D435i problem

[wxk514]

Hi, An error occurred when I tried to run realsense_demo.launch with D435i.

The content of realsense_demo.launch and realsense_d435.yaml is:

could you help me? thanks!

[wxk514]

I modify my realsense_d435.yaml as follows: Then I turned on my camera terminal: roslaunch realsense_camera rs_camera.launch, then I run realsense_demo.launch file The following error occurred: [ WARN] [1638248063.325983165]: Could not find the parameter:algorithm. Setting to default value: 'area'. [ WARN] [1638248063.326951051]: Could not find the parameter:parallelization_enabled. Setting to default value: 'false'. [ WARN] [1638248063.326972763]: Could not find the parameter:thread_number. Setting to default value: 'automatic'. [ INFO] [1638248063.328021982]: Elevation mapping node started. [ INFO] [1638248063.344738281]: Elevation map grid resized to 600 rows and 600 columns. [ WARN] [1638248063.371231195]: Parameter 'point_cloud_topic' is deprecated, please use 'input_sources' instead. [ INFO] [1638248063.373057863]: Subscribing to pointcloud: /camera/depth/color/points, queue_size: 5. [ INFO] [1638248063.378049165]: Elevation mapping node initializing ... [ INFO] [1638248064.378400529]: Done initializing. [ INFO] [1638248064.379243554]: First corresponding point cloud and pose found, elevation mapping started. [ERROR] [1638248064.379374187]: Could not get pose information from robot for time 1638248064.000550. Buffer empty? [ERROR] [1638248064.379687710]: Could not get pose information from robot for time 1638248064.067268. Buffer empty? [ERROR] [1638248064.379755810]: Could not get pose information from robot for time 1638248064.133986. Buffer empty? [ERROR] [1638248064.379806554]: Could not get pose information from robot for time 1638248064.200704. Buffer empty? [ERROR] [1638248064.379864967]: Could not get pose information from robot for time 1638248064.267423. Buffer empty? [ERROR] [1638248064.427233473]: Could not get pose information from robot for time 1638248064.334141. Buffer empty? [ERROR] [1638248064.502884703]: Could not get pose information from robot for time 1638248064.400859. Buffer empty? [ERROR] [1638248064.561115293]: Could not get pose information from robot for time 1638248064.467577. Buffer empty? [ERROR] [1638248064.628894612]: Could not get pose information from robot for time 1638248064.534295. Buffer empty? [ERROR] [1638248064.693376261]: Could not get pose information from robot for time 1638248064.601013. Buffer empty? [ERROR] [1638248064.766576165]: Could not get pose information from robot for time 1638248064.667732. Buffer empty? [ERROR] [1638248064.828393895]: Could not get pose information from robot for time 1638248064.734450. Buffer empty? [ERROR] [1638248064.895281299]: Could not get pose information from robot for time 1638248064.801169. Buffer empty? [ERROR] [1638248064.962047742]: Could not get pose information from robot for time 1638248064.867888. Buffer empty? [ERROR] [1638248065.028726487]: Could not get pose information from robot for time 1638248064.934607. Buffer empty? [ERROR] [1638248065.094361082]: Could not get pose information from robot for time 1638248065.001326. Buffer empty?

[maximilianwulf]

Hey, the current problem is

Could not get pose information from robot for time 1638248064.334141. Buffer empty? [ERROR]

Elevation mapping requires a pose input as well, on the real robot this normally comes from a state estiamator, but this example does not start an extra one and assumes it already exists somewhere. The waffle bot demo also provides a pose.

[wxk514]

Thank you, but I don’t know how to modify it. Can you provide a detailed example about the pose？Thanks so much!

[maximilianwulf]

Can you provide a detailed example about the pose？

You need a state estimator that provides a pose of the robot. This usually comes from other packages, check this one out for example: https://github.com/ori-drs/pronto

[wxk514]

Thank you. I'll try