MartyG-RealSense
commented
2 weeks ago Hi @TDVL When you used the sudo apt-get install ros-$ROS_DISTRO-realsense2-camera command to install the ROs1 wrapper for Noetic, had you already installed the librealsense SDK? The sudo apt-get instruction installs both librealsense and the wrapper at the same time. So if you had already installed the SDK, you could end up with two conflicting installations of librealsense on the same computer.
I cannot see any errors in the procedure that you used to build the wrapper in the catkin workspace with Method 2. There could again be conflicts though if you had already installed the wrapper with apt-get before doing a source code build.
If possible to do so then I would recommend wiping your storage and installing everything again from the beginning including Ubuntu 20.04. This will help to ensure that there are not hidden tangles that are causing conflicts and preventing the wrapper from working correctly.
You can configure the stream resolution and FPS from the launch instruction instead of editing the launch file by specifying three factors for each stream type - width, height and FPS. For example, to set both depth and color streams to 640x480 resolution and 30 FPS and enable the pointcloud:
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30 filters:=pointcloud
TDVL
Shrioe
Dear Support Team, I have a RealSense D435 camera, I have installed Ubuntu 20.04 and ROS Noetiuc, since I need to start the camera in ROS environment to later do the mapping with RTABMap. I have installed the camera and its drivers using this link and the camera works well, the RealSense Viewer starts. https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages
Later, I have tried to install the ROS package for RealSense cameras using this link with these steps in Terminal in catkin_ws folder:
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/ git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout
git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1cd .. catkin_init_workspace cd .. catkin_make clean catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrcAfter I have launched the ROS package using "roslaunch realsense2_camera rs_camera.launch" in Terminal, I have got the next error:
laci@laci-Inspiron-3881:~$ cd catkin_ws laci@laci-Inspiron-3881:~/catkin_ws$ source devel/setup.bash laci@laci-Inspiron-3881:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/laci/.ros/log/a94fb65c-2aec-11ef-a4a5-d1260e01d327/roslaunch-laci-Inspiron-3881-3589.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://laci-Inspiron-3881:46189/
SUMMARY
PARAMETERS
NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [3603] process[camera/realsense2_camera-2]: started with pid [3604] [ INFO] [1718438170.016560413]: Initializing nodelet with 16 worker threads. [ERROR] [1718438170.033963650]: Failed to load nodelet [/camera/realsense2_camera] of type [realsense2_camera/RealSenseNodeFactory] even after refreshing the cache: Could not find library corresponding to plugin realsense2_camera/RealSenseNodeFactory. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ERROR] [1718438170.033979148]: The error before refreshing the cache was: Could not find library corresponding to plugin realsense2_camera/RealSenseNodeFactory. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [FATAL] [1718438170.034104860]: Failed to load nodelet '/camera/realsense2_camera
of typerealsense2_camera/RealSenseNodeFactoryto managerrealsense2_camera_manager' [camera/realsense2_camera-2] process has died [pid 3604, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/laci/.ros/log/a94fb65c-2aec-11ef-a4a5-d1260e01d327/camera-realsense2_camera-2.log]. log file: /home/laci/.ros/log/a94fb65c-2aec-11ef-a4a5-d1260e01d327/camera-realsense2_camera-2*.logSomething is wrong, but I cannot find the solution on forums. Please, what is the problem? Please, help me to start the D435 in ROS Noetic for pointcloud publication. Please, can you provide me the exact steps in Terminal for ROS Noetic RealSense package installation in catkin_ws and use? Also, in which launch file can I change the depth resolution, FPS, min and max depth range for visualization and the color stream resolution?
Also, previously I have tried the installation using the "sudo apt-get install ros-$ROS_DISTRO-realsense2-camera" and later the "sudo apt-get install ros-$ROS_DISTRO-realsense2-description" and I have got the warnings and errors provided in the image fsKVoedp0Y7kpHvJ.png . The point cloud was not visible, and I need the pointcloud for the RTABMap. Later, the Ubuntu crashed, and I tried the previously described installation. Also, using the "sudo" command is it possible to install the RealSense package in catkin_ws, since after using this option, the realsense folder was not in catkin_ws.
I am not an Ubuntu and ROS user, I only need to start the D435 in ROS Noetic with the RTABMap ROS Noetic package. I hope you can help me with this. Previously, I have used the D435 in Windows to record depth images (not pointclouds) without problems, however now I have a problem. I am trying more than a week, and I cannot start the camera in ROS Noetic. Thank you advance. Best regads