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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_camera.launch #559

Closed lzy119 closed 5 years ago

lzy119 commented 5 years ago

The following error occurs when I type the above command. I would appreciate it very much if you could help me.thank you. [ WARN] [1546435342.373672375]: Unrecognized sr300 param (21) [ WARN] [1546435342.373732382]: Unrecognized sr300 param (22) [ WARN] [1546435342.373753224]: Unrecognized sr300 param (23) [ WARN] [1546435342.373780888]: Unrecognized sr300 param (24) [ WARN] [1546435342.373813235]: Unrecognized sr300 param (25) [ WARN] [1546435342.373831495]: Unrecognized sr300 param (26) [ WARN] [1546435342.373851137]: Unrecognized sr300 param (27) [ WARN] [1546435342.373875972]: Unrecognized sr300 param (28) [ WARN] [1546435342.373893820]: Unrecognized sr300 param (29) [ WARN] [1546435342.373913359]: Unrecognized sr300 param (30) [ WARN] [1546435342.373951892]: Unrecognized sr300 param (31) [ WARN] [1546435342.373982814]: Unrecognized sr300 param (32) [ WARN] [1546435342.374008295]: Unrecognized sr300 param (33) [ WARN] [1546435342.374048348]: Unrecognized sr300 param (34) [ WARN] [1546435342.374071746]: Unrecognized sr300 param (35) [ WARN] [1546435342.374100028]: Unrecognized sr300 param (36) [ WARN] [1546435342.374146802]: Unrecognized sr300 param (37) [ WARN] [1546435342.374185249]: Unrecognized sr300 param (38) [ WARN] [1546435342.374212312]: Unrecognized sr300 param (39) [ WARN] [1546435342.374247557]: Unrecognized sr300 param (40) [ WARN] [1546435342.374273381]: Unrecognized sr300 param (41) [ WARN] [1546435342.374306714]: Unrecognized sr300 param (42) [ WARN] [1546435342.374331770]: Unrecognized sr300 param (43) [ WARN] [1546435342.374358502]: Unrecognized sr300 param (44) [ WARN] [1546435342.374384938]: Unrecognized sr300 param (45) [ WARN] [1546435342.374405938]: Unrecognized sr300 param (46) [ WARN] [1546435342.374426241]: Unrecognized sr300 param (47) [ WARN] [1546435342.374447490]: Unrecognized sr300 param (48) [ WARN] [1546435342.374479007]: Unrecognized sr300 param (49) [ WARN] [1546435342.374500521]: Unrecognized sr300 param (50) [ WARN] [1546435342.374543986]: Unrecognized sr300 param (51) [ WARN] [1546435342.374571189]: Unrecognized sr300 param (52) [ WARN] [1546435342.374595798]: Unrecognized sr300 param (53) [ WARN] [1546435342.374640690]: Unrecognized sr300 param (54) [ WARN] [1546435342.374677173]: Unrecognized sr300 param (55) [ WARN] [1546435342.374705767]: Unrecognized sr300 param (56) [ WARN] [1546435342.374735149]: Unrecognized sr300 param (57) [ WARN] [1546435342.374763160]: Unrecognized sr300 param (58) [ WARN] [1546435342.374792351]: Unrecognized sr300 param (59) [ WARN] [1546435342.374816990]: Unrecognized sr300 param (60) [ WARN] [1546435342.374854529]: Unrecognized sr300 param (61) [ WARN] [1546435342.374876777]: Unrecognized sr300 param (62) [ WARN] [1546435342.374908729]: Unrecognized sr300 param (63) [ WARN] [1546435342.374930918]: Unrecognized sr300 param (64) [ WARN] [1546435342.374962375]: Unrecognized sr300 param (65) [ WARN] [1546435342.374984663]: Unrecognized sr300 param (66) [ WARN] [1546435342.375017475]: Unrecognized sr300 param (67) [ WARN] [1546435342.375039638]: Unrecognized sr300 param (68) [ WARN] [1546435342.375069580]: Unrecognized sr300 param (69) [ WARN] [1546435342.375091312]: Unrecognized sr300 param (70) [ WARN] [1546435342.375122586]: Unrecognized sr300 param (71) [ WARN] [1546435342.375145301]: Unrecognized sr300 param (72) [ WARN] [1546435342.375163543]: Unrecognized sr300 param (73) [ WARN] [1546435342.375189193]: Unrecognized sr300 param (74) [ WARN] [1546435342.375206930]: Unrecognized sr300 param (75) [ WARN] [1546435342.375232762]: Unrecognized sr300 param (76) [ WARN] [1546435342.375265971]: Unrecognized sr300 param (77) [ WARN] [1546435342.375287019]: Unrecognized sr300 param (78) [ WARN] [1546435342.375319835]: Unrecognized sr300 param (79) [ WARN] [1546435342.375341874]: Unrecognized sr300 param (80) [ WARN] [1546435342.375369984]: Unrecognized sr300 param (81) [ WARN] [1546435342.375392323]: Unrecognized sr300 param (82) [ WARN] [1546435342.375422700]: Unrecognized sr300 param (83) [ WARN] [1546435342.375444518]: Unrecognized sr300 param (84) [ WARN] [1546435342.375475476]: Unrecognized sr300 param (85) [ WARN] [1546435342.375497541]: Unrecognized sr300 param (86) [ WARN] [1546435342.375527260]: Unrecognized sr300 param (87) [ WARN] [1546435342.375548860]: Unrecognized sr300 param (88) [ WARN] [1546435342.375579681]: Unrecognized sr300 param (89) [ WARN] [1546435342.375600898]: Unrecognized sr300 param (90) [ WARN] [1546435342.375629701]: Unrecognized sr300 param (91) [ WARN] [1546435342.375651852]: Unrecognized sr300 param (92) [ WARN] [1546435342.375709727]: Unrecognized sr300 param (93) [ WARN] [1546435342.375728081]: Unrecognized sr300 param (94) [ WARN] [1546435342.375751594]: Unrecognized sr300 param (95) [ WARN] [1546435342.375768157]: Unrecognized sr300 param (96) [ WARN] [1546435342.375789459]: Unrecognized sr300 param (97) [ WARN] [1546435342.375806466]: Unrecognized sr300 param (98) [ WARN] [1546435342.375820861]: Unrecognized sr300 param (99) [ WARN] [1546435342.375841496]: Unrecognized sr300 param (100)

doronhi commented 5 years ago

What version are running? Could you provide the whole log?

lzy119 commented 5 years ago

What version are running? Could you provide the whole log?

Thank you for your reply. Running with LibRealSense v2.17.0 Here is another part of my run log. PARAMETERS

/camera/realsense2_camera/accel_fps: 1000 /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... /camera/realsense2_camera/align_depth: False /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... /camera/realsense2_camera/base_frame_id: camera_link /camera/realsense2_camera/color_fps: 30 /camera/realsense2_camera/color_frame_id: camera_color_frame /camera/realsense2_camera/color_height: 480 /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... /camera/realsense2_camera/color_width: 640 /camera/realsense2_camera/depth_fps: 30 /camera/realsense2_camera/depth_frame_id: camera_depth_frame /camera/realsense2_camera/depth_height: 480 /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... /camera/realsense2_camera/depth_width: 640 /camera/realsense2_camera/enable_color: True /camera/realsense2_camera/enable_depth: True /camera/realsense2_camera/enable_fisheye: True /camera/realsense2_camera/enable_imu: True /camera/realsense2_camera/enable_infra1: True /camera/realsense2_camera/enable_infra2: True /camera/realsense2_camera/enable_pointcloud: False /camera/realsense2_camera/enable_sync: False /camera/realsense2_camera/filters: /camera/realsense2_camera/fisheye_fps: 30 /camera/realsense2_camera/fisheye_height: 480 /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... /camera/realsense2_camera/fisheye_width: 640 /camera/realsense2_camera/gyro_fps: 1000 /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... /camera/realsense2_camera/infra1_fps: 30 /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame /camera/realsense2_camera/infra1_height: 480 /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... /camera/realsense2_camera/infra1_width: 640 /camera/realsense2_camera/infra2_fps: 30 /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame /camera/realsense2_camera/infra2_height: 480 /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... /camera/realsense2_camera/infra2_width: 640 /camera/realsense2_camera/json_file_path: /camera/realsense2_camera/pointcloud_texture_index: 0 /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR /camera/realsense2_camera/rosbag_filename: /camera/realsense2_camera/serial_no: /rosdistro: kinetic /rosversion: 1.12.14 NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [13383] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4e571888-0f0b-11e9-a78b-303a645f2481 process[rosout-1]: started with pid [13396] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [13399] process[camera/realsense2_camera-3]: started with pid [13400] [ INFO] [1546487689.879010185]: Initializing nodelet with 8 worker threads. [ INFO] [1546487691.295919409]: RealSense ROS v2.1.2 [ INFO] [1546487691.295959054]: Running with LibRealSense v2.17.0

[ INFO] [1546487691.652066207]: JSON file is not provided [ INFO] [1546487691.652092689]: ROS Node Namespace: camera [ INFO] [1546487691.652118140]: Device Name: Intel RealSense SR300 [ INFO] [1546487691.652133562]: Device Serial No: 612201005767 [ INFO] [1546487691.652147773]: Device FW version: 3.15.0.0 [ INFO] [1546487691.652161790]: Device Product ID: 0x0AA5 [ INFO] [1546487691.652176976]: Enable PointCloud: Off [ INFO] [1546487691.652190552]: Align Depth: Off [ INFO] [1546487691.652204024]: Sync Mode: Off [ INFO] [1546487691.652284236]: Device Sensors: [ INFO] [1546487691.652315530]: Coded-Light Depth Sensor was found. [ INFO] [1546487691.652334148]: RGB Camera was found. [ INFO] [1546487691.652374840]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1546487691.652391005]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1546487691.652406084]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1546487691.652420173]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1546487691.687903616]: Expected frequency for depth = 30.00000 [ INFO] [1546487691.782109213]: Expected frequency for infra1 = 30.00000 [ INFO] [1546487691.804031864]: Expected frequency for color = 30.00000

03/01 11:54:51,828 WARNING [139882169071488] (sensor.cpp:338) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1546487691.874439582]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546487691.874668169]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546487691.879045095]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546487691.889508440]: num_filters: 0

[ INFO] [1546487691.889730548]: RealSense Node Is Up!

doronhi commented 5 years ago

Can I see the whole log in one piece please? I asked about the version of realsense2_camera. I think you may need to upgrade that one.

lzy119 commented 5 years ago

Can I see the whole log in one piece please? I asked about the version of realsense2_camera. I think you may need to upgrade that one. RealSense ROS v2.1.2. Is this? I'm not sure if that's what you want. If not, please tell me how to get it. Here is my run log. ... logging to /home/lzy/.ros/log/57319e06-0f5b-11e9-973f-303a645f2481/roslaunch-lzy-ThundeRobot-8790.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://lzy-ThundeRobot:46236/

SUMMARY

PARAMETERS

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

auto-starting new master process[master]: started with pid [8800] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 57319e06-0f5b-11e9-973f-303a645f2481 process[rosout-1]: started with pid [8813] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [8830] process[camera/realsense2_camera-3]: started with pid [8831] [ INFO] [1546522059.720208969]: Initializing nodelet with 8 worker threads. [ INFO] [1546522059.779362953]: RealSense ROS v2.1.2 [ INFO] [1546522059.779407051]: Running with LibRealSense v2.17.0

[ INFO] [1546522060.122507545]: JSON file is not provided [ INFO] [1546522060.122545551]: ROS Node Namespace: camera [ INFO] [1546522060.122585625]: Device Name: Intel RealSense SR300 [ INFO] [1546522060.122613296]: Device Serial No: 612201005767 [ INFO] [1546522060.122678840]: Device FW version: 3.15.0.0 [ INFO] [1546522060.122705227]: Device Product ID: 0x0AA5 [ INFO] [1546522060.122731071]: Enable PointCloud: Off [ INFO] [1546522060.122764731]: Align Depth: Off [ INFO] [1546522060.122791254]: Sync Mode: Off [ INFO] [1546522060.122887002]: Device Sensors: [ INFO] [1546522060.122930445]: Coded-Light Depth Sensor was found. [ INFO] [1546522060.122962540]: RGB Camera was found. [ INFO] [1546522060.123020048]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1546522060.123043749]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1546522060.123068665]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1546522060.123095165]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1546522060.125512549]: Expected frequency for depth = 30.00000 [ INFO] [1546522060.155766615]: Expected frequency for infra1 = 30.00000 [ INFO] [1546522060.180502885]: Expected frequency for color = 30.00000

03/01 21:27:40,207 WARNING [140687250696064] (sensor.cpp:338) Unregistered Media formats : [ INZC PAIR YUYV ]; Supported: [ ] [ INFO] [1546522060.208436802]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546522060.208644459]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546522060.213179613]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1546522060.223610934]: num_filters: 0

[ INFO] [1546522060.223822961]: RealSense Node Is Up! [ WARN] [1546522061.036016515]: Unrecognized sr300 param (21) [ WARN] [1546522061.036081726]: Unrecognized sr300 param (22) [ WARN] [1546522061.036099762]: Unrecognized sr300 param (23) [ WARN] [1546522061.036124267]: Unrecognized sr300 param (24) [ WARN] [1546522061.036153108]: Unrecognized sr300 param (25) [ WARN] [1546522061.036168342]: Unrecognized sr300 param (26) [ WARN] [1546522061.036191192]: Unrecognized sr300 param (27) [ WARN] [1546522061.036209853]: Unrecognized sr300 param (28) [ WARN] [1546522061.036224831]: Unrecognized sr300 param (29) [ WARN] [1546522061.036243051]: Unrecognized sr300 param (30) [ WARN] [1546522061.036263200]: Unrecognized sr300 param (31) [ WARN] [1546522061.036289561]: Unrecognized sr300 param (32) [ WARN] [1546522061.036311980]: Unrecognized sr300 param (33) [ WARN] [1546522061.036333448]: Unrecognized sr300 param (34) [ WARN] [1546522061.036350963]: Unrecognized sr300 param (35) [ WARN] [1546522061.036370642]: Unrecognized sr300 param (36) [ WARN] [1546522061.036387262]: Unrecognized sr300 param (37) [ WARN] [1546522061.036403070]: Unrecognized sr300 param (38) [ WARN] [1546522061.036426919]: Unrecognized sr300 param (39) [ WARN] [1546522061.036443216]: Unrecognized sr300 param (40) [ WARN] [1546522061.036458791]: Unrecognized sr300 param (41) [ WARN] [1546522061.036484580]: Unrecognized sr300 param (42) [ WARN] [1546522061.036514091]: Unrecognized sr300 param (43) [ WARN] [1546522061.036537909]: Unrecognized sr300 param (44) [ WARN] [1546522061.036553810]: Unrecognized sr300 param (45) [ WARN] [1546522061.036571015]: Unrecognized sr300 param (46) [ WARN] [1546522061.036594254]: Unrecognized sr300 param (47) [ WARN] [1546522061.036613284]: Unrecognized sr300 param (48) [ WARN] [1546522061.036629543]: Unrecognized sr300 param (49) [ WARN] [1546522061.036659033]: Unrecognized sr300 param (50) [ WARN] [1546522061.036677495]: Unrecognized sr300 param (51) [ WARN] [1546522061.036698813]: Unrecognized sr300 param (52) [ WARN] [1546522061.036719592]: Unrecognized sr300 param (53) [ WARN] [1546522061.036745458]: Unrecognized sr300 param (54) [ WARN] [1546522061.036764163]: Unrecognized sr300 param (55) [ WARN] [1546522061.036789323]: Unrecognized sr300 param (56) [ WARN] [1546522061.036811048]: Unrecognized sr300 param (57) [ WARN] [1546522061.036831032]: Unrecognized sr300 param (58) [ WARN] [1546522061.036850567]: Unrecognized sr300 param (59) [ WARN] [1546522061.036869848]: Unrecognized sr300 param (60) [ WARN] [1546522061.036888539]: Unrecognized sr300 param (61) [ WARN] [1546522061.036907287]: Unrecognized sr300 param (62) [ WARN] [1546522061.036926841]: Unrecognized sr300 param (63) [ WARN] [1546522061.036942797]: Unrecognized sr300 param (64) [ WARN] [1546522061.036959002]: Unrecognized sr300 param (65) [ WARN] [1546522061.036974946]: Unrecognized sr300 param (66) [ WARN] [1546522061.036990539]: Unrecognized sr300 param (67) [ WARN] [1546522061.037005742]: Unrecognized sr300 param (68) [ WARN] [1546522061.037020913]: Unrecognized sr300 param (69) [ WARN] [1546522061.037039656]: Unrecognized sr300 param (70) [ WARN] [1546522061.037056707]: Unrecognized sr300 param (71) [ WARN] [1546522061.037073392]: Unrecognized sr300 param (72) [ WARN] [1546522061.037089659]: Unrecognized sr300 param (73) [ WARN] [1546522061.037105881]: Unrecognized sr300 param (74) [ WARN] [1546522061.037122129]: Unrecognized sr300 param (75) [ WARN] [1546522061.037138303]: Unrecognized sr300 param (76) [ WARN] [1546522061.037154484]: Unrecognized sr300 param (77) [ WARN] [1546522061.037170839]: Unrecognized sr300 param (78) [ WARN] [1546522061.037187204]: Unrecognized sr300 param (79) [ WARN] [1546522061.037203991]: Unrecognized sr300 param (80) [ WARN] [1546522061.037220541]: Unrecognized sr300 param (81) [ WARN] [1546522061.037237043]: Unrecognized sr300 param (82) [ WARN] [1546522061.037253606]: Unrecognized sr300 param (83) [ WARN] [1546522061.037292998]: Unrecognized sr300 param (84) [ WARN] [1546522061.037329741]: Unrecognized sr300 param (85) [ WARN] [1546522061.037346037]: Unrecognized sr300 param (86) [ WARN] [1546522061.037372392]: Unrecognized sr300 param (87) [ WARN] [1546522061.037395758]: Unrecognized sr300 param (88) [ WARN] [1546522061.037422093]: Unrecognized sr300 param (89) [ WARN] [1546522061.037442116]: Unrecognized sr300 param (90) [ WARN] [1546522061.037464424]: Unrecognized sr300 param (91) [ WARN] [1546522061.037485424]: Unrecognized sr300 param (92) [ WARN] [1546522061.037505330]: Unrecognized sr300 param (93) [ WARN] [1546522061.037525561]: Unrecognized sr300 param (94) [ WARN] [1546522061.037545434]: Unrecognized sr300 param (95) [ WARN] [1546522061.037566702]: Unrecognized sr300 param (96) [ WARN] [1546522061.037586450]: Unrecognized sr300 param (97) [ WARN] [1546522061.037607455]: Unrecognized sr300 param (98) [ WARN] [1546522061.037628656]: Unrecognized sr300 param (99) [ WARN] [1546522061.037649415]: Unrecognized sr300 param (100)

doronhi commented 5 years ago

I’m sorry, I forgot that the latest release has a bug and still prints v2.1.2 instead of 2.1.3 so my question is are you using the latest release (released Tuesday)? These warnings should not be there.

lzy119 commented 5 years ago

对不起，我忘了最新版本有错误，仍然打印v2.1.2而不是2.1.3所以我的问题是你使用的是最新版本（周二发布）吗？这些警告不应该存在。 No, I installed it before Tuesday.

doronhi commented 5 years ago

Sorry, can’t read the font..

lzy119 commented 5 years ago

No, I installed it before Tuesday.

doronhi commented 5 years ago

As far as I can say, the messages "[ WARN] [1546435342.375651852]: Unrecognized sr300 param (xx)" are meaningless and have not effect on the performance. In any way, they were removed in the last release.

RealSenseCustomerSupport commented 5 years ago

[Please Ignore - RealSense system comment]