Aligned Depth to Color Image not being published

[hello-jackson]

Hey team,

I am using a D435i camera with LibRealSense v2.54.1 and Device FW version: 5.15.0.2 with ROS 2 Galactic and the realsense-ros package built from source with RealSense ROS v4.54.1.

When I launch the camera with the parameter align_depth.enable=true, the RGB feed on /camera/color/image_raw feed starts to flicker and the topic /camera/aligned_depth_to_color topic is not published. This worked for me until recently, and the same setup for the firmware and SDK works in ROS Noetic. Has something changed in the ROS 2 driver that causes the aligned_depth_to_color topic to fail?

Thank you,
Chintan Desai

[hello-chintan]

Oops. I'll be following up with this account. Please tag me when you reply.

Chintan Desai

[MartyG-RealSense]

Hi @hello-chintan There have not been any other reports yet of the problem that you described occurring with ROS wrapper 4.54.1.

Does the problem still occur if you launch with ros2 run instead of ros2 launch ?

ros2 run realsense2_camera realsense2_camera_node --ros-args -p align_depth.enable:=true

[hello-chintan]

Hey @MartyG-RealSense, yes, I can confirm that this happens with the ros2 run realsense2_camera realsense2_camera_node --ros-args -p align_depth.enable:=true command as well. The issue is reproducible while working on ROS 2 Humble as well with the most recent realsense_ros drivers built from source in my workspace.

[MartyG-RealSense]

I have highlighted this issue to my Intel RealSense colleagues on the ROS team to discuss it with them. Thanks very much for your patience.

[hello-chintan]

Glad that the bug was found. Thanks for working on it, @MartyG-RealSense!

[MartyG-RealSense]

You are very welcome, @hello-chintan - I'm pleased that my colleagues implemented a fix for your issue!

[hello-chintan]

I can confirm, the issue is now resolved with the new updates. Thanks again!

[MartyG-RealSense]

As your issue is resolved, I will close it. Thanks for the confirmation!