The realsense ROS2 node sometimes launches but fails to publish data #1980
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pepisg
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Hi @Serafadam. Are you using also an ARM platform? Please let me know if you succeed with any other version. I will also let you know if we find out how to solve this problem. |
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Hi @pepisg, I'm using probably the same setup as you |
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@pepisg Did you install librealsense by apt get install or building from source code? Is the streaming normal if you use RealSenseViewer for the same configuration such as streaming resolution and fps? Also could you please provide the log after ROS2 node launches till the issue happened? Thanks! |
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@pepisg Do you still need support on this? Please note that the ticket will be closed if we don't hear from you for another 7 days. |
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@pepisg I've seen some better results after switching to Galactic & tuning DDS as in https://docs.ros.org/en/galactic/Guides/DDS-tuning.html, though a weird thing is that Pointcloud doesn't seem to be updated if there is a little difference in robot movement. For example, if I run the node against the wall and move the robot a little bit, nothing changes, even if the camera is looking at different part of the wall. But if I wave my hand in front of the camera, the frame updates |
@Serafadam, sorry for the late reply. Unfortunately it is not possible for me to switch to Galactic. I have implemented a separate node to restart the realsense2_camera_node when this happens, however I will let you know if I find the root cause. |
Hi @RealSenseSupport, I'm building librealsense from source. I think I can not use RealSenseViewer as I can't access the desktop environment of the AGX, only the terminal. Please do not close the issue yet, I will try to gather some logs. |
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Hi @RealSenseSupport, sorry for the late reply. I was finally able to retrieve some logs from the realsense ROS2 node when it launches but does not publish data on some topics: Please let me know if you see something that could point to the issue. |
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@pepisg Could you please share the launch file you used? Below print is a little wired. Please check if FPS configuration for IR is different from depth. Thanks! 17.08.21 14:14:34 -> [INFO][setupDevice][1187]: (Infrared, 0) sensor isn't supported by current device! -- Skipping... |
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Hi! These are the parameters that I'm using. We have added some custom parameters that however should not interfere with the image stream. configurable_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'serial_no', 'default': "''", 'description': 'choose device by serial number'},
{'name': 'usb_port_id', 'default': "''", 'description': 'choose device by usb port id'},
{'name': 'device_type', 'default': "''", 'description': 'choose device by type'},
{'name': 'config_file', 'default': "''", 'description': 'yaml config file'},
{'name': 'enable_pointcloud', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'unite_imu_method', 'default': 'copy', 'description': '[copy|linear_interpolation]'},
{'name': 'json_file_path', 'default': "''", 'description': 'allows advanced configuration'},
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
{'name': 'depth_width', 'default': '640', 'description': 'depth image width'},
{'name': 'depth_height', 'default': '480', 'description': 'depth image height'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'color_width', 'default': '640', 'description': 'color image width'},
{'name': 'color_height', 'default': '480', 'description': 'color image height'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'infra_width', 'default': '640', 'description': 'infra width'},
{'name': 'infra_height', 'default': '480', 'description': 'infra width'},
{'name': 'enable_infra1', 'default': 'false', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'infra_rgb', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'fisheye_width', 'default': '-1', 'description': 'fisheye width'},
{'name': 'fisheye_height', 'default': '-1', 'description': 'fisheye width'},
{'name': 'enable_fisheye1', 'default': 'false', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'false', 'description': 'enable fisheye2 stream'},
{'name': 'confidence_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'confidence_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'enable_confidence', 'default': 'false', 'description': 'enable depth stream'},
{'name': 'fisheye_fps', 'default': '-1.', 'description': ''},
{'name': 'depth_fps', 'default': '30.', 'description': ''},
{'name': 'confidence_fps', 'default': '-1.', 'description': ''},
{'name': 'infra_fps', 'default': '30.', 'description': ''},
{'name': 'color_fps', 'default': '30.', 'description': ''},
{'name': 'gyro_fps', 'default': '-1.', 'description': ''},
{'name': 'accel_fps', 'default': '-1.', 'description': ''},
{'name': 'color_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'confidence_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'depth_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'fisheye_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'infra_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'enable_gyro', 'default': 'false', 'description': ''},
{'name': 'enable_accel', 'default': 'false', 'description': ''},
{'name': 'pointcloud_texture_stream', 'default': 'RS2_STREAM_COLOR', 'description': 'texture stream for pointcloud'},
{'name': 'pointcloud_texture_index', 'default': '0', 'description': 'texture stream index for pointcloud'},
{'name': 'enable_sync', 'default': 'false', 'description': ''},
{'name': 'align_depth', 'default': 'true', 'description': ''},
{'name': 'filters', 'default': "''", 'description': ''},
{'name': 'clip_distance', 'default': '-2.', 'description': ''},
{'name': 'linear_accel_cov', 'default': '0.01', 'description': ''},
{'name': 'initial_reset', 'default': 'true', 'description': ''},
{'name': 'allow_no_texture_points', 'default': 'false', 'description': ''},
{'name': 'ordered_pc', 'default': 'true', 'description': ''},
{'name': 'calib_odom_file', 'default': "''", 'description': "''"},
{'name': 'topic_odom_in', 'default': "''", 'description': 'topic for T265 wheel odometry'},
{'name': 'tf_publish_rate', 'default': '0.0', 'description': 'Rate of publishing static_tf'},
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
{'name': 'temporal.holes_fill', 'default': '0', 'description': 'Persistency mode'},
{'name': 'stereo_module.exposure.1', 'default': '7500', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.1', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.exposure.2', 'default': '1', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.2', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'name': 'color_virtual_cam', 'default': '-1', 'description': 'virtual camera to write color stream'},
{'name': 'texture_display_logs', 'default': '1', 'description': 'whether to show texture related logs'},
{'name': 'robot_base_frame', 'default': 'chassis', 'description': 'base frame for transform between camera and robot'},
{'name': 'camera_link_x', 'default': '0.21', 'description': 'x translation between base frame and camera'},
{'name': 'camera_link_y', 'default': '-0.041', 'description': 'y translation between base frame and camera'},
{'name': 'camera_link_z', 'default': '0.404', 'description': 'z translation between base frame and camera'},
]I think that this log you find weird is produced because in this line the image streams are enabled by default, and while you define streams called |
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@pepisg Thanks for the launch file and clarification! Which topic did you check when you saw it failed to publish data? Seen from the log, the camera was launched successfully. {'name': 'depth_fps', 'default': '30.', 'description': ''}, 17.08.21 14:14:37 -> [INFO][enable_devices][1364]: depth stream is enabled - width: 640, height: 360, fps: 15, Format: Z16 |
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I'm checking the topic EDIT: I checked and we are indeed setting the FPS to 15, sorry to not have provided this info before. That is the launch file that I'm using but I'm passing some parameters that are different from the default values:
All the other parameters have the default values. |
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@pepisg Thanks for the update! How do you configure cmake options when you build librealsense from source? As you can't run RealSenseViewer, could you please try rs-color to see if you can get normal output? |
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Hi! these are the flags I use with cmake. I will test what you suggest and add an update. |
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@pepisg Did you get chance to try rs-color and what's the result? Thanks! |
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@pepisg Please build with -DBUILD_EXAMPLES=true and then you can run rs-color. Could you please have a try and update the result? Thanks! |
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Hi! Sorry for the late reply. I already fixed the issue by creating a service to kill the realsense node and calling it from another node who constantly monitors the color stream frame rate. |
Hi!
I'm using your ros2 package with an intel D435i. This is our setup:
RealsenseROS: v3.2.1
LibRealSense: v2.45.0
Device FW: v05.12.12.100
Platform: Jetson Xavier AGX
OS: Ubuntu 18 / Docker, L4T v32.4.2
It happens sometimes that the node launches and the corresponding process is in execution but none of the topics or services that the node should publish/offer are available. Our theory is that the execution of the node gets stuck somewhere in the publishTopics function and thus it is not able to set everything up.
This, however, does not happen always.
Thanks in advance for your help!
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