PointCloud for local costmap

[Cavalletta98]

Required Info
Camera Model	D435i
Firmware Version	5.15.1
Operating System & Version	Ubuntu 22.04
Kernel Version (Linux Only)	5.15.0
Platform	PC
Librealsense SDK Version	2.55.1
Language	{C/C#/labview/opencv/pcl/python/unity }
Segment	Robot
ROS Distro	Humble
RealSense ROS Wrapper Version	4.55.1

Issue Description

I'm trying to use the PointCloud from the camera to build a local costmap into Nav2. The plugin that i'm using is the voxel layer. This is the nav2 configuration file: nav2.zip The problem is that the costmap is empty even if there are obstacles in front of the camera. Can someone could help me?

[MartyG-RealSense]

Hi @Cavalletta98 There is a similar sounding /nav2 case at https://github.com/ros-navigation/navigation2/issues/3241 with an empty local costmap that is not detecting obstacles. Is there anything in that link that is helpful to you, please?

[Cavalletta98]

Hi @MartyG-RealSense the discussion is very old. I noticed that, when i launch the nav2 stack, i'm getting this warning into the Realsense driver: No stream match for pointcloud chosen texture Process - Color Probably this is why i'm getting the empty costamp. Do you know how to solve?

[MartyG-RealSense]

The message No stream match for pointcloud chosen texture Process - Color means that color frames are being dropped, typically because of instability of the color stream such as a fluctuating FPS speed.

Plese try adding the parameters enable_infra1:=true pointcloud.stream_filter:=1 to your ROS2 launch instruction to texture the pointcloud with the infrared topic instead of the color topic to see whether the costmap can then be displayed.

ros2 launch realsense2_camera rs_launch.py enable_infra1:=true pointcloud.stream_filter:=1

[Cavalletta98]

realsense.zip This is my configuration file for the camera. With this, the warning is no more present but still two problems:

1. The rgb camera resolution is not the one that i specified: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
2. The costamp is still empty

[MartyG-RealSense]

In your ROS launch log, does the line Device USB type have 2.1 or 3.1 beside it? If it is 2.1 then this would mean that the camera is being detected as being on a USB 2.1 connection.

If you were trying to set the configuration 1280x720 at 30 FPS then this would be rejected as invalid by the launch on a USB 2.1 connection, as 2.1 only supports 6 FPS for that resolution on a D435i.

[Cavalletta98]

I will make a try. In the meanwhile i discovered that when i launch nav2 and the slam, the cpu on the robot pc goes to 95% of usage. I'm now moving all the nav2 stuffs on an external pc. I will see if it will fix all the problems. I will let you know

[MartyG-RealSense]

Thanks very much for the update. I look forward to your next report. Good luck!

[Cavalletta98]

Hi @MartyG-RealSense i moved all the nav2 stuffs on another pc but still having the problem on empty costmap when using only the relasense camera. I shared with you the configuration used for the camera. Do you have some ideas? the same nav2 configuration is working with the simulated realsense realsense.zip Moreover, there is no more the log that i sended to you on the camera driver

[MartyG-RealSense]

I do not have any knowledge about nav2 or costmaps, unfortunately.

[Cavalletta98]

No problem, thanks a lot