receiving pointclouds from realsense d400

[rolandgvc]

Hi! I'm a bit confused about visualizing the elevation maps with the pointcloud generated by my realsense camera (d455). Here is my current configuration:

realsense_demo.launch

<launch>

  <!-- Elevation mapping node -->
  <node pkg="elevation_mapping" type="elevation_mapping" name="elevation_mapping" output="screen">
    <rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/d455.yaml" />
        <rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml" />
    <rosparam command="load" file="$(find elevation_mapping_demos)/config/postprocessing/postprocessor_pipeline.yaml" />
  </node>

  <!-- Launch visualizations for the resulting elevation map -->
  <include file="$(find elevation_mapping_demos)/launch/visualization.launch" />

  <!-- Launch RViz with the demo configuration -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find elevation_mapping_demos)/rviz/elevation_map_visualization_pointcloud.rviz" />

</launch>

d455.yaml

input_sources:
  camera:
    type: pointcloud
    topic: "/camera/depth_registered/points"
    queue_size: 1
    publish_on_update: true
    sensor_processor: 
      ignore_points_above: .inf
      ignore_points_below: -.inf
      cutoff_min_depth: 0.1
      cutoff_max_depth: 1.5
      type: structured_light # https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8768489
      normal_factor_a: 0.001063
      normal_factor_b:  0.003949
      normal_factor_c: 0.0
      normal_factor_d: 0.0008278
      normal_factor_e: 1
      lateral_factor: 0.01576 # approx 1 deg

map_frame_id: "odom"
robot_base_frame_id: "camera_link"
robot_pose_with_covariance_topic: "/pose"
robot_pose_cache_size: 200
track_point_frame_id: "base"
track_point_x: 0.0
track_point_y: 0.0
track_point_z: 0.0

rviz

rqt_graph

At the launch of elevation_mapping node, I'm getting these errors as well:

Please let me know if I'm doing something wrong or the next steps for visualizing the maps. Thanks!

[maximilianwulf]

Can you try to shuffle from

<rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/d455.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/postprocessing/postprocessor_pipeline.yaml" />

to

<rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/d455.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/postprocessing/postprocessor_pipeline.yaml" />

Also can you give the output of rosparam get /elevation_mapping ?

[rolandgvc]

Thanks for the tip! now elevation_mapping is starting, but giving the following error: The pose message seems to be on time

rosparam get /elevation_mapping

What do you think?

[rolandgvc]

Nevermind, all working great!

[maximilianwulf]

Great to hear. Can you say what the error in the end was?

[rolandgvc]

Running the camera config after the mapping config did it.

[cc1416619381]

Hi, I'm working this package with realsense d435i, but a bit confused about the launch file and the corresponding yaml . I notice that your realsense_demo.launch is different from the default one, specifically, lacking of the following line: <rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/remove_object.yaml" /> So, what's this param's function? Will it work normally after it is removed？

Thanks!

[zhanghua7099]

Hi! Can you provide more details? I found the same errors.

Thanks.

[wxk514]

Running the camera config after the mapping config did it.

I met the same problem. could you provide more details? thanks!