I got 2 times hz of depth topic, is it normal? #2394
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byhang
changed the title
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Hi @byhang This effect would not be normal. Are you able to achieve 6 FPS if you use the roslaunch instruction below that defines a custom stream configuration, please? roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=6 |
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@MartyG-RealSense , |
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Thank you very much for testing. Do you also correctly get 15 and 30 FPS if you change the depth_fps value in the launch instruction to 15 or 30? |
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15 and 30 are normal. My launch file below in another project, is there any err? realsense.launch file<?xml version="1.0"?>
<launch>
<arg name="cam" default="cam"/>
<arg name="camera" default="$(arg cam)_cam"/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="json_file_path" default="/opt/raccoon/share/realsense_node/param/HighAccuracyPreset.json"/>
<arg name="tf_prefix" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="$(arg camera)_manager"/>
<arg name="output" default="screen"/> <!-- [ screen | log ]-->
<arg name="respawn" default="true"/>
<arg name="initial_reset" default="false"/>
<arg name="enable_color" default="false"/>
<arg name="depth_width" default="480"/>
<arg name="depth_height" default="270"/>
<arg name="enable_depth" default="true"/>
<arg name="depth_fps" default="6"/>
<arg name="confidence_width" default="$(arg depth_width)"/>
<arg name="confidence_height" default="$(arg depth_height)"/>
<arg name="enable_confidence" default="true"/>
<arg name="confidence_fps" default="$(arg depth_fps)"/>
<arg name="infra_fps" default="$(arg depth_fps)"/>
<arg name="align_depth" default="true"/>
<arg name="enable_pointcloud" default="true"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_ANY"/> <!-- use RS2_STREAM_ANY to avoid using texture -->
<arg name="publish_tf" default="true"/>
<env name="ROSCONSOLE_CONFIG_FILE" value="$(env HOME)/.raccoon_config/system/log/rgbd_$(arg cam)_log.conf"/>
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="camera" value="$(arg camera)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="device_type" value="$(arg device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="output" value="$(arg output)"/> <!-- [ screen | log ]-->
<arg name="respawn" value="$(arg respawn)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="confidence_width" value="$(arg confidence_width)"/>
<arg name="confidence_height" value="$(arg confidence_height)"/>
<arg name="enable_confidence" value="$(arg enable_confidence)"/>
<arg name="confidence_fps" value="$(arg confidence_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/> <!-- use RS2_STREAM_ANY to avoid using texture -->
<arg name="publish_tf" value="$(arg publish_tf)"/>
</include>
<group ns="$(arg camera)">
<node pkg="nodelet" type="nodelet" name="depth_points"
args="load depth_image_proc/point_cloud_xyz $(arg manager) --no-bond"
respawn="$(arg respawn)" output="$(arg output)">
<remap from="image_rect" to="/$(arg camera)/aligned_depth_to_color/image_raw"/>
<remap from="points" to="/$(arg camera)/aligned_depth_to_color/points" />
</node>
</group>
</launch>my launch file: |
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I do not see anything that is obviously incorrect. Do you get correct FPS if you add the custom camera configuration settings onto the end of the roslaunch instruction for your own realsense.launch launch file? depth_width:=640 depth_height:=480 depth_fps:=6 |
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roslaunch /.../realsense.launch depth_width:=640 depth_height:=480 depth_fps:=30 usb_port_id:=2-2 |
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Looking at the ROS wrapper's opensource_tracking.launch file, which also imports rs_camera.launch settings like your launch file does, it looks as though it only lists the parameters that it wants to change the settings of - for example, setting align_depth to True instead of the default False in rs_camera. You do not seem to be changing any of the rs_camera default settings in your arg list, so I wonder whether all that you actually need in that section is this: |
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@MartyG-RealSense , By the way, where can i get old official version deb of librealsense2(-2.45.0) and realsense-ros-2.3.0 in Ubuntu-16.04, is there have a url? The ddynamic-reconfigure-0.3.2 and librealsense2-2.50.0 and realsense-ros-2.3.2 build by myself, it work well on my pc, but does not take effect in my robot which have the same version kernel. dmesg in my robot[ 14.812304] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435 (8086:0b07) [ 30.237623] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024). |
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Advice is provided at IntelRealSense/librealsense#5773 (comment) and #1925 (comment) about installing a specific package version of librealsense instead of the latest version. You would have to then build the matching ROS wrapper version for that particular librealsense version from source code instead of packages though. |
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@MartyG-RealSense I am glad to tell you, comment this line, fixed the depth hz. <!-- <arg name="align_depth" value="true"/> -->But i don't know why? |
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I have not seen this particular effect before. Usually if there is a problem with align_depth then the FPS reduces, not increases. Could you try disabling an RGB option called auto-exposure_priority to see if the color FPS maintains its correct speed please, as described at #1349 (comment) You can test quickly whether disabling auto_exposure_priority solves the problem by opening the rqt_reconfigure interface after launch has completed with the command rosrun rqt_reconfigure rqt_reconfigure and then going to the RGB section of the options and unticking auto_exposure_priority
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Sorry, I can't understand that, The "source code" is github repo? I cloned and checkout to v2.50.0, it's same as the librealsense2-2.50.0.tar.gz. Did you mean that use the newest github repo? |
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I built ros-kinetic-librealsense2_2.50.0-0xenial_amd64.deb from librealsense2-2.50.0.tar.gz use this method, It works on my pc, Will there be any problem? bloom-generate rosdebian --os-name ubuntu --os-version xenial --ros-distro kinetic
fakeroot debian/rules binary |
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When speaking of source code, I was referring to downloading the source for a particular version from a file on the wrapper's Releases page. https://github.com/IntelRealSense/realsense-ros/releases I am not familiar with the bloom installation method. If a basic rs_camera launch works correctly and publishes topics successfully then it is likely that the installation is okay. |
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@MartyG-RealSense , Thank you, I got it. |
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Hi @byhang Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
Hi @MartyG-RealSense,
I set depth_fps 1x, but I got 2x depth fps.
example:
depth_fps=6 in rs_camera.launch, got 12 hz of /camera/depth/iamge_rect_raw.
15 got 30,
30 got 60.
Is it normal?
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