Closed GITSHOHOKU closed 5 years ago
I use SDK v2.19.1 and intel-ros 2.2.2 on intel nuc 8i7beh When launch the rs_rgb.launch file ,I got messages below:
/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 [11353] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 84b7033c-5e90-11e9-b327-04d3b080b3da process[rosout-1]: started with pid [11366] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [11383] process[camera/realsense2_camera-3]: started with pid [11384] process[camera/color_rectify_color-4]: started with pid [11385] process[camera/points_xyzrgb_hw_registered-5]: started with pid [11391] [ INFO] [1555231041.264358028]: Initializing nodelet with 8 worker threads. [ INFO] [1555231041.288953518]: RealSense ROS v2.2.2 [ INFO] [1555231041.288976176]: Running with LibRealSense v2.19.1 14/04 16:37:21,410 WARNING [140244929886080] (types.cpp:59) hwmon command 0x4f failed. Error type: No data to return (-21). [ INFO] [1555231041.415493308]: getParameters... [ INFO] [1555231041.521187444]: setupDevice... [ INFO] [1555231041.521207262]: JSON file is not provided [ INFO] [1555231041.521215669]: ROS Node Namespace: camera [ INFO] [1555231041.521225288]: Device Name: Intel RealSense D435I [ INFO] [1555231041.521231093]: Device Serial No: 837212070864 [ INFO] [1555231041.521265419]: Device FW version: 05.10.13.00 255.255.255.255 [ INFO] [1555231041.521273956]: Device Product ID: 0x0B3A [ INFO] [1555231041.521280610]: Enable PointCloud: Off [ INFO] [1555231041.521288957]: Align Depth: On [ INFO] [1555231041.521294883]: Sync Mode: On [ INFO] [1555231041.521326779]: Device Sensors: [ INFO] [1555231041.521356021]: Stereo Module was found. [ INFO] [1555231041.521371518]: RGB Camera was found. [ INFO] [1555231041.521380897]: Motion Module was found. [ INFO] [1555231041.521399309]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1555231041.521408567]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1555231041.521417581]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1555231041.521426685]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1555231041.521545749]: setupPublishers... [ INFO] [1555231041.523318895]: Expected frequency for depth = 30.00000 [ INFO] [1555231041.542380799]: Expected frequency for infra1 = 30.00000 [ INFO] [1555231041.562129761]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1555231041.579168907]: Expected frequency for infra2 = 30.00000 [ INFO] [1555231041.594946536]: Expected frequency for color = 30.00000 [ INFO] [1555231041.609478357]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1555231041.627285849]: Start publisher IMU [ INFO] [1555231041.629143184]: setupStreams... 14/04 16:37:21,629 WARNING [140244929886080] (sensor.cpp:366) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ INFO] [1555231041.630308700]: depth stream is enabled - width: 848, height: 480, fps: 30 [ INFO] [1555231041.630490732]: infra1 stream is enabled - width: 848, height: 480, fps: 30 [ INFO] [1555231041.630659874]: infra2 stream is enabled - width: 848, height: 480, fps: 30 14/04 16:37:21,630 WARNING [140244929886080] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! 14/04 16:37:21,631 WARNING [140244929886080] (sensor.cpp:366) Unregistered Media formats : [ RW16 ]; Supported: [ ] [ INFO] [1555231041.632302954]: color stream is enabled - width: 848, height: 480, fps: 30 [ INFO] [1555231041.634133679]: insert Depth to Stereo Module [ INFO] [1555231041.634171603]: insert Color to RGB Camera [ INFO] [1555231041.634183308]: insert Infrared to Stereo Module [ INFO] [1555231041.634237046]: insert Infrared to Stereo Module [ INFO] [1555231041.634294511]: insert Gyro to Motion Module [ INFO] [1555231041.634326908]: insert Accel to Motion Module [ INFO] [1555231041.647227357]: num_filters: 0 [ INFO] [1555231041.647433202]: SELECTED BASE:Depth, 0 [ INFO] [1555231041.648234646]: RealSense Node Is Up! [ INFO] [1555231041.648253735]: Setting Dynamic reconfig parameters. [ INFO] [1555231041.764646233]: Done Setting Dynamic reconfig parameters. 14/04 16:37:21,777 WARNING [140243870959360] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. 14/04 16:37:21,778 WARNING [140243902658304] (ds5-timestamp.cpp:174) HID timestamp not found! please apply HID patch. 14/04 16:37:22,078 WARNING [140243894265600] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
And when I looked into /camera/imu/linear_acceleration msgs it shows some strange output like :
header: seq: 96 stamp: secs: 3110460119 nsecs: 642722130 frame_id: "camera_accel_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: -0.00174532923847 y: 0.00523598771542 z: -0.0 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.0 y: 0.0 z: 0.0 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] --- header: seq: 97 stamp: secs: 3110460119 nsecs: 657689095 frame_id: "camera_accel_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00349065847695 y: -0.00523598771542 z: 0.00523598771542 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.0 y: 1926346752.0 z: -1926365184.0 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] --- header: seq: 98 stamp: secs: 3110460119 nsecs: 672711372 frame_id: "camera_accel_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: -0.0 y: -0.00174532923847 z: 0.00523598771542 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 1926217728.0 y: 1926223872.0 z: 1926299648.0 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
Are they caused by same problems? How can I adjust it ? Thanks !
I missed this step echo 'hid_sensor_custom' | sudo tee -a /etc/modules It‘s normal now
echo 'hid_sensor_custom' | sudo tee -a /etc/modules
I use SDK v2.19.1 and intel-ros 2.2.2 on intel nuc 8i7beh When launch the rs_rgb.launch file ,I got messages below:
And when I looked into /camera/imu/linear_acceleration msgs it shows some strange output like :
Are they caused by same problems? How can I adjust it ? Thanks !