ROS2 Foxy: bridge causing continuous errors from realsense on depth image
Luke1962 opened this issue · 3 comments
Luke1962 commented
Bug report
Required Info:
- Operating System: Ubuntu 20.04 , HW Jetson Nano 4GB
- Installation type:
- ros1-bridge: from atp ( ros-foxy-ros1-bridge/focal,now 0.9.7-1focal.20230527.083653 arm64 [installed])
- realsense2_camera: from source ()
- Librealsense: from sources
Steps to reproduce issue
run ros1_bridge with source /opt/ros/foxy/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
run realsense2_camera built with ros2 launch realsense2_camera rs_launch.py, where parameters in launch file are the following (depth z16 + image_color_raw):
configurable_parameters = [{'name': 'camera_name', 'default': 'realsense', 'description': 'camera unique name'},
{'name': 'serial_no', 'default': "''", 'description': 'choose device by serial number'},
{'name': 'usb_port_id', 'default': "''", 'description': 'choose device by usb port id'},
{'name': 'device_type', 'default': "''", 'description': 'choose device by type'},
{'name': 'config_file', 'default': "''", 'description': 'yaml config file'},
{'name': 'enable_pointcloud', 'default': 'false', 'description': 'enable pointcloud'},
{'name': 'unite_imu_method', 'default': "''", 'description': '[copy|linear_interpolation]'},
{'name': 'json_file_path', 'default': "''", 'description': 'allows advanced configuration'},
{'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
# {'name': 'depth_width', 'default': '-1', 'description': 'depth image width'},
# {'name': 'depth_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'depth_width', 'default': '424', 'description': 'depth image width'},
{'name': 'depth_height', 'default': '240', 'description': 'depth image height'},
{'name': 'publish_tf', 'default': 'false', 'description': 'enable tf publish'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
# {'name': 'color_width', 'default': '-1', 'description': 'color image width'},
# {'name': 'color_height', 'default': '-1', 'description': 'color image height'},
{'name': 'color_width', 'default': '640', 'description': 'color image width'},
{'name': 'color_height', 'default': '480', 'description': 'color image height'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'infra_width', 'default': '-1', 'description': 'infra width'},
{'name': 'infra_height', 'default': '-1', 'description': 'infra width'},
{'name': 'enable_infra1', 'default': 'true', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'true', 'description': 'enable infra2 stream'},
{'name': 'infra_rgb', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'fisheye_width', 'default': '-1', 'description': 'fisheye width'},
{'name': 'fisheye_height', 'default': '-1', 'description': 'fisheye width'},
#{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye1', 'default': 'false', 'description': 'enable fisheye1 stream'},
#{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'enable_fisheye2', 'default': 'false', 'description': 'enable fisheye2 stream'},
{'name': 'confidence_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'confidence_height', 'default': '-1', 'description': 'depth image height'},
# {'name': 'enable_confidence', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_confidence', 'default': 'false', 'description': 'enable depth stream'},
{'name': 'fisheye_fps', 'default': '-1.', 'description': ''},
# {'name': 'depth_fps', 'default': '-1.', 'description': ''},
{'name': 'depth_fps', 'default': '15.', 'description': ''},
{'name': 'confidence_fps', 'default': '-1.', 'description': ''},
{'name': 'infra_fps', 'default': '-1.', 'description': ''},
# {'name': 'color_fps', 'default': '-1.', 'description': ''},
{'name': 'color_fps', 'default': '15.', 'description': ''},
{'name': 'gyro_fps', 'default': '-1.', 'description': ''},
{'name': 'accel_fps', 'default': '-1.', 'description': ''},
{'name': 'color_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'confidence_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'depth_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'fisheye_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'infra_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'pointcloud_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'enable_gyro', 'default': 'false', 'description': ''},
{'name': 'enable_accel', 'default': 'false', 'description': ''},
{'name': 'enable_pose', 'default': 'false', 'description': ''},
{'name': 'pointcloud_texture_stream', 'default': 'RS2_STREAM_COLOR', 'description': 'testure stream for pointcloud'},
{'name': 'pointcloud_texture_index', 'default': '0', 'description': 'testure stream index for pointcloud'},
{'name': 'enable_sync', 'default': 'false', 'description': ''},
{'name': 'align_depth', 'default': 'false', 'description': ''},
{'name': 'filters', 'default': "''", 'description': ''},
{'name': 'clip_distance', 'default': '-2.', 'description': ''},
{'name': 'linear_accel_cov', 'default': '0.01', 'description': ''},
# {'name': 'initial_reset', 'default': 'false', 'description': ''},
{'name': 'initial_reset', 'default': 'true', 'description': ''},
{'name': 'allow_no_texture_points', 'default': 'false', 'description': ''},
{'name': 'ordered_pc', 'default': 'false', 'description': ''},
{'name': 'calib_odom_file', 'default': "''", 'description': "''"},
{'name': 'topic_odom_in', 'default': "''", 'description': 'topic for T265 wheel odometry'},
{'name': 'tf_publish_rate', 'default': '0.0', 'description': 'Rate of publishing static_tf'},
{'name': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
{'name': 'temporal.holes_fill', 'default': '0', 'description': 'Persistency mode'},
{'name': 'stereo_module.exposure.1', 'default': '7500', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.1', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.exposure.2', 'default': '1', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.2', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'name': 'wait_for_device_timeout', 'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
{'name': 'reconnect_timeout', 'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
]
Expected behavior
No errors from realsense node side
Actual behavior
Repeated error messages from realsense of type:
[ERROR] [1701208284.199617733] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
If I kill bridge node , immediately the above error messages are not anymore produced by realsense node.
Additional information
No depth subscribers on ROS1 side
May be I'm doing something wrong , but my understanding is that ros1_bridge is subscribing depth as rgb8 instead of Z16 image format.
My question is : if it is not a bug, is there a way to change this behavior without removing the " --bridge-all-topics" option ? (since I still have a lot of ROS1 messages not yet migrates).
yijh0611 commented
Simillar error.
paulijosey commented
same issue here!
christophebedard commented
ROS 2 Foxy is not supported anymore. You should try with a supported distro: https://docs.ros.org/en/rolling/Releases.html#list-of-distributions