Issues with Depth Camera (D435i) and RPLidar C1 Fusion for SLAM – Camera Topic Not Appearing in rqt_graph

[achoik1234]

Hi everyone,

I’m working on fusing data from a RealSense D435i depth camera and an RPLidar C1 for SLAM using ROS 2, but I’m facing an issue where the camera topic doesn’t appear in rqt_graph. I can see the topic when I run ros2 topic list and can echo the data using ros2 topic echo, but it doesn’t show up in rqt_graph.

Here’s what I’ve tried:

Used ros2 topic list and confirmed the camera topic appears there.
Used ros2 topic echo and verified data is being published from the camera.
The rqt_graph shows no connection for the camera topic.
The frame tree seems correct, but it’s still not showing up in rqt_graph.

Here are the screenshots of:

rqt_graph – No camera topic connection
Frame tree – Verified correct frame structure
Fusion code for combining the data from the camera and LiDAR

Could anyone suggest possible reasons why the camera topic is not appearing in rqt_graph? Any tips on how to debug this or ensure proper integration of the camera with the LiDAR for SLAM?

Thanks in advance for your help!

frames_2025-02-26_14.24.15.pdf

fusion.txt