linorobot2_viz missing Galactic branch, and realsense issue

[Sylvania2]

Hi

Installed Galactic last night :-) git clone -b $ROS_DISTRO https://github.com/linorobot/linorobot2_viz src/linorobot2_viz fails. removed -b $ROS_DISTRO and it installs. After Linorobot2 installation i found that realsense udev rules was missing, downloaded and fixed. Now Robot runs perfectly as a 2wd with rplidar and also with realsense as lidar. But using both rplidar and realsense only lidar seems to be used. Rviz shows no data in "bumper hit" , is there any tricks to get voxel layer / pointcloud working ?

Best regards

[grassjelly]

just installed realsense on Galactic. Looking into it

[Sylvania2]

Hi grassjelly

file linorobot2_navigation/config/navigation.yaml has this setup:

realsense: topic: /camera/depth/color/points

That topic is missing when running bringup and navigation.

ros2 launch linorobot2_bringup bringup.launch.py ros2 launch linorobot2_navigation navigation.launch.py ros2 topic list /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/color/image_raw /camera/color/metadata /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/metadata /camera/extrinsics/depth_to_color /camera/imu

Best regards

[Sylvania2]

Hi

Fix ? https://github.com/IntelRealSense/realsense-ros/issues/2295

ros2 launch realsense2_camera rs_launch.py align_depth:=true pointcloud.enable:=true

ros2 topic list /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/color/image_raw /camera/color/metadata /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_rect_raw /camera/depth/metadata /camera/extrinsics/depth_to_color /camera/imu

Best regards

[Sylvania2]

Hi

Tested Galactic/Linorobot2 on RPI4, Jetson Nano and Celeron. No data on topic /camera/depth/color/points, seems to be a realsense issue when using arm, celeron was working. Foxy is working with data on /camera/depth/color/points . Resolution and 6fps on Jetson and Rpi4.

Best regards

[grassjelly]

Thanks @Sylvania2 . Just realized this recently too. The same settings worked on Foxy but missing /points topic on Galactic. Would you wanna file an Issue on Realsense repo itself? I'll close this for now

[Sylvania2]

Hi

@grassjelly Changed depth.lauch.py to lower resolution and newer parameter setup. Also changed to correct topics in rviz ! Galactic and realsense is working :-)

IncludeLaunchDescription( PythonLaunchDescriptionSource(PathJoinSubstitution( [FindPackageShare('realsense2_camera'), 'launch', 'rs_launch.py'] )), condition=LaunchConfigurationEquals('sensor', 'realsense'), launch_arguments={ 'pointcloud.enable': 'true', 'depth_module.profile': '424x240x6', 'rgb_camera.profile': '424x240x6', 'ordered_pc': 'true', 'pointcloud_texture_stream' : 'RS2_STREAM_ANY', 'initial_reset': 'true' }.items()

Best regards Kim