ROS Humble Cloud Point Problem D435i (Jetson Nano Orin)
Hello,
I am having trouble with getting Cloud Point data using ROS Humble from D435i. I am using Jetson Nano Orin 8 GB with Jetpack 6.0 Ubuntu 22.04.05 LTS. The only installation that worked is from following this guide: https://github.com/IntelRealSense/librealsense/issues/12831#issuecomment-2041140925
The first thing to note is that both in realsense-viewer and when trying to launch it through ros2, it gave this error:
[realsense2_camera_node-1] 12/03 23:05:17,591 WARNING [281472921168096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
I realized that this error is related to frame rate dropping and in realsense-viewer, I saw that the camera is only getting 2fps at max. And when launching RVIZ2 the image on the camera seems to work normally, but when trying to add CloudPoint2, this warning appeared:
[realsense2_camera_node-1] 12/03 23:05:20,589 ERROR [281472158132448] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[realsense2_camera_node-1] [WARN] [1741835157.113945171] [camera.camera]: No stream match for pointcloud chosen texture Process - Color
In RVIZ2 nothing shows for CloudPoint2. I am really new to this space, so any helpful guide will be greatly appreciated.
-
Another thing that I would like to add is when first launching the camera through ros2, from ros2 topics list, pointcloud does not show. After searching online I found this code that enables it: ros2 launch realsense2_camera rs_launch.py align_depth:=true pointcloud.enable:=true. I do not know if this adds any helpful information, but I hope that this information can help anyone to better understand the problem.
-
Hi Eliezerjustin4 When generating a pointcloud in ROS2, unless you need the aligned-image topics then you do not need to include the align_depth.enable:=true parameter in your launch as depth and color will be mapped together automatically when pointcloud.enable:=true is used.
The warning No stream match for pointcloud chosen texture Process - Color indicates that RGB color frames are being dropped during streaming. What happens if you use the launch command below to disable the color image and also disable texturing of the pointcloud?
ros2 launch realsense2_camera rs_launch.py enable_color:=false pointcloud.enable:=true pointcloud.stream_filter:=0
-
Hi MartyG,
Thank you for your response. RVIZ started giving me this error:
[INFO] [1742144592.857645602] [rviz]: Message Filter dropping message: frame 'camera_depth_optical_frame' at time 1742144591.356 for reason 'discarding message because the queue is full'Also is there a way to fix the frame dropping of the camera that is indicated by:
[realsense2_camera_node-1] 12/03 23:05:17,591 WARNING [281472921168096] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
Please sign in to leave a comment.
Comments
4 comments