wh200720041/ssl_slam

Error when run with real L515 sensor

Opened this issue · 10 comments

tuencfs commented

I got the error when run with L515 camera

`roslaunch floam_ssl floam_ssl_L515.launch
... logging to /home/tuencns/.ros/log/e908b6a2-f686-11ea-9a82-8cec4ba2a7d4/roslaunch-tuecomputer-5760.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://tuecomputer:45045/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -2.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 720
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 1280
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: False
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: False
  • /camera/realsense2_camera/enable_fisheye2: False
  • /camera/realsense2_camera/enable_fisheye: False
  • /camera/realsense2_camera/enable_gyro: False
  • /camera/realsense2_camera/enable_infra1: False
  • /camera/realsense2_camera/enable_infra2: False
  • /camera/realsense2_camera/enable_infra: False
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_pose: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/filters: pointcloud
  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
  • /camera/realsense2_camera/infra_fps: 30
  • /camera/realsense2_camera/infra_height: 480
  • /camera/realsense2_camera/infra_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame
  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
  • /camera/realsense2_camera/publish_odom_tf: True
  • /camera/realsense2_camera/publish_tf: True
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: odom_in
  • /camera/realsense2_camera/unite_imu_method:
  • /camera/realsense2_camera/usb_port_id:
  • /floam_ssl/trajectory_server_floam_ssl/source_frame_name: base_link
  • /floam_ssl/trajectory_server_floam_ssl/target_frame_name: map
  • /floam_ssl/trajectory_server_floam_ssl/trajectory_publish_rate: 10.0
  • /floam_ssl/trajectory_server_floam_ssl/trajectory_update_rate: 10.0
  • /map_resolution: 0.05
  • /max_dis: 9.0
  • /min_dis: 0.2
  • /rosdistro: kinetic
  • /rosversion: 1.12.16
  • /scan_period: 0.1
  • /vertical_angle: 2.0

NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/
floam_ssl_laser_mapping_node (floam_ssl/floam_ssl_laser_mapping_node)
floam_ssl_laser_processing_node (floam_ssl/floam_ssl_laser_processing_node)
floam_ssl_odom_estimation_node (floam_ssl/floam_ssl_odom_estimation_node)
rviz (rviz/rviz)
/floam_ssl/
trajectory_server_floam_ssl (hector_trajectory_server/hector_trajectory_server)

auto-starting new master
process[master]: started with pid [5770]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e908b6a2-f686-11ea-9a82-8cec4ba2a7d4
process[rosout-1]: started with pid [5783]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [5800]
process[camera/realsense2_camera-3]: started with pid [5801]
process[floam_ssl_laser_processing_node-4]: started with pid [5802]
process[floam_ssl_odom_estimation_node-5]: started with pid [5808]
process[floam_ssl_laser_mapping_node-6]: started with pid [5816]
[ INFO] [1600086989.010571461]: Initializing nodelet with 12 worker threads.
process[rviz-7]: started with pid [5844]
process[floam_ssl/trajectory_server_floam_ssl-8]: started with pid [5845]
[ INFO] [1600086989.682339509]: RealSense ROS v2.2.17
[ INFO] [1600086989.682367187]: Built with LibRealSense v2.38.1
[ INFO] [1600086989.682382683]: Running with LibRealSense v2.38.1
[ INFO] [1600086989.690645214]:
[ INFO] [1600086989.956487436]: Device with serial number 00000000f0140535 was found.

[ INFO] [1600086989.956512499]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video1 was found.
[ INFO] [1600086989.956524246]: Device with name Intel RealSense L515 was found.
[ INFO] [1600086989.956808287]: Device with port number 2-1 was found.
[ INFO] [1600086989.958137159]: getParameters...
[ INFO] [1600086990.004759641]: setupDevice...
[ INFO] [1600086990.004783227]: JSON file is not provided
[ INFO] [1600086990.004795515]: ROS Node Namespace: camera
[ INFO] [1600086990.004807648]: Device Name: Intel RealSense L515
[ INFO] [1600086990.004818910]: Device Serial No: 00000000f0140535
[ INFO] [1600086990.004837011]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video1
[ INFO] [1600086990.004853245]: Device FW version: 01.04.01.02
[ INFO] [1600086990.004870631]: Device Product ID: 0x0B64
[ INFO] [1600086990.004884734]: Enable PointCloud: On
[ INFO] [1600086990.004898314]: Align Depth: Off
[ INFO] [1600086990.004912370]: Sync Mode: On
[ INFO] [1600086990.004954499]: Device Sensors:
[ INFO] [1600086990.005398575]: L500 Depth Sensor was found.
[ INFO] [1600086990.006039697]: RGB Camera was found.
[ INFO] [1600086990.006169462]: Motion Module was found.
[ INFO] [1600086990.006199117]: Add Filter: pointcloud
[ INFO] [1600086990.006634400]: num_filters: 1
[ INFO] [1600086990.006647505]: Setting Dynamic reconfig parameters.
[ INFO] [1600086990.039909898]: Done Setting Dynamic reconfig parameters.
[ INFO] [1600086990.040262147]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1600086990.041100589]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600086990.041119363]: setupPublishers...
[ INFO] [1600086990.042989529]: Expected frequency for depth = 30.00000
[ INFO] [1600086990.061458617]: Expected frequency for color = 30.00000
[ INFO] [1600086990.077432483]: setupStreams...
[ INFO] [1600086990.128422817]: insert Depth to L500 Depth Sensor
[ INFO] [1600086990.128455831]: insert Color to RGB Camera
[ INFO] [1600086990.141009508]: SELECTED BASE:Depth, 0
0x30154c0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x3009210 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x3009cf0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x30143b0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
[ INFO] [1600086990.290417514]: RealSense Node Is Up!
0x32f1780 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x361c390 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x355fcb0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x361bb50 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x361c240 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
0x32f1780 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window.
[ERROR] [1600086992.133280044]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.160066167]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.195385991]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.205920344]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.263118083]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.283074473]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.322335292]: An error has occurred during frame callback: map::at
[ERROR] [1600086992.372725219]: An error has occurred during frame callback: map::at
`
I grep on the source codes the Error information, it's in
void BaseRealSenseNode::frame_callback(rs2::frame frame)
./src_/realsense-ros/realsense2_camera/src/base_realsense_node.cpp +1623
I change all ROS_DEBUG to ROS_INFO to see.

Please take a look

adioshun commented

I got the save error. Did you fix it?

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at
tuencfs commented

I'm trying to fix it.

wh200720041 commented

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by
roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

tuencfs commented

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by
roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

Thank you, I'll try it on Melodic and check the topic

tuencfs commented

I got the save error. Did you fix it?

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at

which's the ROS version you use, is it Kinetic?

adioshun commented

I got the save error. Did you fix it?

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at

which's the ROS version you use, is it Kinetic?

No. I am using melodic. I will also try it tomorrow. Please let me know your result. Thanks.

peta-peta commented

I do confirm that the code is working on Ubuntu 18.4 LTS with Melodic without any problem. I only see a warning for TF in Rviz, but it doesn't seem to cause any problems.

  • 👍1
adioshun commented

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by
roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

I am using melodic and run the roslaunch realsense2_camera rs_camera.launch. it shows the same error.

[ERROR] [1600218175.244973578]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.277110802]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.311635957]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.344974627]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.377159195]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.411549213]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.444573194]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.478173010]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.512775782]: An error has occurred during frame callback: map::at

which parameter should I change?

thanks.

adioshun commented

I do confirm that the code is working on Ubuntu 18.4 LTS with Melodic without any problem. I only see a warning for TF in Rviz, but it doesn't seem to cause any problems.

I am also use the 18.4 and melodic and still have the problem.

Could you share the 'rs_camera.launch' file (copy and paste on this thread)

thanks.

  • 👍3
wh200720041 commented

Hi @adioshun

The rs_camera.launch file is added for reference