roslaunch realsense2_camera opensource_tracking.launch

[EduardoQD]

Hello,

I'm trying to run this command in ROS2, with ros2 run realsense2_camera opensource_tracking.launch. But I didn't find this script in the file even in the folders to ROS1.

I would like to run the VSLAM in ROS2 if it's possible.

[MartyG-RealSense]

Hi @EduardoQD opensource_tracking.launch is only on the ROS1 wrapper, unfortunately. Of the limited number of available information resources about using SLAM with RealSense and ROS2, they have typically involved using a combination of slam_toolbox and depthimage_to_laserscan, as described at https://github.com/IntelRealSense/realsense-ros/issues/2387

In the ROS1 wrapper, opensource_tracking.launch is on the ros1-legacy branch of the wrapper at the folder location linked to below.

https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy/realsense2_camera/launch

[EduardoQD]

So, are you advise me to install ros1 instead ros2 if i want to use the VSLAM?

[MartyG-RealSense]

The ROS1 wrapper will be an easier method of implementing SLAM with RealSense than the ROS2 wrapper. Intel have a ROS1 SLAM guide that makes use of opensource_tracking.launch:

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

[MartyG-RealSense]

Hi @EduardoQD Do you require further assistance with this case, please? Thanks!

[EduardoQD]

Yes, I need help because I want to run the VSLAM in my robot

[EduardoQD]

I would like to use my d435i with slam_toolbox, firstly to create a map and after that to navigate with my robot. I'm using ROS2 foxy. Is it possible that idea?

[MartyG-RealSense]

For a ROS2 SLAM solution, RealSense users of ROS2 have typically combined slam_toolbox with depthimage_to_laserscan.

https://github.com/ros-perception/depthimage_to_laserscan

https://github.com/IntelRealSense/realsense-ros/issues/2387 is an example of doing this with Foxy.

[EduardoQD]

I have problems trying to install the package depthimage_to_laserscan when I make colcon build. I don't know where is the problem?

[MartyG-RealSense]

Do you know which ROS branch you are building depthimage_to_laserscan for, please?

The default is ROS1 Melodic.

https://github.com/ros-perception/depthimage_to_laserscan/

The newest version is the ROS2 version at ros2

https://github.com/ros-perception/depthimage_to_laserscan/tree/ros2

[EduardoQD]

Yes I've downloaded the second link in my workspace but I'm don' know why it's failing

[MartyG-RealSense]

If you are using Foxy, does the commands below to install the foxy_devel branch of depthimage_to_laserscan work?

source /opt/robot_devkit/robot_devkit_setup.bash
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/ros-perception/depthimage_to_laserscan -b foxy-devel
cd .. && colcon build
source ~/ros2_ws/install/local_setup.bash

These instructions are based on ones at the guide below.

https://intel.github.io/robot_devkit_doc/pages/rs_slam.html#slam-with-realsense

[EduardoQD]

I solved it with sudo apt get install ros-foxy-depthimage-to-laserscan.

But now I have this problem, Because it seems that the commando that you send me it worked good

Now I have this graph on ros2

But I have this problem with the map topic:

eduardo@eduardo-CM11EBV716W:~/ros2_ws$ ros2 launch depthimage_to_laserscan depthimage_to_laserscan-launch.py

[INFO] [launch]: All log files can be found below /home/eduardo/.ros/log/2023-03-21-12-23-46-115488-eduardo-CM11EBV716W-18344

[INFO] [launch]: Default logging verbosity is set to INFO

/opt/ros/foxy/share/depthimage_to_laserscan/launch/depthimage_to_laserscan-launch.py:27: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead

Node(

/opt/ros/foxy/share/depthimage_to_laserscan/launch/depthimage_to_laserscan-launch.py:27: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead

Node(

[INFO] [depthimage_to_laserscan_node-1]: process started with pid [18346]

[MartyG-RealSense]

A warning that something is 'deprecated' often means that it is supported and still works but may not be supported in the future so an alternative is recommended. It should still work with Foxy though despite the warning messages.

It looks as though the warnings are suggesting to edit the depthimage_to_laserscan-launch.py launch file to change 'node_executable' to 'executable' and 'node_name' to 'name'.

https://github.com/ros-perception/depthimage_to_laserscan/blob/foxy-devel/launch/depthimage_to_laserscan-launch.py#L29-L30

[EduardoQD]

Hello @MartyG-RealSense ,

I've solved this problem, but now I have a problem with the tree, because I have some warnings in rviz2.

The tree is the following:

How can I change it? Because the odom needs the data from the camera.

[MartyG-RealSense]

If you have no odom, you may need to enable the IMU topics accel and gyro in your launch, as they are disabled by default in the RealSense ROS wrapper. You can do so in the ROS2 4.51.1 wrapper by adding the commands below onto the end of the launch instruction.

enable_gyro:=true enable_accel:=true unite_imu_method:=2

If the older ROS2 wrapper ros2-legacy is being used then use this instruction instead:

enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation

[EduardoQD]

I've launched with these options: ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=2

I've gotten these logs from the camera node:

eduardo@eduardo-CM11EBV716W:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=2

[INFO] [launch]: All log files can be found below /home/eduardo/.ros/log/2023-03-22-10-28-28-084283-eduardo-CM11EBV716W-10548 

[INFO] [launch]: Default logging verbosity is set to INFO 

[INFO] [realsense2_camera_node-1]: process started with pid [10550] 

[realsense2_camera_node-1] [INFO] [1679477308.290963574] [camera.camera]: RealSense ROS v4.51.1 

[realsense2_camera_node-1] [INFO] [1679477308.291147131] [camera.camera]: Built with LibRealSense v2.53.1 

[realsense2_camera_node-1] [INFO] [1679477308.291170063] [camera.camera]: Running with LibRealSense v2.53.1 

[realsense2_camera_node-1] [INFO] [1679477308.303011818] [camera.camera]: Device with serial number 838412070540 was found. 

[realsense2_camera_node-1]  

[realsense2_camera_node-1] [INFO] [1679477308.303083913] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found. 

[realsense2_camera_node-1] [INFO] [1679477308.303098752] [camera.camera]: Device with name Intel RealSense D435 was found. 

[realsense2_camera_node-1] [INFO] [1679477308.303369759] [camera.camera]: Device with port number 2-1 was found. 

[realsense2_camera_node-1] [INFO] [1679477308.303386486] [camera.camera]: Device USB type: 3.2 

[realsense2_camera_node-1] [INFO] [1679477308.304888914] [camera.camera]: getParameters... 

[realsense2_camera_node-1] [INFO] [1679477308.307018235] [camera.camera]: JSON file is not provided 

[realsense2_camera_node-1] [INFO] [1679477308.307065458] [camera.camera]: Device Name: Intel RealSense D435 

[realsense2_camera_node-1] [INFO] [1679477308.307083735] [camera.camera]: Device Serial No: 838412070540 

[realsense2_camera_node-1] [INFO] [1679477308.307097642] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 

[realsense2_camera_node-1] [INFO] [1679477308.307112222] [camera.camera]: Device FW version: 05.14.00.00 

[realsense2_camera_node-1] [INFO] [1679477308.307125355] [camera.camera]: Device Product ID: 0x0B07 

[realsense2_camera_node-1] [INFO] [1679477308.307137826] [camera.camera]: Sync Mode: Off 

[realsense2_camera_node-1] [INFO] [1679477308.320069158] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30 

[realsense2_camera_node-1] [WARN] [1679477308.321444726] [camera.camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range. 

[realsense2_camera_node-1]  22/03 10:28:28,321 WARNING [140516462909184] (backend-v4l2.cpp:1780) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! 

[realsense2_camera_node-1] [INFO] [1679477308.327396406] [camera.camera]: Set ROS param rgb_camera.profile to default: 640x480x30 

[realsense2_camera_node-1] [INFO] [1679477308.333618325] [camera.camera]: Stopping Sensor: Stereo Module 

[realsense2_camera_node-1] [INFO] [1679477308.337900121] [camera.camera]: Starting Sensor: Stereo Module 

[realsense2_camera_node-1] [INFO] [1679477308.346591964] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30 

[realsense2_camera_node-1] [INFO] [1679477308.346764059] [camera.camera]: Stopping Sensor: RGB Camera 

[realsense2_camera_node-1] [INFO] [1679477308.357487949] [camera.camera]: Starting Sensor: RGB Camera 

[realsense2_camera_node-1] [INFO] [1679477308.359239306] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 30 

[realsense2_camera_node-1] [INFO] [1679477308.359642728] [camera.camera]: RealSense Node Is Up! 

[realsense2_camera_node-1] [WARN] [1679477308.476263814] [camera.camera]: 

I still get this graph from the tf2:

[MartyG-RealSense]

The launch log looks fine.

My knowledge of TF charts is limited though, especially in ROS2. The only diagram I know of that resembles yours is one at https://github.com/IntelRealSense/librealsense/issues/5827#issuecomment-584557825

So I think that in the case of your chart, the linkage order would be map > odom > camera_link. I am not certain of this though. I do apologize.

[EduardoQD]

Thanks for the information, but i think that the IMU hasn't started because if I see the topics that I have:

/camera/color/camera_info 

/camera/color/image_raw 

/camera/color/image_raw/compressed 

/camera/color/image_raw/compressedDepth 

/camera/color/metadata 

/camera/depth/camera_info 

/camera/depth/color/points 

/camera/depth/image_rect_raw 

/camera/depth/image_rect_raw/compressed 

/camera/depth/image_rect_raw/compressedDepth 

/camera/depth/metadata 

/camera/extrinsics/depth_to_color 

/camera/imu 

/clock 

/map 

/map_metadata 

/parameter_events 

/rosout 

/scan 

/slam_toolbox/feedback 

/slam_toolbox/graph_visualization 

/slam_toolbox/scan_visualization 

/slam_toolbox/update 

/tf 

/tf_static 

I miss these ones:

/camera/accel/imu_info
/camera/accel/metadata
/camera/accel/sample
/camera/extrinsics/depth_to_accel
/camera/extrinsics/depth_to_gyro
/camera/gyro/imu_info
/camera/gyro/metadata
/camera/gyro/sample

[MartyG-RealSense]

Looking at your launch log again, it does seem to be ignoring the IMU and just enabling depth and color. It should say something like this in the 4.51.1 wrapper when IMU is enabled.

Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1670472578.175258668] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[realsense2_camera_node-1] [INFO] [1670472578.175413741] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200

Are you able to access the RealSense Viewer tool and check in that whether the Motion Module is able to work?

[EduardoQD]

Yes I have acces the RealSense Viewer.

How can I check the Motion Module?

[MartyG-RealSense]

If IMU is supported then expanding open the Stereo Module category in the options side-panel should show a Motion Module section.

Can you also confirm that your camera model is a D435i please, as a D415 or D435 / D435f does not have an IMU.

[EduardoQD]

I have this version: I think that its the d435 So I cant' use it forr vslam rigth ?

[MartyG-RealSense]

Correct, the D435 is not equipped with a Motion Module. A D435i or D455 will be required.

[MartyG-RealSense]

Though it is possible to use an external IMU with ROS.

[EduardoQD]

So I have to get one of these. or I see in some repositories that use the VSLAM with tow camera, one d435 and the other T265

[EduardoQD]

How can I use an external IMU with ROS2?

[MartyG-RealSense]

You could use a T265 with the RealSense ROS wrapper. The T265 is still available but it is a retired camera model and so is only available whilst remaining stocks last. The ROS2 wrapper front page also has a note about removing T265. So an external IMU may be a safer choice.

https://store.intelrealsense.com/buy-intel-realsense-tracking-camera-t265.html

My expectation is that an external IMU's data would be published on an /imu/data topic and the topic would be subscribed to in order to access its data. External IMUs are not often discussed on this RealSense ROS forum though.

[EduardoQD]

I see your view but I think that the VSLAM needs the data from the IMU and if I haven't these data the mapping and navigation are not going to work .

What is your point of view about that?

[MartyG-RealSense]

If you need Visual SLAM then the T265 may be worth considering as it is designed exactly for that application.

https://dev.intelrealsense.com/docs/intel-realsensetm-visual-slam-and-the-t265-tracking-camera

As mentioned above, a disadvantage may be that you have to keep using the same SDK and ROS wrapper version permanently if support for T265 is removed in a future SDK.

[EduardoQD]

Thank you for everything, but I think that the best way is to change other algorithm for instace ORBSLAM What do you reckon?

[MartyG-RealSense]

The link below of an ORB-SLAM2 session with a RealSense D415 (no IMU) should help you to decide whether ORB-SLAM on D435 can meet your SLAM requirements.

https://www.youtube.com/watch?v=yl6MgnYNDE8

[MartyG-RealSense]

Hi @EduardoQD Do you require further assistance with this case, please? Thanks!

[EduardoQD]

Hello @MartyG-RealSense , I'm trying to install ORBSLAM but I'm having a lot of problems in the instalation. i don't know why because I'm following the steps of the repository. https://github.com/Mauhing/ORB_SLAM3/blob/master/README.md

[MartyG-RealSense]

It appears that the version of ORB-SLAM3 in that link is a copy that was 'forked' from the original repository, which has been updated more recently than the fork (2 years ago instead of 3 years). So it may be worth attempting to install the original version using its instructions.

https://github.com/UZ-SLAMLab/ORB_SLAM3

[EduardoQD]

Do you think that with this repository the git clones are referenced with the curently repositories?

[MartyG-RealSense]

The repository's branch name is Master, indicating that it is the current version.

[MartyG-RealSense]

Hi @EduardoQD Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.

[EduardoQD]

I' ve just installed the orbslam3 with out ros and now I have to launch with my camera. Do you know any tutoial about that ?

[MartyG-RealSense]

Hi @EduardoQD ORB-SLAM3 has some RealSense examples for the D435i camera model in its Examples folder.

https://github.com/UZ-SLAMLab/ORB_SLAM3#4-running-orb-slam3-with-your-camera

[EduardoQD]

Hi, @MartyG-RealSense I'll check it and I'll tell you the news.

[MartyG-RealSense]

Thanks very much. Good luck!