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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Can't not display compressed RGB in RViz2 #3256

Open yeyiru opened 4 hours ago

yeyiru commented 4 hours ago
Required Info
Camera Model { D435}
Firmware Version (5.16.0.1)
Operating System & Version { Docker ubuntu22.04 in Jeston Orin }
Kernel Version (Linux Only) (e.g. 5.4)
Platform NVIDIA Jetson Orin
Librealsense SDK Version { 2.55.1}
Language {C/C#/labview/opencv/pcl/python/unity }
Segment {Robot/Smartphone/VR/AR/others }
ROS Distro {Humble}
RealSense ROS Wrapper Version {ros2-master}

Issue Description

I encountered a similar issue to the one described in https://github.com/IntelRealSense/realsense-ros/issues/3111#issue-2320092004, but I couldn't find a solution from the provided information.

Start Node use this command:

ros2 launch realsense2_camera rs_launch.py rgb_camera.color_profile:=1920x1080x30 pointcloud.enable:=false enable_depth:=false rgb_camera.color_format:='BGR8'

Here's the full output:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-11-18-12-25-54-407988-ubuntu-1626993
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [1627052]
[realsense2_camera_node-1] [INFO] [1731903954.724520403] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1731903954.724775894] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1731903954.724830167] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1731903954.769832810] [camera.camera]: Device with serial number 825312071830 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1731903954.769963403] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1731903954.769992044] [camera.camera]: Device with name Intel RealSense D435 was found.
[realsense2_camera_node-1] [INFO] [1731903954.770310736] [camera.camera]: Device with port number 2-2 was found.
[realsense2_camera_node-1] [INFO] [1731903954.770344368] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1731903954.770457169] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1731903954.771488573] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1731903954.771531934] [camera.camera]: Device Name: Intel RealSense D435
[realsense2_camera_node-1] [INFO] [1731903954.771556478] [camera.camera]: Device Serial No: 825312071830
[realsense2_camera_node-1] [INFO] [1731903954.771573822] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-2/2-2:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1731903954.771588991] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1731903954.771602239] [camera.camera]: Device Product ID: 0x0B07
[realsense2_camera_node-1] [INFO] [1731903954.771614943] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1731903954.945248608] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1731903954.947007893] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1731903954.957839924] [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] [WARN] [1731903954.973799921] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1731903954.974461400] [camera.camera]: re-enable the color stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1731903954.982440631] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1731903955.013739464] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1731903955.028787834] [camera.camera]: Open profile: stream_type: Color(0), Format: BGR8, Width: 1920, Height: 1080, FPS: 30
[realsense2_camera_node-1] [INFO] [1731903955.032407236] [camera.camera]: RealSense Node Is Up!

I can get these topics:

/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/image_raw/camera_info
/camera/camera/color/image_raw/compressed
/camera/camera/color/image_raw/compressedDepth
/camera/camera/color/image_raw/theora
/camera/camera/color/metadata
/camera/camera/extrinsics/depth_to_color

If I echo /camera/camera/color/image_raw/camera_info no output If I echo /camera/camera/color/camera_info the camera's parameters can be output normally.

In rviz2, if I subscribe /camera/camera/color/image_raw/compressed nothing was shown

image image

I got the warning: Camera Info Expecting Camera Info on topic [/camera/camera/color/image_raw/camera_info]. No CameraInfo received. Topic may not exist.

Here is the rviz2 output in terminal:

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1731904743.348072984] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1731904743.348235194] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[INFO] [1731904743.374858288] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1731904752.914804244] [rviz2]: Stereo is NOT SUPPORTED

I try to echo /camera/camera/color/image_raw/camera_info can't get some information.

If I subscribe /camera/camera/color/image_raw/raw it's normal:

image

Could you give me some advice, thank you very much!

yeyiru commented 3 hours ago

by the way, if I echo /camera/camera/color/image_raw/compressed, I can get some data, but if I hz /camera/camera/color/image_raw/compressed, only prints one line warning:

WARNING: topic [/camera/camera/color/compressed] does not appear to be published yet

but if I use hz /camera/camera/color/image_raw/image_raw, it's normal

yeyiru commented 2 hours ago

In rqt I can see the topic

image