MartyG-RealSense
commented
1 month ago Hi @Angels-Ray Thanks very much for your questions.
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This harmless warning about the power line frequency value is often in the launch logs of RealSense ROS1 wrapper users and can be safely ignored without any consequences.
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I am not aware of the existence of an
enable_roiparameter in the ROS1 wrapper. It is not in the default rs_camera.launch file. There are also not any parameters for setting the dimensions of a ROI in the default rs_camera.launch file.
The ROI can though be defined in the launch file by users by inserting a rosparam code block into the file, like this:
<rosparam>
/camera/stereo_module/auto_exposure_roi/left: 20
/camera/stereo_module/auto_exposure_roi/right: 200
</rosparam>So if you wanted the dimensions to be 0, you could try inserting the above code block with the values both set to 0.
- Depth and color are being published at 15 FPS, yes. This is shown by two lines near the bottom of the log.
[ INFO] [1728682981.381331074]: Expected frequency for depth = 15.00000
[ INFO] [1728682981.392716126]: Expected frequency for color = 15.00000- The issues that you experienced shouldn't affect quality or sync.
In regard to the frame metadata message, this can occur if the librealsense SDK was built from source code, the libuvc backend or RSUSB backend installation methods of building from source code were not used, and a patch script was not applied to the Linux kernel. Patching the kernel is what enables support for metadata.
But if librealsense is built from source code with the flags -dforce_libuvc=true or -dforce_rsusb_backend=true included in the CMake build instruction then metadata support is included in the build of librealsense and it is not necessary to apply a patch script to the kernel.
It is also not necessary to use the patch script if librealsense was installed from packages, as the patch is bundled in the packages and so using a patch script is not required.
Angels-Ray
Issue Description
When launching the RealSense camera using the command
roslaunch realsense2_camera rs_camera.launch, the camera has successfully initialized and is publishing data to the following topics:/camera/depth/image_rect_raw/camera/color/image_rawHowever, despite the camera appearing to function normally, the following errors are still occurring:
Parameter Configuration Error: The power line frequency parameter is set incorrectly, causing it to be removed from dynamic reconfigure options.
Frame Metadata Unavailable: Unable to obtain frame metadata, the system uses system time as the timestamp domain.
Hardware Command Failure: Attempt to set Region of Interest (ROI) failed during hardware command execution.
Launch File Configuration:
The
rs_camera.launchfile includes the following relevant parameters:depth_fps: Set to 15color_fps: Set to 15stereo_module/power_line_frequency: Set to 0 (Disabled)enable_roi: Set to falseroi_x,roi_y,roi_width,roi_height: All set to 0depth_width: Set to 640depth_height: Set to 480color_width: Set to 640color_height: Set to 480initial_reset: Set to trueActual Behavior:
While the camera appears to initialize and publish data to the expected topics, it encounters errors related to power line frequency setting, frame metadata, and ROI configuration.
Questions and Concerns:
enable_roi: false), and if so, why is there an attempt to set ROI parameters?Ros Output: