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The fhd color image doesn't work on the ros.

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Jsyoon

Camera info does not appear when executed with command.

command : roslaunch realsense2_camera rs_camera.launch enable_color:=true color_fps:=8 color_width:=1920 color_height:=1080

device info

Device Name: Intel RealSense D435I

Device USB type: 2.1

RealSense ROS v2.3.2

 Built with LibRealSense v2.50.0

 

he contents of the log are as follows

[ INFO] [1686892606.565072437]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1686892606.567248586]: color stream is enabled - width: 1920, height: 1080, fps: 8, Format: RGB8
[ INFO] [1686892606.567359371]: setupPublishers...
[ INFO] [1686892606.570132886]: Expected frequency for depth = 15.00000
[ INFO] [1686892606.603411656]: Expected frequency for color = 8.00000

 

When color_fps is set to 8, it does not work.
However, if color_fps is changed to 5, 10, and 15, the image is output at 640*480.

Please help me

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3 comments

Date Votes
  • MartyG

    Hi Jsyoon  I checked your settings with a D435i in the RealSense Viewer tool, because if an FPS speed is chosen that is not supported by that resolution then the resolution automatically changes to one that supports that FPS.  If the FPS is supported though at that resolution then the resolution setting does not change. With this method, I confirmed that in USB 2.1 mode, 1920x1080 RGB is only supported at 8 FPS.  

     

    I note that you say that the camera information does not appear when launching at 1920x1080 color at 8 FPS.  The log does seem to indicate a successful launch.  But to see a published stream visually after the launch has competed, you should then open the RViz interface with the command rosrun rviz rviz if you have not done so already.

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  • Jsyoon

    hi MartyG

    Thank you for your answer

    As shown in the picture, rs_camera.launch has changed width, height, and fps, but topics such as image_raw and camera_info have not been published.

    The following log was printed when running rs_camera.launch

    I did the realsense ros version with 2.3.2 but the version is too low would it be a problem?

    Or is it something else that matters? I've checked that rviz doesn't print the image either

     

    SUMMARY
    ========

    PARAMETERS
     * /camera/realsense2_camera/accel_fps: -1
     * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
     * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
     * /camera/realsense2_camera/align_depth: False
     * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
     * /camera/realsense2_camera/allow_no_texture_points: False
     * /camera/realsense2_camera/base_frame_id: camera_link
     * /camera/realsense2_camera/calib_odom_file: 
     * /camera/realsense2_camera/clip_distance: -2.0
     * /camera/realsense2_camera/color_fps: 8
     * /camera/realsense2_camera/color_frame_id: camera_color_frame
     * /camera/realsense2_camera/color_height: 1080
     * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
     * /camera/realsense2_camera/color_width: 1920
     * /camera/realsense2_camera/confidence_fps: -1
     * /camera/realsense2_camera/confidence_height: -1
     * /camera/realsense2_camera/confidence_width: -1
     * /camera/realsense2_camera/depth_fps: -1
     * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
     * /camera/realsense2_camera/depth_height: -1
     * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
     * /camera/realsense2_camera/depth_width: -1
     * /camera/realsense2_camera/device_type: 
     * /camera/realsense2_camera/enable_accel: False
     * /camera/realsense2_camera/enable_color: True
     * /camera/realsense2_camera/enable_confidence: True
     * /camera/realsense2_camera/enable_depth: True
     * /camera/realsense2_camera/enable_fisheye1: False
     * /camera/realsense2_camera/enable_fisheye2: False
     * /camera/realsense2_camera/enable_fisheye: False
     * /camera/realsense2_camera/enable_gyro: False
     * /camera/realsense2_camera/enable_infra1: False
     * /camera/realsense2_camera/enable_infra2: False
     * /camera/realsense2_camera/enable_infra: False
     * /camera/realsense2_camera/enable_pointcloud: False
     * /camera/realsense2_camera/enable_pose: False
     * /camera/realsense2_camera/enable_sync: False
     * /camera/realsense2_camera/filters: 
     * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
     * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
     * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
     * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
     * /camera/realsense2_camera/fisheye_fps: -1
     * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
     * /camera/realsense2_camera/fisheye_height: -1
     * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
     * /camera/realsense2_camera/fisheye_width: -1
     * /camera/realsense2_camera/gyro_fps: -1
     * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
     * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
     * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
     * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
     * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
     * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
     * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
     * /camera/realsense2_camera/infra_fps: 30
     * /camera/realsense2_camera/infra_height: 480
     * /camera/realsense2_camera/infra_rgb: False
     * /camera/realsense2_camera/infra_width: 848
     * /camera/realsense2_camera/initial_reset: False
     * /camera/realsense2_camera/json_file_path: 
     * /camera/realsense2_camera/linear_accel_cov: 0.01
     * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
     * /camera/realsense2_camera/ordered_pc: False
     * /camera/realsense2_camera/pointcloud_texture_index: 0
     * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
     * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
     * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
     * /camera/realsense2_camera/publish_odom_tf: True
     * /camera/realsense2_camera/publish_tf: True
     * /camera/realsense2_camera/reconnect_timeout: 6.0
     * /camera/realsense2_camera/rosbag_filename: 
     * /camera/realsense2_camera/serial_no: 
     * /camera/realsense2_camera/stereo_module/exposure/1: 7500
     * /camera/realsense2_camera/stereo_module/exposure/2: 1
     * /camera/realsense2_camera/stereo_module/gain/1: 16
     * /camera/realsense2_camera/stereo_module/gain/2: 16
     * /camera/realsense2_camera/tf_publish_rate: 0.0
     * /camera/realsense2_camera/topic_odom_in: odom_in
     * /camera/realsense2_camera/unite_imu_method: 
     * /camera/realsense2_camera/usb_port_id: 
     * /camera/realsense2_camera/wait_for_device_timeout: -1.0
     * /rosdistro: noetic
     * /rosversion: 1.16.0

    NODES
      /camera/
        realsense2_camera (nodelet/nodelet)
        realsense2_camera_manager (nodelet/nodelet)

    ROS_MASTER_URI=http://192.168.0.11:11311

    process[camera/realsense2_camera_manager-1]: started with pid [206343]
    process[camera/realsense2_camera-2]: started with pid [206344]
    [ INFO] [1687225879.840782843]: Initializing nodelet with 12 worker threads.
    [ INFO] [1687225879.923626976]: RealSense ROS v2.3.2
    [ INFO] [1687225879.923651626]: Built with LibRealSense v2.50.0
    [ INFO] [1687225879.923662831]: Running with LibRealSense v2.50.0
    [ INFO] [1687225879.950425317]:  
    [ INFO] [1687225880.196398391]: Device with serial number 909512070605 was found.

    [ INFO] [1687225880.196434489]: Device with physical ID 1-4.1.7-10 was found.
    [ INFO] [1687225880.196446715]: Device with name Intel RealSense D435I was found.
    [ INFO] [1687225880.196837546]: Device with port number 1-4.1.7 was found.
    [ INFO] [1687225880.196866454]: Device USB type: 2.1
    [ WARN] [1687225880.196888330]: Device 909512070605 is connected using a 2.1 port. Reduced performance is expected.
    [ INFO] [1687225880.198599966]: getParameters...
    [ INFO] [1687225880.229831262]: setupDevice...
    [ INFO] [1687225880.229863585]: JSON file is not provided
    [ INFO] [1687225880.229882644]: ROS Node Namespace: camera
    [ INFO] [1687225880.229901040]: Device Name: Intel RealSense D435I
    [ INFO] [1687225880.229916928]: Device Serial No: 909512070605
    [ INFO] [1687225880.229932869]: Device physical port: 1-4.1.7-10
    [ INFO] [1687225880.229949420]: Device FW version: 05.14.00.00
    [ INFO] [1687225880.229965670]: Device Product ID: 0x0B3A
    [ INFO] [1687225880.229982655]: Enable PointCloud: Off
    [ INFO] [1687225880.229998310]: Align Depth: Off
    [ INFO] [1687225880.230013746]: Sync Mode: Off
    [ INFO] [1687225880.230060481]: Device Sensors: 
    [ INFO] [1687225880.322490647]: Stereo Module was found.
    [ INFO] [1687225880.331867926]: RGB Camera was found.
    [ INFO] [1687225880.331999064]: Motion Module was found.
    [ INFO] [1687225880.332036456]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
    [ INFO] [1687225880.332065803]: num_filters: 0
    [ INFO] [1687225880.332083066]: Setting Dynamic reconfig parameters.
    hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
    hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
    hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
    hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
    [ INFO] [1687225883.074356625]: Done Setting Dynamic reconfig parameters.
    [ INFO] [1687225883.074785799]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
    [ INFO] [1687225883.076931967]: color stream is enabled - width: 1920, height: 1080, fps: 8, Format: RGB8
    [ INFO] [1687225883.076979031]: setupPublishers...
    [ INFO] [1687225883.079355322]: Expected frequency for depth = 15.00000
    [ INFO] [1687225883.111841947]: Expected frequency for color = 8.00000
    [ INFO] [1687225883.132151918]: setupStreams...
     20/06 10:51:23,311 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
    [ INFO] [1687225883.361857236]: SELECTED BASE:Depth, 0
    [ INFO] [1687225883.368755550]: RealSense Node Is Up!
    [ WARN] [1687225883.748295881]: 
     20/06 10:51:23,749 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:23,799 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:23,850 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:23,901 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:23,951 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,002 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,254 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,305 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,456 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,506 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,658 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,709 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,860 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:24,910 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:25,065 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:25,116 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
     20/06 10:51:25,267 WARNING [140235611481856] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0

     

     

    thanks.

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  • MartyG

    Version 2.3.2 of the RealSense ROS1 wrapper is not too low as there were no more versions of that wrapper published after 2.3.2.  Only the ROS2 wrapper continues to be updated now.  And the 2.50.0 librealsense SDK version you are using is correct for use with wrapper 2.3.2, as newer wrappers such as 2.53.1 and 2.54.1 will be incompatible with 2.3.2.  SDK 2.51.1 does work with it though.

     

    control_transfer returned warnings have different types and typically indicate some form of communication problem between the camera and the computer / computing device.  Suggested solutions for the success: number 0 type of warning are provided at the link below.

    https://github.com/IntelRealSense/realsense-ros/issues/2535#issuecomment-1305386638

     

     

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