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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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No color or fisheye data when starting the ROS node #2273

Closed jochemverboom closed 6 years ago

jochemverboom commented 6 years ago
Required Info
Camera Model D435
Firmware Version 05.09.14.00
Operating System & Version Ubuntu 16.04
Kernel Version (Linux Only) 4.15.0-32-generic
Platform PC
SDK Version 2.15.0
Language C++/ROS
Segment Robot

Issue Description

I am currently configuring the launch file for the ros node. I am able to get infra1, infra2, depth but am unable to get the color and fisheye data. The camera is connected to a USB3.0 port using a USB3.0 cable (30 cm). What is wrong here?

When I start the ROS node I have the following output:


[1534757520.848485592][/camera/realsense2_camera_manager][Loader::Impl::advertiseRosApi]: Initializing nodelet with 8 worker threads.
[1534757520.869583993][/camera/realsense2_camera_manager][RealSenseNodeFactory::RealSenseNodeFactory]: RealSense ROS v2.0.3
[1534757520.869617942][/camera/realsense2_camera_manager][RealSenseNodeFactory::RealSenseNodeFactory]: Running with LibRealSense v2.15.0
[1534757520.986994803][/camera/realsense2_camera_manager][BaseRealSenseNode::getParameters]: getParameters...
[1534757521.055857808][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: setupDevice...
[1534757521.055886817][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: JSON file is not provided
[1534757521.055907451][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: ROS Node Namespace: camera
[1534757521.055927014][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Device Name: Intel RealSense D430
[1534757521.055942651][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Device Serial No: 827312070061
[1534757521.055958216][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Device FW version: 05.09.14.00
[1534757521.055973744][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Device Product ID: 0x0AD4
[1534757521.055989028][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Enable PointCloud: On
[1534757521.056002997][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Align Depth: On
[1534757521.056017079][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Sync Mode: On
[1534757521.056176363][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Device Sensors: 
[1534757521.056290955][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: Stereo Module was found.
[1534757521.056421438][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[1534757521.056441221][/camera/realsense2_camera_manager][BaseRealSenseNode::setupDevice]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[1534757521.056477323][/camera/realsense2_camera_manager][BaseRealSenseNode::setupPublishers]: setupPublishers...
[1534757521.058801910][/camera/realsense2_camera_manager][FrequencyDiagnostics::FrequencyDiagnostics]: Expected frequency for depth = 30.00000
[1534757521.062074395][/camera/realsense2_camera_manager][BaseRealSenseNode::setupStreams]: setupStreams...
 20/08 11:32:01,062 WARNING [140297040021376] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
[1534757521.063968326][/camera/realsense2_camera_manager][BaseRealSenseNode::enable_devices]: depth stream is enabled - width: 1280, height: 720, fps: 30
[1534757521.070513551][/camera/realsense2_camera_manager][BaseRealSenseNode::publishStaticTransforms]: publishStaticTransforms...
[1534757521.070636106][/camera/realsense2_camera_manager][BaseRealSenseNode::publishTopics]: RealSense Node Is Up!
 20/08 11:32:01,073 WARNING [140296356611840] (backend-v4l2.cpp:872) Empty frame has arrived.
 20/08 11:32:01,073 WARNING [140296356611840] (backend-v4l2.cpp:872) Empty frame has arrived.
 20/08 11:32:01,073 WARNING [140296356611840] (backend-v4l2.cpp:872) Empty frame has arrived.
 20/08 11:32:01,073 WARNING [140296356611840] (backend-v4l2.cpp:872) Empty frame has arrived.

Also the info from 'rs-enumerate-devices' tells me the following (no color or fisheye):

Device info: 
    Name                          :     Intel RealSense D430
    Serial Number                 :     827312070061
    Firmware Version              :     05.09.14.00
    Recommended Firmware Version  :     05.09.14.00
    Physical Port                 :     /sys/devices/pci0000:00/0000:00:14.0/usb2/2-5/2-5:1.0/video4linux/video1
    Debug Op Code                 :     15
    Advanced Mode                 :     YES
    Product Id                    :     0AD4
    Usb Type Descriptor           :     3.2

Stream Profiles supported by Stereo Module
 Supported modes:                                      stream     resolution fps   format   
    Infrared 1    1280x800  @ 30Hz  Y8
    Infrared 2    1280x800  @ 30Hz  Y8
    Infrared 2    1280x800  @ 25Hz  Y16
    Infrared 1    1280x800  @ 25Hz  Y16
    Infrared 1    1280x800  @ 15Hz  Y16
    Infrared 2    1280x800  @ 15Hz  Y16
    Infrared 2    1280x800  @ 15Hz  Y8
    Infrared 1    1280x800  @ 15Hz  Y8
    Infrared 1    1280x720  @ 30Hz  Y8
    Infrared 2    1280x720  @ 30Hz  Y8
    Infrared 2    1280x720  @ 15Hz  Y8
    Infrared 1    1280x720  @ 15Hz  Y8
    Infrared 1    1280x720  @ 6Hz   Y8
    Infrared 2    1280x720  @ 6Hz   Y8
    Infrared 2    848x480   @ 90Hz  Y8
    Infrared 1    848x480   @ 90Hz  Y8
    Infrared 1    848x480   @ 60Hz  Y8
    Infrared 2    848x480   @ 60Hz  Y8
    Infrared 1    848x480   @ 30Hz  Y8
    Infrared 2    848x480   @ 30Hz  Y8
    Infrared 2    848x480   @ 15Hz  Y8
    Infrared 1    848x480   @ 15Hz  Y8
    Infrared 2    848x480   @ 6Hz   Y8
    Infrared 1    848x480   @ 6Hz   Y8
    Infrared 2    640x480   @ 90Hz  Y8
    Infrared 1    640x480   @ 90Hz  Y8
    Infrared 1    640x480   @ 60Hz  Y8
    Infrared 2    640x480   @ 60Hz  Y8
    Infrared 1    640x480   @ 30Hz  Y8
    Infrared 2    640x480   @ 30Hz  Y8
    Infrared 1    640x480   @ 15Hz  Y8
    Infrared 2    640x480   @ 15Hz  Y8
    Infrared 2    640x480   @ 6Hz   Y8
    Infrared 1    640x480   @ 6Hz   Y8
    Infrared 1    640x400   @ 25Hz  Y16
    Infrared 2    640x400   @ 25Hz  Y16
    Infrared 1    640x400   @ 15Hz  Y16
    Infrared 2    640x400   @ 15Hz  Y16
    Infrared 1    640x360   @ 90Hz  Y8
    Infrared 2    640x360   @ 90Hz  Y8
    Infrared 1    640x360   @ 60Hz  Y8
    Infrared 2    640x360   @ 60Hz  Y8
    Infrared 2    640x360   @ 30Hz  Y8
    Infrared 1    640x360   @ 30Hz  Y8
    Infrared 2    640x360   @ 15Hz  Y8
    Infrared 1    640x360   @ 15Hz  Y8
    Infrared 2    640x360   @ 6Hz   Y8
    Infrared 1    640x360   @ 6Hz   Y8
    Infrared 1    480x270   @ 90Hz  Y8
    Infrared 2    480x270   @ 90Hz  Y8
    Infrared 2    480x270   @ 60Hz  Y8
    Infrared 1    480x270   @ 60Hz  Y8
    Infrared 1    480x270   @ 30Hz  Y8
    Infrared 2    480x270   @ 30Hz  Y8
    Infrared 2    480x270   @ 15Hz  Y8
    Infrared 1    480x270   @ 15Hz  Y8
    Infrared 1    480x270   @ 6Hz   Y8
    Infrared 2    480x270   @ 6Hz   Y8
    Infrared 1    424x240   @ 90Hz  Y8
    Infrared 2    424x240   @ 90Hz  Y8
    Infrared 2    424x240   @ 60Hz  Y8
    Infrared 1    424x240   @ 60Hz  Y8
    Infrared 2    424x240   @ 30Hz  Y8
    Infrared 1    424x240   @ 30Hz  Y8
    Infrared 1    424x240   @ 15Hz  Y8
    Infrared 2    424x240   @ 15Hz  Y8
    Infrared 1    424x240   @ 6Hz   Y8
    Infrared 2    424x240   @ 6Hz   Y8
    Depth     1280x720  @ 30Hz  Z16
    Depth     1280x720  @ 15Hz  Z16
    Depth     1280x720  @ 6Hz   Z16
    Depth     848x480   @ 90Hz  Z16
    Depth     848x480   @ 60Hz  Z16
    Depth     848x480   @ 30Hz  Z16
    Depth     848x480   @ 15Hz  Z16
    Depth     848x480   @ 6Hz   Z16
    Depth     640x480   @ 90Hz  Z16
    Depth     640x480   @ 60Hz  Z16
    Depth     640x480   @ 30Hz  Z16
    Depth     640x480   @ 15Hz  Z16
    Depth     640x480   @ 6Hz   Z16
    Depth     640x360   @ 90Hz  Z16
    Depth     640x360   @ 60Hz  Z16
    Depth     640x360   @ 30Hz  Z16
    Depth     640x360   @ 15Hz  Z16
    Depth     640x360   @ 6Hz   Z16
    Depth     480x270   @ 90Hz  Z16
    Depth     480x270   @ 60Hz  Z16
    Depth     480x270   @ 30Hz  Z16
    Depth     480x270   @ 15Hz  Z16
    Depth     480x270   @ 6Hz   Z16
    Depth     424x240   @ 90Hz  Z16
    Depth     424x240   @ 60Hz  Z16
    Depth     424x240   @ 30Hz  Z16
    Depth     424x240   @ 15Hz  Z16
    Depth     424x240   @ 6Hz   Z16
dorodnic commented 6 years ago

Hi @jochemverboom What type of camera do you have? Based on the logs, it is not supposed to have color or fish-eye streams.

jochemverboom commented 6 years ago

The camera I have is an Intel D430 sensor module combined with the Intel D4 Board.

dorodnic commented 6 years ago

This combination only supports depth and infrared streams. D435 shares the same depth sensor but adds an RGB on top, and D430 with motion module (product ID 0AD5) has a fish-eye sensor.

jochemverboom commented 6 years ago

Allright that clears it up (will close issue). Thank!