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D555 PoE

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Usef Desouky
  • Edited

Hi Realsense Support,

I recently purchased the D555 camera, and overall it has been working quite well. Listing and echoing topics functioned smoothly for the most part; however, I encountered some warnings when using cyclone_dds_rmw during topic echoing, which appear to be due to compatibility issues. On a positive note, the rs_cmdline tools worked perfectly throughout.

Later, I was no longer able to see or receive any topics. I believe the issue may be related to having set ROS_DOMAIN_ID to 20 in the .bashrc file. To troubleshoot, I exported ROS_DOMAIN_ID=0 in a local terminal, but no topics appeared. Interestingly, topics only became visible after running rs_sniffer in a separate terminal. Additionally, the rs_cmdline tools stopped working at this point.

how can I fix such issue?

HW/SW Setup:

  1. Ubuntu 24
  2. ROS2 Jazzy
  3. D555 PoE Connected
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Comments

7 comments

Date Votes
  • MartyX Grover

    Hi Usef Desouky  If the problem started when you edited the ROS2 bashrc file, could you try resetting the file with the command below, which restores the file from a default template?

    cp /etc/skel/.bashrc ~
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  • Usef Desouky

    But I need to change the camera domain id to match the ROS_DOMAIN_ID I have set not the opposite

    here are some logs of the recent command so you can understand the problem 



    top left: ping camera ip and cant detect camera over ethernet

    bottom left: rs-dds-sniffer on domain id 22 as the dds domain id in .realsense-config.json  set to 22

    top right: rs-dds-sniffer on domain id 0

    bottom right: locally exported ROS_DOMAIN_ID to 0 and on ros2 topic list I got the topics listed

     

    The issue that the camera is not discoverable and I need to get the topics listed on the ROS_DOMAIN_ID 22

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  • MartyX Grover
    • Edited

    My research of ROS_DOMAIN_ID=22 indicates that it is used to isolate nodes so that they will only communicate with other nodes, computers or robots that use ROS_DOMAIN_ID=22.  Is this what you are attempting to do with your configuration, please?

     

    Is the RealSense DDS topic list detectable if you manually set the ID to 22 before you list the topics instead of relying on the automated definition in the bashrc file?

     

    export ROS_DOMAIN_ID=22
    ros2 topic list

     

    My research indicates that RealSense topics should be listable when the domain is set to 22.  However, those successes were in cases where the RealSense ROS2 wrapper had been installed and its node launched with the rs_launch.py launch file before echoing the topics.  For example:

     

    export ROS_DOMAIN_ID=22

    ros2 launch realsense2_camera rs_launch.py

    ros2 topic list

     

    My understanding is that when echoing the short list of RealSense DDS topics, a RealSense node is not yet active until the RealSense ROS2 wrapper has been launched by the user with rs_launch.py.  The short RealSense DDS topic list is able to be published without the RealSense ROS2 wrapper being launched because D555 is interoperable with Fast DDS, the middleware powering ROS 2.

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  • Usef Desouky 
    My research of ROS_DOMAIN_ID=22 indicates that it is used to isolate nodes so that they will only communicate with other nodes, computers or robots that use ROS_DOMAIN_ID=22.  Is this what you are attempting to do with your configuration, please?

    yes this is what I am attempting as the whole robot system runs on the ROS_DOMAIN_ID 22 and I want the camera topics to be discoverable across the system.

    Is the RealSense DDS topic list detectable if you manually set the ID to 22 before you list the topics instead of relying on the automated definition in the bashrc file?

    Unfortunately, no

    I tried launching with ROS_DOMAIN_ID 0 and ROS_DOMAIN_ID 22 but both had the same result

    ~$ ros2 launch realsense2_camera rs_launch.py 
    [INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2026-06-03-15-29-16-907939-husarion-18475
    [INFO] [launch]: Default logging verbosity is set to INFO
    [INFO] [launch.user]: 🚀 Launching as Normal ROS Node
    [INFO] [realsense2_camera_node-1]: process started with pid [18478]
    [realsense2_camera_node-1] [INFO] [1780493357.319832862] [camera.camera]: RealSense ROS v4.57.7
    [realsense2_camera_node-1] [INFO] [1780493357.319947771] [camera.camera]: Built with LibRealSense v2.57.7
    [realsense2_camera_node-1] [INFO] [1780493357.319973196] [camera.camera]: Running with LibRealSense v2.57.7
    [realsense2_camera_node-1] [WARN] [1780493357.330568983] [camera.camera]: No RealSense devices were found!
    [realsense2_camera_node-1] [WARN] [1780493363.335267136] [camera.camera]: No RealSense devices were found


    I think we need to schedule meeting to solve this issue, kindly send me your contact details

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  • MartyX Grover

    This RealSense support channel can only provide advice via web comments, unfortunately.

     

    Are you able to uninstall and reinstall ROS2 Jazzy to see whether the earlier configuration problems produced when the ROS_DOMAIN_ID was set in the bashrc file disappear?

     

    Have you previously tried accessing the topics with ROS2's default FastDDS to confirm whether or not the problem is related to use of cyclone_dds_rmw as you encountered some warnings?

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  • Usef Desouky

    no I cant reinstall ROS2 as its natively installed and this will delay the robot development.
    do you have a ready docker image for the d555 realsense with ros2?

    No I havent tried to use fastdds as cyclone is recommended by the robot provider

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  • MartyX Grover

    We do not have a ready-made official Docker image for ROS2.  Some RealSense ROS2 users have shared their Docker contents.  However, they are often designed for Nvidia Jetson, though the link below has one for PCs (amd64).

    https://github.com/2b-t/realsense-ros2-docker

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