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need help to integrate slam with D455 using Ros2 humble in raspberrypi 4

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Gunjinageswarrao0
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I have been trying to obtain the position values from the D455 camera on a Raspberry Pi running ROS 2 Humble distribution, but I haven't been successful so far. I would be very grateful if you could assist me in resolving this issue so that I can retrieve the position values on the Raspberry Pi..

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37 comments

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  • Allusrikanth87349

    Yes sir, we are using the official 1 meter cable supplied with the camera. 

    We  unpluged the camera and pluged by reversing it but no result sir. 

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  • MartyG

    Please try inputting the command below into the Ubuntu terminal to delete the configuration file of RealSense Viewer, which will cause the Viewer to reset to its default settings next time it is launched.  Is one of the IMU streams still unavailable after the configuration reset?

    rm ~/.realsense-config.json
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  • Allusrikanth87349

    Yes sir, after executing the above command also the same issue is happening.

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  • MartyG

    Does the IMU problem still occur if you reset the camera in the Viewer by going to the More option at the top of the options side-panel and selecting 'Reset Hardware' from its drop down menu?

     

    As you are able to enable the depth stream, is there a change if you use the instructions at the link below to reset the camera's calibration to its factory new default settings in the Viewer?

    https://github.com/IntelRealSense/librealsense/issues/10182#issuecomment-1019854487

     

    In the ROS wrapper, are you able to enable only one of the IMU streams at a time and view it in RViz, like in the Viewer?  For example, to publish the Accel topic but not Gyro:

    ros2 launch realsense2_camera rs_launch.py enable_accel:=true

     

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  • Allusrikanth87349

    After doing these steps also we are still getting the same issue sir. 

    Although we are able to see the  topics related to imu in the ros topic list we are not able to visualize it in the rviz sir. 

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  • MartyG

    If the individual accel and gyro topics are published, can the messages be seen in RViz if you add unite_imu_method:=2 to your ROS launch command to combine the accel and gyro topics into a single /imu topic.

     

    ROS2 users usually use RViz2 instead of RViz.  Are you using RViz2, which is opened with this command:

    ros2 run rviz2 rviz2

     

    If IMU data is still not appearing in RViz then you might need to first install the RViz IMU plugin using this command:

    sudo apt install ros-$ROS_DISTRO-imu-tools
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  • MartyG

    Then select the IMU topic in RViz2.

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