missing Ros topic D435i #1773
Comments
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See #1763 |
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@doronhi Thanks , its work Now , i am facing #1310 , introlab/rtabmap_ros#517 |
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@doronhi Thanks very much for the advice to @Majed-Alsubaie @Majed-Alsubaie Can you confirm please if your new problem is with the stereo baseline like in the two links that you kindly provided, please? Thanks! |
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@MartyG-RealSense Doing: SUMMARYhow did i install realsense-ros ?: Thanks for help |
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Hi @Majed-Alsubaie ROS wrapper 2.2.22 introduced a new system where the default profile of the particular camera model being used is applied near the end of the roslaunch process (under the Setting dynamic reconfig parameters heading) if an invalid configuration request is detected. On the D435i, the default camera configuration is depth + RGB.
Under the new system, custom stream definitions in the roslaunch instruction require three factors - stream height, stream width and FPS (expressed as a decimal number, such as 30.0). infra1_width:=640 infra1_height:=480 infra1_fps:=30.0 infra2_width:=640 infra2_height:=480 infra2_fps:=30.0 The subject is discussed further in the link below. |
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@MartyG-RealSense Please how can i overcome the stereo baseline issue ? have you worked on it ? can i have hint or procedures ? |
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The nformation I posted was in relation to your original question at the start of this case, where you stated that the infra1 and infra2 topics were not being published after roslaunch. Are you able to obtain the infra topics now? Edit: I see that problem was solved earlier in the discussion. #1773 (comment) My apologies. I will look at the stereo baseline issue now. |
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Essentially, your problem seems to be that RTABMAP is reporting this: The stereo baseline ... should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg The problem, as you have mentioned, is referred to in RealSense ROS case #1310 I do not have knowledge of this subject unfortunately, so I will refer it to @doronhi who commented on the above case. |
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Hi @doronhi , regarding to the **baseline sign convention ** issue So , is this a good approach ? + please,, how and where can i find this node/script that publish the the rostopic ? thanks |
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Reminder to @doronhi about the question of @Majed-Alsubaie in the comment above. Thanks! |
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Hi @Majed-Alsubaie Do you still require assistance with this case, please? Thanks! |
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Hi @MartyG-RealSense ,, |
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Thank you @doronhi ,, So far it is working well after i change the sign,, Exactly in this line: Thank you @MartyG-RealSense , i would like to close the case |
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Thanks very much @Majed-Alsubaie - it is great to hear that the advice of @doronhi is working for you. Thanks for the update! |
Hello,,,
I am trying to subscribe these topics
/camera/infra1/image_rect_raw \ /camera/infra2/image_rect_raw \ /camera/infra1/camera_info \ /camera/infra2/camera_info \I launched the file with enabling both infra1/2 , by using
roslaunch realsense2_camera rs_camera.launch enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation enable_gyro:=true enable_accel:=true enable_sync:=true initial_reset:=truebut i got only these topic without infra1 / infra2
why that happened and how can i solve it ? thanks
and yes there are several warning but i read that i can safley ignore them
Device information :
Distributor ID: Ubuntu
Description: Ubuntu 20.04.2 LTS
Release: 20.04
kernel : 5.8.0-48-generic
ROS : Noetic
SUMMARY
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