[D435i] ROS2 Diagnostic messages catalogue

• MartyG

  • April 10, 2023 13:22

  Hi Jesus Dovale There is not such a list available for the /diagnostics topic.  The only contents of the topic referred to in the ROS2 wrapper's release notes are frequency monitoring and ASIC & projector temperatures.

  0

  Comment actions Permalink
• Jesus Dovale

  • April 10, 2023 13:32

  So basically the only messages are : 
     · Temperature (too high / too low etc.)
     · Frequency (too high / too low etc.) 
  
  

  And what possible level tags they throw? 

  0

  Comment actions Permalink
• MartyG

  • April 10, 2023 14:12
  • Edited

  The link below highlights the section of the ROS2 wrapper's base_realsense_node.cpp file that handles diagnostics publishing, including temperature.

  https://github.com/IntelRealSense/realsense-ros/blob/78f037750056c12b8e1941bbdc8deb6bb1789391/realsense2_camera/src/base_realsense_node.cpp#L1207-L1235

   

  The temperature related message that is most likely to be published in the log is the following error, which may occur if the camera was polled for its temperature in a moment when it was not ready to return the temperature value. 

  ERROR [545922212224] (ds5-options.cpp:88) Asic Temperature value is not valid!

   

  /diagnostics is a topic that is published by default when the wrapper is launched and does not have to be manually subscribed to.  Its information can be accessed by performing a ros2 topic echo of the topic's messages.

   

  The temperature is checked around every 10 seconds, as confirmed at the link below by the Intel developer who created the original ROS1 RealSense wrapper.

  https://github.com/IntelRealSense/realsense-ros/issues/894#issuecomment-527315705

  0

  Comment actions Permalink
• Jesus Dovale

  • April 10, 2023 14:12

  Thank you so much! 

  0

  Comment actions Permalink
• Jesus Dovale

  • April 13, 2023 05:40

  Hi again! I've succesfully installed the ROS2 drivers librealsense2 and realsense2 on a Linux Ubuntu 22.04 with Humble Hawksbill and both the D435i and D455 work fine (all sensors). But no /diagnostics topic is being published on ROS2 net 
   

  0

  Comment actions Permalink
• Jesus Dovale

  • April 13, 2023 05:48

  

  0

  Comment actions Permalink
• MartyG

  • April 13, 2023 09:07

  Is /diagnostics not on the topics list that is produced if you input ros2 topic list

  0

  Comment actions Permalink

Please sign in to leave a comment.