D435i USB3.2 ROS2 Foxy : Infra sensors not recongnized : (Infrared, 0) sensor isn't supported by current device! -- Skipping... #1920
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Hi @aagrawa3-dev As a starting point in investigating your case, it is worth highlighting that you have a potential mismatch between your librealsense SDK and RealSense ROS wrapper versions. It is important to match a particular RealSense ROS wrapper version as closely as possible with the librealsense SDK version recommended for it in the wrapper release notes. The ROS2 wrapper 3.1.4 that you are using was designed for SDK 2.42.0. There is not a ROS2 wrapper specifically for SDK 2.44.0 though. In that situation, I would recommend using a wrapper that supports the nearest previous SDK version which is 3.1.5 (designed for SDK 2.43.0). https://github.com/IntelRealSense/realsense-ros/releases/tag/3.1.5 In regard to enabling the infra topics on ROS2: another RealSense ROS2 user experienced this issue with the error (Infrared, 0) sensor isn't supported by current device in April 2021. Their solution was to set enable_infra1 and enable_infra2 to '1' instead of 'true'. |
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Hi @MartyG-RealSense About: #1287 (comment) The propsed solution is not working. A snapshot from rs_launch.py (not changed by me): |
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Does it work if you use just enable_infra:=true instead of enable_infra1 and enable_infra2 please? |
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It does not work. Also somewhere I read that enable_infra is parameter for L515 type cameras. About version mismatch topic: Here interesting to note that the warning is misleading and even though the stream is enabled it keeps coming. after that the streams are enabled: So, to summarize:
Can you please help me figure out what is wrong with rs_launch file or which exact param needed here ? |
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In regard to your use of the infra_rgb condition, the ROS2 wrapper documentation states "This feature is only supported by RealSense sensors with RGB streams available from the infra cameras". The D435i does not support RGB from the left infrared sensor as the left and right IR sensors are both monochrome. A D415 or D455 is required to obtain color from left IR. |
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OK Thanks.
The fps, height and width parameters can be changed based on possible values in rs-enumerate-devices. Question: filters:='colorizer' can not be used (reason unknown) with above cmd, it will stop the display-stream of depth image. Although from launch console all looks healthy. Could you please investigate why? align_depth - this should actually project depth view with rgb image and infra-image, but seems not working as expected. Can you please cross check the behavior? - depth-align-raw-image, depth-aligned-infra-image |
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Also if infra_* params are a must to start infra stream using rs_launch file, then it would be good to indicate this or have a default value instead of -1.. |
ros2 launch realsense2_camera rs_launch.py filters:=temporal,colorizer depth_qos:=SYSTEM_DEFAULT
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I tried colorizer filter without ' ', and result is as below: After this I start getting lot of below warnings(which is only happening in case of colorizer filter is applied) Output: Without colorizer filter: Output:
Now if I remove infra settings from cmd line, then colorizer filter starts working. So clearly infra topics have issue with colorizer filter. Command: Output: |
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Looking at the RViz image directly above and comparing the order of the left-side images to the image descriptions on the right side, it looks as though the topics aligned_depth_to_infra1 and Infra2/image_rect_raw are not being published in RViz (which would be consistent with the infra topics being removed from the roslaunch instruction in that particular test, especially as they appear in the second to last image where the infra topics were enabled in roslaunch). I will seek the advice of @doronhi the RealSense ROS wrapper developer on this particular question. Hi @doronhi Are there known circumstances on the ROS2 wrapper where the colorizer filter may stop working if the infra topics are enabled? Thanks! |
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Also a room for improvement: |
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Those lines do make sense: This is confusing, I agree. It could be that the wrapper should not relate to sensors the current device does not have and the user didn't ask for. |
Thanks for reply. Could you also comment on below question or how can I enable infra with colorizer filter: |
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I am not aware of any connection between the infra topics and the colorizer filter which works on the depth images. |
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Thanks for info. Closing this issue. |
Hi All,
I am stuck with this issue while trying to visualize Infra images in RVIZ. When I am launching realsense node, it ends up showing warning that infra sensors not avaliable for the device. But thats not true as I can see infra images in realsense-viewer.
More detail:
Below image showing infra images with realsense-viewer.
But the same does not work when launching realsense node with infra params enabled.
We get this while launching node:
So,
[realsense2_camera_node-1] [INFO] [1622973485.713044566] [RealSenseCameraNode]: (Infrared, 0) sensor isn't supported by current device! – Skipping...
With above line, it seems the node is somwhow not able to enable the sensor.
And infra topics are not published.
Also below might be interesting:
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