Update PID for D405 to allow minimal compatibility

[rjwb1]

Allows D405 to be used with ROS 1 wrapper. Does not seem to work with reconfigure but I'll see if its possible to patch

Link to Issue: #2290

[RishabhBajaj25]

Hi, I tried running roslaunch realsense2_camera rs_camera.launch after doing a catkin_make of your development branch. Unfortunately, I get the following error:

Can you help me figure out whats wrong? Note, that the camera works when I use the realsense-viewer command, but I could not get your ROS1 wrapper to work with it. Thanks in advance!

[rjwb1]

@RishabhBajaj25 hi, believe this is due to having an incompatible version of ddynamic_reconfigure. Do you have an old version in the catkin workspace? If not, you can try cloning it and checking out an old version to see if this helps.

[TakuOkawara]

@rjwb1
Hello, I am impressed by your super contribution!! I was able to use D405 with ROS melodic in your branch.

@rjwb1 , @RishabhBajaj25
Then, I have some questions. Are you official developers of realsense-ros? If so, will this wonderful commit be merged to development branch of realsense2_camera ?

[RishabhBajaj25]

@RishabhBajaj25 hi, believe this is due to having an incompatible version of ddynamic_reconfigure. Do you have an old version in the catkin workspace? If not, you can try cloning it and checking out an old version to see if this helps.

@rjwb1 Thanks for your response. Unfortunately, I can't seem to figure how to know the version of ddynamic_reconfigure. I had not initially built that in the catkin_ws. I tried building from source (https://github.com/pal-robotics/ddynamic_reconfigure). However, this time, i start getting "Unsupported device! Product ID: 0x0B5B" error. I am not sure if this is because of ddynamic_reconfigure or something else that I might have changed in the process.

[rjwb1]

@rjwb1

Hello, I am impressed by your super contribution!! I was able to use D405 with ROS melodic in your branch.

@rjwb1 , @RishabhBajaj25

Then, I have some questions. Are you official developers of realsense-ros? If so, will this wonderful commit be merged to development branch of realsense2_camera ?

Hi, apologies for the slow reply. I am not an official member of realsense but I see no reason why this couldn't be merged? @MartyG-RealSense

[rjwb1]

@RishabhBajaj25 hi, believe this is due to having an incompatible version of ddynamic_reconfigure. Do you have an old version in the catkin workspace? If not, you can try cloning it and checking out an old version to see if this helps.

@rjwb1 Thanks for your response. Unfortunately, I can't seem to figure how to know the version of ddynamic_reconfigure. I had not initially built that in the catkin_ws. I tried building from source (https://github.com/pal-robotics/ddynamic_reconfigure). However, this time, i start getting "Unsupported device! Product ID: 0x0B5B" error. I am not sure if this is because of ddynamic_reconfigure or something else that I might have changed in the process.

Hmmm, make sure you have this PR checked out in your catkin_ws and sourced correctly.

[MartyG-RealSense]

Thanks so much @rjwb1 for your D405 compatibility patch for the ROS1 wrapper!

The focus of RealSense ROS wrapper development is now on the ros2_beta wrapper and further updates are not planned for the ROS1 wrapper to the best of my current knowledge.

It would be great if you could continue to make your forked wrapper available for those who want to build it. Thanks again!

[EkamBehl]

Hi, I tried running roslaunch realsense2_camera rs_camera.launch after doing a catkin_make of your development branch. Unfortunately, I get the following error:

Can you help me figure out whats wrong? Note, that the camera works when I use the realsense-viewer command, but I could not get your ROS1 wrapper to work with it. Thanks in advance!

Hi @RishabhBajaj25 .I've got the same issue as yours.Did you find a solution to it?
Thanks for any help !!

[MartyG-RealSense]

Hi @EkamBehl If you are also using the ROS1 wrapper and rs_camera.launch then this wrapper does not support the D405 camera model unfortunately and there are no plans to add support at a future date as the ROS1 wrapper has 'legacy' status (no longer updated). The RealSense ROS2 wrapper ros2-development does support D405. Please see #2582

[J-C-Haley]

@rjwb1 your branch works for me on a 405, thank you so much! Hope this can get merged, even if it's not officially supported.

[SamerKhshiboun]

Hi @rjwb1 ,
Intel RealSense ROS Wrapper team is focusing on ROS2, as developing ROS1 feature is deprecated. Reference
Thanks for your contributing for the RealSense ROS Wrapper.
Closing this PR.

[RishabhBajaj25]

@EkamBehl @rjwb1 I did a fresh install of the package in a clean catkin workspace, however, I still get the same error.

Any help would be much appreciated. Thanks!

[rjwb1]

I think you still have realsense2-camera installed through apt. Uninstall this using

sudo apt remove ros-noetic-realsense2-camera

Make sure you do not have any variations of this repo cloned in other workspaces and clone my branch into you workspace.

cd catkin_ws/src
git clone --branch development https://github.com/rjwb1/realsense-ros.git 

Build the workspace. You can verify you have the correct source code by checking line 37 in include/realsense2_camera/constants.h.

The value should be 0x0B5B.

[RishabhBajaj25]

Thanks for your quick response. That seems to work as I get a different error: /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/jp/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE
I suppose that originates from multiple copies of some package. I am investigating that.

[rjwb1]

This is due to having to build ddynamic_reconfigure from source when using ros melodic.

From memory try this

git clone --branch 0.2.2 https://github.com/pal-robotics/ddynamic_reconfigure.git

and then catkin_make again

[RishabhBajaj25]

Thanks for your response. I tried these steps but i get a different error now, i suppose this is due to multiple installations of ddynamic_reconfigure? /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/jp/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN20ddynamic_reconfigure19DDynamicReconfigure16registerVariableIbEEvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_RKN5boost8functionIFvSA_EEES9_SA_SA_S9_

[rjwb1]

it could be but I would also recommend updating to ubuntu 20 and ros noetic. This error is not present on noetic

[RishabhBajaj25]

I see, thanks for your response. I shall circle back to you on this.

[rijalmadhav12]

I am still getting this error. Line 37 is correct, i removed other real sense install through apt install. Please help