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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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issue while using opensouce_tracking.launch on raspbery pi 3b with a D435 #1044

Closed LittleMoonMan closed 4 years ago

LittleMoonMan commented 4 years ago

I am trying to make a map for my robot with use of the D435. the guide that i am folowing tells me i need to use opensource_tracking.launch when i use this launch file rivz start up like normal but i dont get a immage (or anything else for that matter) the only moment i get a pointcloud is when i use the demo_pointcloud.launch file. i am new with ROS and realsense so it could be a real dum mistake.

here some more information that might clarify the situation

' `ruudstaal@ruudstaal-desktop:~/emely_ws$ roslaunch realsense2_camera opensource_tracking.launch ... logging to /home/ruudstaal/.ros/log/4ddeccd2-2bd1-11ea-9431-b827ebcfb969/roslaunch-ruudstaal-desktop-10378.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ruudstaal-desktop:36198/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) / ImuFilter (imu_filter_madgwick/imu_filter_node) points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) ukf_se (robot_localization/ukf_localization_node)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [10398] process[camera/realsense2_camera-2]: started with pid [10399] process[ImuFilter-3]: started with pid [10400] process[rtabmap/rgbd_odometry-4]: started with pid [10401] process[rtabmap/rtabmap-5]: started with pid [10402] process[rviz-6]: started with pid [10403] process[points_xyzrgb-7]: started with pid [10404] process[ukf_se-8]: started with pid [10405] type is rtabmap_ros/point_cloud_xyzrgb [ INFO] [1577802746.963268810]: Initializing nodelet with 4 worker threads. [ INFO] [1577802750.400575153]: RealSense ROS v2.2.11 [ INFO] [1577802750.400747861]: Running with LibRealSense v2.30.0 [ INFO] [1577802750.929675872]:
libEGL warning: DRI2: failed to authenticate [ INFO] [1577802751.059822075]: Device with serial number 827312073019 was found.

[ INFO] [1577802751.060354938]: Device with physical ID /sys/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.3/1-1.3:1.0/video4linux/video0 was found. [ INFO] [1577802751.060575510]: Device with name Intel RealSense D435 was found. [ INFO] [1577802751.091125714]: Device with port number 1-1.3 was found.

[ INFO] [1577802751.689555406]: JSON file is not provided [ INFO] [1577802751.689649207]: ROS Node Namespace: camera [ INFO] [1577802751.689751186]: Device Name: Intel RealSense D435 [ INFO] [1577802751.689826446]: Device Serial No: 827312073019 [ INFO] [1577802751.689916758]: Device physical port: /sys/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.3/1-1.3:1.0/video4linux/video0 [ INFO] [1577802751.690009519]: Device FW version: 05.11.15.00 [ INFO] [1577802751.690092747]: Device Product ID: 0x0B07 [ INFO] [1577802751.690168893]: Enable PointCloud: Off [ INFO] [1577802751.690238841]: Align Depth: On [ INFO] [1577802751.690306965]: Sync Mode: On [ INFO] [1577802751.692112897]: Device Sensors: [ INFO] [1577802751.693695130]: Stereo Module was found. [ INFO] [1577802751.694217785]: RGB Camera was found. [ INFO] [1577802751.694728252]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.694988251]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.695082001]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.695168302]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.695254239]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.695336687]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577802751.696366788]: num_filters: 0 [ INFO] [1577802751.696642412]: Setting Dynamic reconfig parameters. [ INFO] [1577802752.135578036]: Starting node... [ INFO] [1577802752.136361627]: Done Setting Dynamic reconfig parameters. [ INFO] [1577802752.374549789]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1577802752.376385564]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8 [ WARN] [1577802752.377563425]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Width: 640, Height: 480, FPS: 30 [ INFO] [1577802752.390095411]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1577802752.957108080]: Initializing nodelet with 4 worker threads. [ INFO] [1577802752.961109107]: Expected frequency for depth = 30.00000 [ INFO] [1577802752.964733834]: Initializing nodelet with 4 worker threads. [ INFO] [1577802753.486240624]: Expected frequency for infra1 = 30.00000 [ INFO] [1577802753.678740876]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1577802753.864917713]: Expected frequency for color = 30.00000 [ INFO] [1577802754.038720688]: Expected frequency for aligned_depth_to_color = 30.00000

[ INFO] [1577802754.217218282]: insert Depth to Stereo Module [ INFO] [1577802754.218586194]: insert Color to RGB Camera [ INFO] [1577802754.219149994]: insert Infrared to Stereo Module [ INFO] [1577802754.278622022]: SELECTED BASE:Depth, 0 [ INFO] [1577802754.384670343]: RealSense Node Is Up! 31/12 15:32:34,420 WARNING [1775236128] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to the installation chapter for details. 31/12 15:32:34,452 WARNING [1712301088] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to the installation chapter for details. [ WARN] [1577802754.486407689]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) [ INFO] [1577802756.326217029]: Approximate time sync = true [ WARN] [1577802757.141963868]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802759.144852009]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802761.147988277]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802763.004327779]: Messages of type 0 arrived out of order (will print only once) [ WARN] [1577802763.150354657]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ INFO] [1577802763.549766625]: Odometry: frame_id = camera_link [ INFO] [1577802763.550083238]: Odometry: odom_frame_id = odom [ INFO] [1577802763.550275425]: Odometry: publish_tf = true [ INFO] [1577802763.550416466]: Odometry: wait_for_transform = true [ INFO] [1577802763.550570007]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1577802763.550886412]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1577802763.551074016]: Odometry: ground_truth_frame_id = [ INFO] [1577802763.551213182]: Odometry: ground_truth_base_frame_id = [ INFO] [1577802763.551352557]: Odometry: config_path = [ INFO] [1577802763.551500108]: Odometry: publish_null_when_lost = true [ INFO] [1577802763.551644691]: Odometry: guess_frame_id = [ INFO] [1577802763.551800524]: Odometry: guess_min_translation = 0.000000 [ INFO] [1577802763.551936200]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1577802763.552064585]: Odometry: guess_min_time = 0.000000 [ INFO] [1577802763.552197866]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1577802763.553776298]: Odometry: wait_imu_to_init = false [ INFO] [1577802763.876217758]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1577802763.876459892]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1577802763.876556715]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1577802763.876630881]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1577802763.876695673]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1577802763.876764422]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1577802763.876840932]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1577802763.876915307]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1577802763.911777788]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1577802764.504757506]: rtabmap: frame_id = camera_link [ INFO] [1577802764.505432087]: rtabmap: map_frame_id = map [ INFO] [1577802764.505853336]: rtabmap: use_action_for_goal = false [ INFO] [1577802764.506190887]: rtabmap: tf_delay = 0.050000 [ INFO] [1577802764.506515313]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1577802764.506838645]: rtabmap: odom_sensor_sync = false [ WARN] [1577802765.171877275]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802767.173923246]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ INFO] [1577802769.104593642]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1577802769.111341899]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ WARN] [1577802769.179177232]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802771.182278260]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ INFO] [1577802771.765002133]: RGBDOdometry: approx_sync = true [ INFO] [1577802771.765674891]: RGBDOdometry: queue_size = 10 [ INFO] [1577802771.766220931]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1577802771.766667700]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1577802772.083359704]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/color/image_raw, /camera/aligned_depth_to_color/image_raw, /camera/color/camera_info [ WARN] [1577802773.186436892]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [rtabmap/rgbd_odometry-4] process has died [pid 10401, exit code -11, cmd /home/ruudstaal/emely_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom name:=rgbd_odometry __log:=/home/ruudstaal/.ros/log/4ddeccd2-2bd1-11ea-9431-b827ebcfb969/rtabmap-rgbd_odometry-4.log]. log file: /home/ruudstaal/.ros/log/4ddeccd2-2bd1-11ea-9431-b827ebcfb969/rtabmap-rgbd_odometry-4*.log [ WARN] [1577802775.186683771]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ WARN] [1577802777.197943948]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error [ INFO] [1577802778.162226268]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1577802778.167206563]: rtabmap: Deleted database "/home/ruudstaal/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1577802778.167559843]: rtabmap: Using database from "/home/ruudstaal/.ros/rtabmap.db" (0 MB). [rtabmap/rtabmap-5] process has died [pid 10402, exit code -11, cmd /home/ruudstaal/emely_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=odom imu:=/imu/data name:=rtabmap __log:=/home/ruudstaal/.ros/log/4ddeccd2-2bd1-11ea-9431-b827ebcfb969/rtabmap-rtabmap-5.log]. log file: /home/ruudstaal/.ros/log/4ddeccd2-2bd1-11ea-9431-b827ebcfb969/rtabmap-rtabmap-5*.log [ WARN] [1577802779.208240123]: Hardware Notification:USB SCP overflow,1.5778e+12,Error,Hardware Error `

Screenshot at 2019-12-31 15-34-53 Screenshot at 2019-12-31 15-36-24

MartyG-RealSense commented 4 years ago

Are you using the guide for the D435i camera model in the link below please?

https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

The D435 does not contain an 'IMU' tracking hardware component that the D435i ( 'i' for IMU) has.

For SLAM mapping with an IMU-less D435, the SLAM software 'ORB_SLAM2' may be a good choice. The link below has a guide to using it with ROS.

http://wiki.ros.org/orb_slam2_ros

And here is a discussion on using it with a D435, ROS and Rviz.

https://github.com/ethz-asl/voxblox/issues/184

LittleMoonMan commented 4 years ago

thank you for your help

i was not using a D435i but a D435. with the new package i was able to get some dots on my screen (after that my raspberry overheated). do you know sombody that was able to make a map with a raspberry or am i pushing it to a limit with it.

MartyG-RealSense commented 4 years ago

You could try offloading some of the CPU's work onto the GPU using a Librealsense technique called GLSL Processing Blocks and see if distributing the workload reduces your Pi's temperature.

https://github.com/IntelRealSense/librealsense/pull/3654

The Pi 3 and models before it use a VideoCore IV GPU, whilst the new Pi 4 uses a more powerful VideoCore VI GPU.

A low-power development board such as Pi may struggle with computing SLAM, even with just one camera attached (though as you found, it should be able to handle a one-camera setup). The discussion in the link below addresses the subject of using SLAM on low-power boards.

https://github.com/IntelRealSense/librealsense/issues/3218

If your robot can accommodate a larger board and you have the budget for it, the Up Squared is an excellent powerful choice of development board to pair with a 400 Series camera.

The Pi 4, which is a similar low price to the Pi 3 and offers desktop-level performance, is also becoming a popular option for RealSense users. It is also the first Pi to have USB 3, enabling RealSense cameras to access their full capabilities on a Pi for the first time.

LittleMoonMan commented 4 years ago

in my research with the raspberry pi 4 I coudent find a version of ubuntu (mate) that was compatible with ROS. Did i mis some thing or are people using different programs?

MartyG-RealSense commented 4 years ago

The RealSense ROS wrapper officially has compatibility with ROS Indigo (14.04) and Kinetic (16.04). Some users have said that the wrapper's instructions work too with Melodic (18.04).

I rarely hear of Ubuntu MATE being used (it was recommended by Intel for use with Raspberry Pi 3 Model B). As Pi 4 is more powerful and can provide desktop-level performance, it may be beter to use one of the mainstream Ubuntu versions such as 18.04 with the ROS wrapper if possible.

RealSenseCustomerSupport commented 4 years ago

@LittleMoonMan Any other questions for this ticket? Looking forward to your reply. Thanks!

RealSenseCustomerSupport commented 4 years ago

@LittleMoonMan Any update from your side? Will close the issue if no other questions. Thanks!

RealSenseCustomerSupport commented 4 years ago

@LittleMoonMan Could you please update if you still need support on this? Thanks!