baxterのrealsense l515のトピックがでない
Closed this issue · 3 comments
shmpwk commented
baxterのrealsenseを
roslaunch eus_vive realsense_l515.launch
で立ち上げても,
例えば，
rostopic hz /realsense/color/image_rect_color
で
no new messages
なのですが，
他に立ち上げるものはありますでしょうか．
[http://baxter:11311][10.0.0.3] shmpwk@baxter-c4:~/ros/vive_ws/src/knorth55/eus_vive$ roslaunch eus_vive realsense_l515.launch
... logging to /home/shmpwk/.ros/log/f63b0786-41fd-11eb-ac79-000af716d1cb/roslaunch-baxter-c4-27682.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.0.0.3:46397/
SUMMARY
========
PARAMETERS
* /realsense/realsense2_camera/accel_fps: 250
* /realsense/realsense2_camera/accel_frame_id: realsense_accel_f...
* /realsense/realsense2_camera/accel_optical_frame_id: realsense_accel_o...
* /realsense/realsense2_camera/align_depth: True
* /realsense/realsense2_camera/aligned_depth_to_color_frame_id: realsense_aligned...
* /realsense/realsense2_camera/aligned_depth_to_fisheye1_frame_id: realsense_aligned...
* /realsense/realsense2_camera/aligned_depth_to_fisheye2_frame_id: realsense_aligned...
* /realsense/realsense2_camera/aligned_depth_to_fisheye_frame_id: realsense_aligned...
* /realsense/realsense2_camera/aligned_depth_to_infra1_frame_id: realsense_aligned...
* /realsense/realsense2_camera/aligned_depth_to_infra2_frame_id: realsense_aligned...
* /realsense/realsense2_camera/allow_no_texture_points: False
* /realsense/realsense2_camera/base_frame_id: realsense_link
* /realsense/realsense2_camera/calib_odom_file:
* /realsense/realsense2_camera/clip_distance: -1.0
* /realsense/realsense2_camera/color_fps: 30
* /realsense/realsense2_camera/color_frame_id: realsense_color_f...
* /realsense/realsense2_camera/color_height: 540
* /realsense/realsense2_camera/color_optical_frame_id: realsense_color_o...
* /realsense/realsense2_camera/color_width: 960
* /realsense/realsense2_camera/confidence_fps: 30
* /realsense/realsense2_camera/confidence_height: 480
* /realsense/realsense2_camera/confidence_width: 640
* /realsense/realsense2_camera/depth_fps: 30
* /realsense/realsense2_camera/depth_frame_id: realsense_depth_f...
* /realsense/realsense2_camera/depth_height: 480
* /realsense/realsense2_camera/depth_optical_frame_id: realsense_depth_o...
* /realsense/realsense2_camera/depth_width: 640
* /realsense/realsense2_camera/device_type:
* /realsense/realsense2_camera/enable_accel: False
* /realsense/realsense2_camera/enable_color: True
* /realsense/realsense2_camera/enable_confidence: True
* /realsense/realsense2_camera/enable_depth: True
* /realsense/realsense2_camera/enable_fisheye1: False
* /realsense/realsense2_camera/enable_fisheye2: False
* /realsense/realsense2_camera/enable_fisheye: False
* /realsense/realsense2_camera/enable_gyro: False
* /realsense/realsense2_camera/enable_infra1: False
* /realsense/realsense2_camera/enable_infra2: False
* /realsense/realsense2_camera/enable_infra: False
* /realsense/realsense2_camera/enable_pointcloud: False
* /realsense/realsense2_camera/enable_pose: False
* /realsense/realsense2_camera/enable_sync: True
* /realsense/realsense2_camera/filters:
* /realsense/realsense2_camera/fisheye1_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye1_optical_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye2_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye2_optical_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye_fps: 30
* /realsense/realsense2_camera/fisheye_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye_height: 480
* /realsense/realsense2_camera/fisheye_optical_frame_id: realsense_fisheye...
* /realsense/realsense2_camera/fisheye_width: 640
* /realsense/realsense2_camera/gyro_fps: 400
* /realsense/realsense2_camera/gyro_frame_id: realsense_gyro_frame
* /realsense/realsense2_camera/gyro_optical_frame_id: realsense_gyro_op...
* /realsense/realsense2_camera/imu_optical_frame_id: realsense_imu_opt...
* /realsense/realsense2_camera/infra1_frame_id: realsense_infra1_...
* /realsense/realsense2_camera/infra1_optical_frame_id: realsense_infra1_...
* /realsense/realsense2_camera/infra2_frame_id: realsense_infra2_...
* /realsense/realsense2_camera/infra2_optical_frame_id: realsense_infra2_...
* /realsense/realsense2_camera/infra_fps: 30
* /realsense/realsense2_camera/infra_height: 480
* /realsense/realsense2_camera/infra_rgb: False
* /realsense/realsense2_camera/infra_width: 640
* /realsense/realsense2_camera/initial_reset: False
* /realsense/realsense2_camera/json_file_path:
* /realsense/realsense2_camera/linear_accel_cov: 0.01
* /realsense/realsense2_camera/odom_frame_id: realsense_odom_frame
* /realsense/realsense2_camera/pointcloud_texture_index: 0
* /realsense/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /realsense/realsense2_camera/pose_frame_id: realsense_pose_frame
* /realsense/realsense2_camera/pose_optical_frame_id: realsense_pose_op...
* /realsense/realsense2_camera/publish_odom_tf: True
* /realsense/realsense2_camera/publish_tf: False
* /realsense/realsense2_camera/rosbag_filename:
* /realsense/realsense2_camera/serial_no:
* /realsense/realsense2_camera/tf_publish_rate: 0.0
* /realsense/realsense2_camera/topic_odom_in: realsense/odom_in
* /realsense/realsense2_camera/unite_imu_method: none
* /realsense/realsense2_camera/usb_port_id:
* /rosdistro: melodic
* /rosversion: 1.14.3
NODES
/realsense/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense_camera_manager (nodelet/nodelet)
/
aligned_depth_to_color_camera_info_relay (topic_tools/relay)
aligned_depth_to_color_compress_republish (image_transport/republish)
depth_camera_info_relay (topic_tools/relay)
depth_compress_republish (image_transport/republish)
ROS_MASTER_URI=http://baxter:11311
process[realsense/realsense_camera_manager-1]: started with pid [27691]
process[realsense/realsense2_camera-2]: started with pid [27692]
process[realsense/color_rectify_color-3]: started with pid [27693]
process[realsense/points_xyzrgb_hw_registered-4]: started with pid [27698]
process[depth_compress_republish-5]: started with pid [27702]
process[depth_camera_info_relay-6]: started with pid [27710]
[ INFO] [1614744975.873599126]: Initializing nodelet with 48 worker threads.
process[aligned_depth_to_color_compress_republish-7]: started with pid [27769]
process[aligned_depth_to_color_camera_info_relay-8]: started with pid [27772]
[ INFO] [1614744976.145016508]: RealSense ROS v2.2.21
[ INFO] [1614744976.145058298]: Built with LibRealSense v2.41.0
[ INFO] [1614744976.145074624]: Running with LibRealSense v2.41.0
[ INFO] [1614744976.187361410]:
[ INFO] [1614744976.795889199]: Device with serial number f0270643 was found.
[ INFO] [1614744976.795932642]: Device with physical ID 3-3-2 was found.
[ INFO] [1614744976.795950898]: Device with name Intel RealSense L515 was found.
[ INFO] [1614744976.796630281]: Device with port number 3-3 was found.
[ INFO] [1614744976.796674780]: Device USB type: 2.1
[ WARN] [1614744976.796697855]: Device f0270643 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1614744976.802284114]: getParameters...
[ INFO] [1614744977.044526874]: setupDevice...
[ INFO] [1614744977.044591666]: JSON file is not provided
[ INFO] [1614744977.044626854]: ROS Node Namespace: realsense
[ INFO] [1614744977.044658530]: Device Name: Intel RealSense L515
[ INFO] [1614744977.044692108]: Device Serial No: f0270643
[ INFO] [1614744977.044719511]: Device physical port: 3-3-2
[ INFO] [1614744977.044746349]: Device FW version: 01.05.03.00
[ INFO] [1614744977.044779696]: Device Product ID: 0x0B64
[ INFO] [1614744977.044807240]: Enable PointCloud: Off
[ INFO] [1614744977.044841003]: Align Depth: On
[ INFO] [1614744977.044872917]: Sync Mode: On
[ INFO] [1614744977.045015866]: Device Sensors:
[ INFO] [1614744977.067359286]: L500 Depth Sensor was found.
[ INFO] [1614744977.076059491]: RGB Camera was found.
[ INFO] [1614744977.076264643]: Motion Module was found.
[ INFO] [1614744977.076327875]: num_filters: 0
[ INFO] [1614744977.076355191]: Setting Dynamic reconfig parameters.
[ INFO] [1614744977.399978472]: Done Setting Dynamic reconfig parameters.
[ WARN] [1614744977.400247080]: Given stream configuration is not supported by the device! Stream: Depth, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: Z16
[ WARN] [1614744977.400328735]: Given stream configuration is not supported by the device! Stream: Color, Stream Index: 0, Width: 960, Height: 540, FPS: 30, Format: None
[ WARN] [1614744977.400378994]: Given stream configuration is not supported by the device! Stream: Confidence, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: None
[ INFO] [1614744977.400433303]: setupPublishers...
[ INFO] [1614744977.403557917]: setupStreams...
[ INFO] [1614744977.403656640]: SELECTED BASE:Depth, 0
[ INFO] [1614744977.408766311]: RealSense Node Is Up!
shmpwk commented
USB3が2として認識されていた．
USB抜き差しか再起動でだいたい直るが，
今回は以下でアップデートしたら直った．(非推奨)
sudo apt install --reinstall ros-melodic-librealsense2
USBの抜き差しか、再起動をしましょう！
shmpwk commented
補足:
USB cameraのデバイスのリストアップ方法
$ v4l2-ctl --list-devices
HD USB CAMERA: HD USB CAMERA (usb-0000:00:14.0-11):
/dev/video0
/dev/video1
Intel(R) RealSense(TM) 515: Int (usb-0000:00:14.0-6):
/dev/video2
/dev/video3
/dev/video4
/dev/video5
/dev/video6
/dev/video7
/dev/video8
/dev/video9
USBカメラのinterfaceのリストアップ方法（ここにリストアップされてない解像度・FPSは起動できない）
RGB
$ v4l2-ctl --list-formats-ext -d /dev/video8
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'YUYV'
Name : YUYV 4:2:2
Size: Discrete 1920x1080
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 1280x720
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Size: Discrete 960x540
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.167s (6.000 fps)
Depth
$ v4l2-ctl --list-formats-ext -d /dev/video4
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'Z16 '
Name : 16-bit Depth
Size: Discrete 480x640
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 768x1024
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 240x320
Interval: Discrete 0.033s (30.000 fps)
knorth55 commented
PCの不具合の可能性が高いですが，RealsenseをUSB2.0デバイスとして認識していたため，Interfaceとして解像度・FPSが対応していなかったようです．
挿し直したりPCを再起動することで，RealsenseをUSB3デバイスとして認識されるようにすると，正しく起動できると思います．