.912794336]: Device Product ID: 0x0B07
[ INFO] [1580920471.912807664]: Enable PointCloud: On
[ INFO] [1580920471.912822935]: Align Depth: Off
[ INFO] [1580920471.912838759]: Sync Mode: On
[ INFO] [1580920471.912966109]: Device Sensors:
[ INFO] [1580920471.913008328]: Stereo Module was found.
[ INFO] [1580920471.913024702]: RGB Camera was found.
[ INFO] [1580920471.913045755]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913063123]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913084499]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913102088]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913115738]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913134226]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1580920471.913165788]: Add Filter: pointcloud
[ INFO] [1580920471.916892714]: num_filters: 1
[ INFO] [1580920471.916920502]: Setting Dynamic reconfig parameters.
[ INFO] [1580920471.951909992]: Done Setting Dynamic reconfig parameters.
[ INFO] [1580920471.957052555]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1580920471.971206067]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1580920471.971271308]: setupPublishers...
[ INFO] [1580920471.973231604]: Expected frequency for depth = 30.00000
[ INFO] [1580920471.994721075]: Expected frequency for color = 30.00000
[ INFO] [1580920472.009111779]: setupStreams...
[ INFO] [1580920472.010068378]: insert Depth to Stereo Module
[ INFO] [1580920472.010231860]: insert Color to RGB Camera
[ INFO] [1580920472.024198479]: SELECTED BASE:Depth, 0
[ INFO] [1580920472.032094065]: RealSense Node Is Up!
05/02 23:34:32,196 WARNING [140158039406336] (ds5-timestamp.cpp:76) UVC metadata payloads not available. Please refer to the installation chapter for details.
[ WARN] [1580920479.805877560]: No stream match for pointcloud chosen texture Process - Color
Note that the latter gives a [WARN] about no stream match for pointcloud but I don't really understand what this is. Does anyone have suggestions? Thanks in advance!
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