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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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roslaunch realsense2_camera rs_rgbd.launch FAILED! #470

Closed jessieqiqi closed 5 years ago

jessieqiqi commented 5 years ago

When I roslaunch realsense2_camera rs_rgbd.launch , but it shows below . What's the reason? I didn't change any parameters in the launch file. My device is D435.

haharobot@haharobot-minzy:~$ roslaunch realsense2_camera rs_rgbd.launch ... logging to /home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/roslaunch-hitrobot-minzy-1014.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hitrobot-minzy:40909/

SUMMARY

PARAMETERS

NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [1026] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d9d2df54-bb06-11e8-a5c5-f0d5bf32678e process[rosout-1]: started with pid [1040] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [1057] process[camera/realsense2_camera-3]: started with pid [1058] process[camera/color_rectify_color-4]: started with pid [1059] process[camera/points_xyzrgb_hw_registered-5]: started with pid [1069] [ INFO] [1537249874.112857537]: Initializing nodelet with 4 worker threads. [ INFO] [1537249874.252087373]: RealSense ROS v2.0.3 [ INFO] [1537249874.252122624]: Running with LibRealSense v2.16.0

[ INFO] [1537249874.579427211]: JSON file is not provided [ INFO] [1537249874.579450652]: ROS Node Namespace: camera [ INFO] [1537249874.579478916]: Device Name: Intel RealSense USB2 [ INFO] [1537249874.579494759]: Device Serial No: 752112070181 [ INFO] [1537249874.579512531]: Device FW version: 05.08.15.00 [ INFO] [1537249874.579530331]: Device Product ID: 0x0AD6 [ INFO] [1537249874.579547931]: Enable PointCloud: Off [ INFO] [1537249874.579563170]: Align Depth: On [ INFO] [1537249874.579574193]: Sync Mode: On [ INFO] [1537249874.580052123]: Device Sensors: [ INFO] [1537249874.580321217]: Stereo Module was found. [ INFO] [1537249874.580606895]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1537249874.580623394]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1537249874.580637890]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1537249874.580652569]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1537249874.584745883]: Expected frequency for depth = 30.00000 [ INFO] [1537249874.620448562]: Expected frequency for infra1 = 30.00000 [ INFO] [1537249874.655182513]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1537249874.700269824]: Expected frequency for infra2 = 30.00000 [ INFO] [1537249874.773487329]: Expected frequency for aligned_depth_to_infra2 = 30.00000

18/09 13:51:14,846 WARNING [140018650625984] (sensor.cpp:338) Unregistered Media formats : [ UYVY Y8 ]; Supported: [ ] [ WARN] [1537249874.849296738]: Given stream configuration is not supported by the device! Stream: Depth, Stream Index: 0, Format: Z16, Width: 640, Height: 480, FPS: 30 [ WARN] [1537249874.849442734]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 1, Format: Y8, Width: 640, Height: 480, FPS: 30 [ WARN] [1537249874.849531409]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Format: Y8, Width: 640, Height: 480, FPS: 30

[ERROR] [1537249874.850206122]: Given depth profile is not supported by current device! [FATAL] [1537249875.161035040]: Failed to load nodelet '/camera/realsense2_cameraof typerealsense2_camera/RealSenseNodeFactoryto managerrealsense2_camera_manager' [FATAL] [1537249875.162339029]: Failed to load nodelet '/camera/points_xyzrgb_hw_registeredof typedepth_image_proc/point_cloud_xyzrgbto managerrealsense2_camera_manager' [camera/realsense2_camera_manager-2] process has died [pid 1057, exit code 1, cmd /opt/ros/indigo/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-realsense2_camera_manager-2.log]. log file: /home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-realsense2_camera_manager-2.log [camera/realsense2_camera-3] process has died [pid 1058, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-realsense2_camera-3.log]. log file: /home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-realsense2_camera-3.log [camera/points_xyzrgb_hw_registered-5] process has died [pid 1069, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb realsense2_camera_manager false rgb/image_rect_color:=color/image_rect_color rgb/camera_info:=color/camera_info depth_registered/image_rect:=aligned_depth_to_color/image_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-points_xyzrgb_hw_registered-5.log]. log file: /home/hitrobot/.ros/log/d9d2df54-bb06-11e8-a5c5-f0d5bf32678e/camera-points_xyzrgb_hw_registered-5*.log

neomanic commented 5 years ago

This looks to me like you've connected via USB2, not USB3. Run lsusb to get which bus/device is the Realsense (it'll be vendor:id 8086:0b07), then run lsusb -t and make sure it says 5000M on the end (and not 480M).

manhha1402 commented 5 years ago

Hi, I had the same problem when launching rs_rgbd.launch with high resolution size (1920x1080). The topic "/camera/aligned_depth_to_color/image_raw" has no data. It seems like depth maps are unable to upsample from VGA resolution to 1080p resolution. Any one has the same problem ? Thanks 1 2

doronhi commented 5 years ago

Hi @manhha1402 , Could you check with the latest version (realsense2_camera version 2.1.4 with librealsense 2.18.0)? I think the problem may have been fixed by now.

RealSenseCustomerSupport commented 5 years ago

[Please Ignore - RealSense system comment]

RealSenseCustomerSupport commented 5 years ago

@jessieqiqi,

Is your issue resolved?

@manhha1402, Any test result based on the new librealsense and ros wrapper? Per the screenshot, it looks SR300 is used. Depth stream is set to VGA. Will reducing RGB resolution from 1080p to VGA have any problem?

manhha1402 commented 5 years ago

Hi, The problem is solved. Thanks