MartyG-RealSense
commented
2 years ago Hi @vivek2019 I note the warning UVC metadata payloads not available. Please refer to the installation chapter for details in your log. This would indicate that your librealsense SDK installation has not had its kernel patched.
May I ask which methods you used to install the librealsense SDK and the RealSense ROS wrapper on your Jetson Nano, please? For example, if your librealsense installation was built from source code then Jetson devices have their own dedicated L4T kernel patching script called patch-realsense-ubuntu-L4T.sh and so patching the kernel using the 'patch-realsense-ubuntu-lts.sh' script would not be suitable.
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
vivekmange56
Hello
I am using Realsense D455, with Nano (Jetpack 4.6)
I am facing issues when testing PCL with the above device. I am using the rs_camera.launch file. When enabling PCL as true, There is NO PCL and NO Color Image and Drop in Depth images from 30 to 15-12hz
I have tested the above above files with below configurations
Librealsense version ---- Realsense ros ----- fw version
2.51 ---- 2.3.1/2.3.2/development ---- [5.13.0.50] / 5.12.14.50
2.50 ---- 2.3.1/2.3.2/development ---- [5.13.0.50] / 5.12.14.50
2.48 ---- 2.3.1/2.3.2 ---- [5.13.0.50] / 5.12.14.50
2.45 ---- 2.3.0 ---- 5.12.13.50
ROS output
... logging to /home/uvrobot/.ros/log/da6c2594-38d2-11ed-aa09-00044be67567/roslaunch-uvrobot-desktop-11154.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.10:43049/
SUMMARY
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
auto-starting new master process[master]: started with pid [11164] ROS_MASTER_URI=http://192.168.0.10:11311
setting /run_id to da6c2594-38d2-11ed-aa09-00044be67567 process[rosout-1]: started with pid [11177] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [11194] process[camera/realsense2_camera-3]: started with pid [11195] [ INFO] [1663671381.205168485]: Initializing nodelet with 4 worker threads. [ INFO] [1663671381.497208331]: RealSense ROS v2.3.0 [ INFO] [1663671381.497301046]: Built with LibRealSense v2.45.0 [ INFO] [1663671381.497372457]: Running with LibRealSense v2.45.0 [ INFO] [1663671381.555979212]:
[ INFO] [1663671381.638543100]: Device with serial number 151422253770 was found.
[ INFO] [1663671381.638759314]: Device with physical ID /sys/devices/70090000.xusb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found. [ INFO] [1663671381.639027145]: Device with name Intel RealSense D455 was found. [ INFO] [1663671381.640388701]: Device with port number 2-1.1 was found. [ INFO] [1663671381.640542306]: Device USB type: 3.2
[ INFO] [1663671381.932563870]: JSON file is not provided [ INFO] [1663671381.932649292]: ROS Node Namespace: camera [ INFO] [1663671381.932737476]: Device Name: Intel RealSense D455 [ INFO] [1663671381.932816492]: Device Serial No: 151422253770 [ INFO] [1663671381.932919781]: Device physical port: /sys/devices/70090000.xusb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 [ INFO] [1663671381.933000828]: Device FW version: 05.13.00.50 [ INFO] [1663671381.933079948]: Device Product ID: 0x0B5C [ INFO] [1663671381.933261159]: Enable PointCloud: On [ INFO] [1663671381.933340332]: Align Depth: Off [ INFO] [1663671381.933403149]: Sync Mode: On [ INFO] [1663671381.933572900]: Device Sensors: [ INFO] [1663671381.977119408]: Stereo Module was found. [ INFO] [1663671382.021415966]: RGB Camera was found. [ INFO] [1663671382.022728143]: Motion Module was found. [ INFO] [1663671382.022848308]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1663671382.022943419]: Add Filter: pointcloud [ INFO] [1663671382.024344405]: num_filters: 1 [ INFO] [1663671382.024436703]: Setting Dynamic reconfig parameters. [ WARN] [1663671382.323709773]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 200000]. Removing this parameter from dynamic reconfigure options. [ WARN] [1663671382.328863579]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options. [ WARN] [1663671382.394532286]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options. [ INFO] [1663671382.450775162]: Done Setting Dynamic reconfig parameters. [ INFO] [1663671382.452329180]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1663671382.454025551]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1663671382.463925373]: Expected frequency for depth = 30.00000 [ INFO] [1663671382.576244865]: Expected frequency for color = 30.00000
[ INFO] [1663671382.673420512]: insert Depth to Stereo Module [ INFO] [1663671382.673576200]: insert Color to RGB Camera [ INFO] [1663671382.870025510]: SELECTED BASE:Depth, 0 [ INFO] [1663671382.916736038]: RealSense Node Is Up! [ WARN] [1663671382.952390255]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 20/09 16:26:22,950 WARNING [546823872896] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details. 20/09 16:26:23,269 WARNING [546834710912] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details. ^C[camera/realsense2_camera-3] killing on exit [camera/realsense2_camera_manager-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete