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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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Strange linear_acceleration output #728

Closed GITSHOHOKU closed 5 years ago

GITSHOHOKU commented 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 !

GITSHOHOKU commented 5 years ago

I missed this step echo 'hid_sensor_custom' | sudo tee -a /etc/modules It‘s normal now