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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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orin nx 16 使用humble,跑rtabmap_ros的报错 #13467

Open 2805651606 opened 1 week ago

2805651606 commented 1 week ago
Required Info
Camera Model {D435i }
Firmware Version (Open RealSense Viewer --> Click info)
Operating System & Version Ubuntu 22
Kernel Version (Linux Only) 5.15
Platform Jetson Orin Nx
Language {C/python}
Segment {Robot}

sudo -i git clone https://github.com/jetsonhacks/installRealSenseSDK.git cd installRealSenseSDK

编译方式如下，默认使用 CUDA

./buildLibrealsense.sh [ -v | --version ] [ -j | -jobs ] [ -n | --no_cuda ]

./buildLibrealsense.sh -v v2.55.1 -j 8 通过这个完成了librealsense的安装，可以正常使用，使用realsense-viewer可以正常打开，并且再安装了realsense-ros后，也可以使用d435i相机

执行下面语句 git clone https://github.com/introlab/rtabmap.git src/rtabmap git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros rosdep update && rosdep install --from-paths src --ignore-src -r -y export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB) colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

执行到rosdep update && rosdep install --from-paths src --ignore-src -r -y之后，发现在使用realsense-viewer就再也打不开相机了

orin@ubuntu:~/ros2_rt$ realsense-viewer 26/10 12:29:06,526 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video0 26/10 12:29:06,732 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video1 26/10 12:29:06,733 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video2 26/10 12:29:06,734 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video3 26/10 12:29:06,735 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video4 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.3/video4linux/video4 26/10 12:29:06,737 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video5 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.3/video4linux/video5 26/10 12:29:07,106 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video0 26/10 12:29:07,108 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video1 26/10 12:29:07,108 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video2 26/10 12:29:07,110 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video3 26/10 12:29:07,110 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video4 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.3/video4linux/video4 26/10 12:29:07,111 INFO [281472984776736] (backend-v4l2.cpp:753) Enumerating UVC video5 realpath=/sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.3/2-1.3:1.3/video4linux/video5 26/10 12:29:07,119 INFO [281472984776736] (context.cpp:128) Found 0 RealSense devices (0xff requested & 0xff from device-mask in settings) 请问，如何解决

MartyG-RealSense commented 1 week ago

Hello, thank you very much for your question.

I notice the /ros2 path that you are activating realsense-viewer from.

orin@ubuntu:~/ros2_rt$ realsense-viewer

Have you installed librealsense and realsense-ros in the same location on your computer please? If you have then this should not be done because the realsense-ros wrapper should not be installed in the same location that librealsense is installed.

您好，非常感谢您的提问。

我注意到您激活 realsense-viewer 的路径是 /ros2。

orin@ubuntu:~/ros2_rt$ realsense-viewer

请问您是否在计算机上的同一位置安装了 librealsense 和 realsense-ros？如果已安装，则不应这样做，因为 realsense-ros 包装器不应安装在 librealsense 的同一位置。

2805651606 commented 1 week ago

@MartyG-RealSense 你好，并没有啊。librealsense的安装过程是 sudo -i git clone https://github.com/jetsonhacks/installRealSenseSDK.git cd installRealSenseSDK ./buildLibrealsense.sh [ -v | --version ] [ -j | -jobs ] [ -n | --no_cuda ] realsense-ros的安装过程是 先建一个ros2_ws文件，在里面安装。 我打算安装rtabmap-ros是和realsense-ros在一个src文件下安装的，这个有问题？

MartyG-RealSense commented 1 week ago

Because the rtamap-ros installation instructions do state that it should be installed in /ros2_ws then I would recommend doing that. I do not recall hearing about problems caused to realsense-ros by installing rtabmap-ros in the same location.

因为 rtamap-ros 安装说明确实指出它应该安装在 /ros2_ws 中，所以我建议这样做。我不记得听说过在同一位置安装 rtabmap-ros 会导致 realsense-ros 出现问题。

https://github.com/introlab/rtabmap_ros/tree/ros2?tab=readme-ov-file#from-source

2805651606 commented 5 days ago

那为啥执行rosdep update && rosdep install --from-paths src --ignore-src -r -y后，就无法找到相机了呢，板子可以识别到相机连接到板子上了，但是realsense-viewer却找不到了

MartyG-RealSense commented 5 days ago

Because of the complicated installation which contains librealsense, the RealSense ROS wrapper and rtabmap_ros, I would recommend wiping everything and starting again from the beginning with a clean installation if it is possible for you to do. Install librealsense only first and see if the realsense-viewer works again. Then you can move on to installing the ROS wrapper and rtabmap-ros.

由于安装过程复杂，包含 librealsense、RealSense ROS 包装器和 rtabmap_ros，我建议清除所有内容并从头开始全新安装（如果可能）。首先仅安装 librealsense，然后查看 realsense-viewer 是否再次运行。然后，您可以继续安装 ROS 包装器和 rtabmap-ros。

2805651606 commented 4 days ago

已经干过了，重新刷机之后弄的。仅安装 librealsense，然后查看 realsense-viewer 可以运行。安装 ROS 包装器，也可以运行。就是安装 rtabmap-ros之后，realsense-viewer 不行了

MartyG-RealSense commented 4 days ago

Is realsense-viewer necessary for your work or could you manage without it? Thank you.

realsense-viewer 对你的工作来说是否必要？或者没有它你也能应付吗？谢谢。

2805651606 commented 2 days ago

realsense-viewer确实不太重要，但是我跑slam算法的时候，没有办法启动相机了。就是我没办法读到相机的imu，图像等数据了，调用时，显示找不到相机

MartyG-RealSense commented 2 days ago

As you are using rtabmap_ros with ROS2, are you using the rtabmap.launch.py launch file please?

If you are using rtabmap.launch.py, have you launched the RealSense ROS launch file first to publish the RealSense camera topics before then launching the rtabmap_ros launch file afterward once the RealSense launch has completed successfully?

STEP 1 ros2 launch realsense2_camera rs_launch.py

STEP 2 roslaunch rtabmap_ros rtabmap.launch

由于您正在将 rtabmap_ros 与 ROS2 结合使用，请问您是否使用了 rtabmap.launch.py​​ 启动文件？

如果您使用的是 rtabmap.launch.py​​，您是否先启动了 RealSense ROS 启动文件以发布 RealSense 摄像头主题，然后在 RealSense 启动成功完成后再启动 rtabmap_ros 启动文件？

步骤 1 ros2 launch realsense2_camera rs_launch.py​​

步骤 2 roslaunch rtabmap_ros rtabmap.launch