intelrealsense/realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras

realsense-ros's Issues

Invalid roslaunch syntax

System Configuration

Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	?
Kernel	4.4.0-040400-generic	?-?-?
Backend	video4linux	?
ROS	indigo	?
ROS RealSense	Latest Release	?.?.?
librealsense	0.9.1	?.?.?
R200 Firmware	1.0.72.06	?.?.?.?

---

How to collect Configuration Data

This section can be deleted before submission.

Version	Method
Operating System	grep DISTRIB_DESCRIPTION /etc/*elease*
Kernel	uname -r
Backend	`ls /sys/class
ROS	rosversion -d
ROS RealSense	rosversion realsense_camera
librealsense	`cat /librealsense/readme.md
R200 Firmware	View the ROS log from running nodelet OR `/librealsense/bin/cpp-enumerate-devices

---

Expected Behavior

launching the the launch files when called with roslaunch in the folder where the launch files are found

Actual Behavior

while processing /home/oushesh/catkin_ws_r200/src/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/oushesh/catkin_ws_r200/src/realsense_camera/launch/includes/realsense_r200_nodelet.launch.xml'

Steps to Reproduce

Any idea why this is so?

I tried also a different git :
https://github.com/BlazingForests/realsense_camera/

with this one its working fine. only the I do not get RGB picture. Depth picture and Point Clouds I got but was quite noisy.

So I wanted to try this new git since its more recent.

Thanks for any help guys.

Change resolution of R200 for color and depth image

System Configuration

Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	14.04.4
Kernel	4.4.0-040400-generic	4.4.0-040400-generic
Backend	video4linux	video4linux
ROS	indigo	indigo
ROS RealSense	Latest Release	Latest Release
librealsense	0.9.1	0.9.1
R200 Firmware	1.0.72.06	?.?.?.?

Hi there,

I would like to start the color and depth stream with a different resolution than default values (which are 640x480). My desired resolutions for both color and depth stream are 1920x1080.

I tried to change default values in realsense_camera_nodelet.h file but that didn't work.
As stated in the documentation, there are several static parameters for these values.

Can anyone help me out on this?

Thanks in advance

SR300

Do you plan to support SR300 ? what should be its format for RGB and depth data ?

DEPTH_FORMAT = RS_FORMAT_Z16;
COLOR_FORMAT = RS_FORMAT_RGB8;
IR1_FORMAT = RS_FORMAT_Y16;

Is that right?

Error: run r200_nodelet_rgbd.lauch

System Configuration

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-31-generic
Backend
ROS	kinetic
ROS RealSense	Cannot locate [realsense_camera]
librealsense	0.9.1
R200 Firmware	1.0.72.06

Hi! I just got these errors when I was trying to run r200_nodelet_rgbd.lauch.
Please help! Thanks!

jack@jack-All-Series:~/catkin_ws$ roslaunch realsense_camera r200_nodelet_r
r200_nodelet_resolution.test  r200_nodelet_rgbd.test
r200_nodelet_rgbd.launch      
jack@jack-All-Series:~/catkin_ws$ roslaunch realsense_camera r200_nodelet_rgbd.launch 
... logging to /home/jack/.ros/log/f7e33cf8-5444-11e6-86bf-086266340963/roslaunch-jack-All-Series-12936.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://jack-All-Series:41003/

SUMMARY
========

PARAMETERS
 * /camera/camera/base_frame_id: camera_link
 * /camera/camera/color_fps: 30
 * /camera/camera/color_frame_id: camera_rgb_frame
 * /camera/camera/color_height: 480
 * /camera/camera/color_optical_frame_id: camera_rgb_optica...
 * /camera/camera/color_width: 640
 * /camera/camera/depth_fps: 30
 * /camera/camera/depth_frame_id: camera_depth_frame
 * /camera/camera/depth_height: 360
 * /camera/camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/camera/depth_width: 480
 * /camera/camera/enable_color: True
 * /camera/camera/enable_depth: True
 * /camera/camera/enable_pointcloud: False
 * /camera/camera/enable_tf: True
 * /camera/camera/ir2_frame_id: camera_ir2_frame
 * /camera/camera/ir_frame_id: camera_ir_frame
 * /camera/camera/mode: manual
 * /camera/camera/serial_no: 
 * /camera/camera/usb_port_id: 
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/disparity_depth/max_range: 4.0
 * /camera/disparity_depth/min_range: 0.5
 * /camera/disparity_registered_sw/max_range: 4.0
 * /camera/disparity_registered_sw/min_range: 0.5
 * /camera/points_xyzrgb_sw_registered/queue_size: 100
 * /rosdistro: kinetic
 * /rosversion: 1.12.2

NODES
  /camera/
    camera (nodelet/nodelet)
    camera_nodelet_manager (nodelet/nodelet)
    debayer (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_registered_sw (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_ir (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [12954]
process[camera/camera-2]: started with pid [12955]
process[camera/debayer-3]: started with pid [12956]
process[camera/rectify_mono-4]: started with pid [12957]
process[camera/rectify_color-5]: started with pid [12974]
process[camera/rectify_ir-6]: started with pid [12983]
process[camera/depth_rectify_depth-7]: started with pid [13003]
[ INFO] [1469709228.472179466]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-8]: started with pid [13025]
process[camera/depth_metric-9]: started with pid [13051]
process[camera/depth_points-10]: started with pid [13060]
process[camera/register_depth_rgb-11]: started with pid [13081]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [13097]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [13114]
process[camera/disparity_depth-14]: started with pid [13117]
process[camera/disparity_registered_sw-15]: started with pid [13127]
[ERROR] [1469709229.063014833]: Failed to load nodelet [/camera/camera] of type [realsense_camera/R200Nodelet] even after refreshing the cache: Failed to load library /home/jack/catkin_ws/devel/lib//librealsense_camera_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/jack/catkin_ws/devel/lib//librealsense_camera_nodelet.so: undefined symbol: _ZN12class_loader20class_loader_private30getCurrentlyLoadingLibraryNameEv)
[ERROR] [1469709229.063055053]: The error before refreshing the cache was: Failed to load library /home/jack/catkin_ws/devel/lib//librealsense_camera_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/jack/catkin_ws/devel/lib//librealsense_camera_nodelet.so: undefined symbol: _ZN12class_loader20class_loader_private30getCurrentlyLoadingLibraryNameEv)
[FATAL] [1469709229.063154743]: Service call failed!
[camera/camera-2] process has died [pid 12955, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/R200Nodelet camera_nodelet_manager camera/depth/image_raw:=depth/image_raw camera/color/image_raw:=rgb/image_raw camera/ir/image_raw:=ir/image_raw camera/ir2/image_raw:=ir2/image_raw camera/depth/points:=depth/points camera/depth/camera_info:=depth/camera_info camera/color/camera_info:=rgb/camera_info camera/ir/camera_info:=ir/camera_info camera/ir2/camera_info:=ir2/camera_info __name:=camera __log:=/home/jack/.ros/log/f7e33cf8-5444-11e6-86bf-086266340963/camera-camera-2.log].
log file: /home/jack/.ros/log/f7e33cf8-5444-11e6-86bf-086266340963/camera-camera-2*.log

RealSense with OpenNi

I'm trying to work with OpenNi using the RealSense camera. I found in some place that OpenNi doesn't support RealSense using it directly (I don't know if it's true but I try sometime I didn't figure out how to do it).

The thing is that I'm trying to do it through ROS, I launch roslaunch realsense_camera realsense_r200_rgbd.launch and then roslaunch openni2_launch openni2.launch. But it gives me the following error:

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [27714]
process[camera/driver-2]: started with pid [27717]
process[camera/rectify_color-3]: started with pid [27718]
process[camera/depth_rectify_depth-4]: started with pid [27719]
process[camera/depth_metric_rect-5]: started with pid [27727]
process[camera/depth_metric-6]: started with pid [27742]
process[camera/depth_points-7]: started with pid [27765]
process[camera/register_depth_rgb-8]: started with pid [27782]
process[camera/points_xyzrgb_sw_registered-9]: started with pid [27795]
process[camera/depth_registered_sw_metric_rect-10]: started with pid [27812]
[FATAL] [1460642189.985024526]: Service call failed!
process[camera_base_link-11]: started with pid [27829]
process[camera_base_link1-12]: started with pid [27833]
process[camera_base_link2-13]: started with pid [27837]
process[camera_base_link3-14]: started with pid [27841]
[ INFO] [1460642190.084527595]: Initializing nodelet with 4 worker threads.
[camera/rectify_color-3] process has died [pid 27718, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_raw image_rect:=rgb/image_rect_color __name:=rectify_color __log:=/home/lluis/.ros/log/c772d3be-0244-11e6-aa51-08edb95c077a/camera-rectify_color-3.log].
log file: /home/lluis/.ros/log/c772d3be-0244-11e6-aa51-08edb95c077a/camera-rectify_color-3*.log
[FATAL] [1460642190.529826850]: Service call failed!
[camera/driver-2] process has died [pid 27717, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load openni2_camera/OpenNI2DriverNodelet camera_nodelet_manager ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered rgb/image:=rgb/image_raw depth/image:=depth_registered/image_raw __name:=driver __log:=/home/lluis/.ros/log/c772d3be-0244-11e6-aa51-08edb95c077a/camera-driver-2.log].
log file: /home/lluis/.ros/log/c772d3be-0244-11e6-aa51-08edb95c077a/camera-driver-2*.log

Any idea of what I can do to solve that or use OpenNi with the RealSense camera?

Thank you so much!
Lluis

Cannot install realsense_camera

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-040400-generic
Backend
ROS	kinetic
ROS RealSense	Cannot locate [realsense_camera]
librealsense	0.9.1
R200 Firmware	1.0.72.06

Expected Behavior

Install realsense_camera

Actual Behavior

$ rosdep install realsense_camera

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource realsense_camera
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
ROS path [2]=/opt/ros/kinetic/stacks

Steps to Reproduce

Support for F200

Can someone advise how to use this package with the F200?

what is the depth images scale value

http://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats
has said "The depth images are scaled by a factor of 5000, i.e., a pixel value of 5000 in the depth image corresponds to a distance of 1 meter from the camera, 10000 to 2 meter distance, etc. A pixel value of 0 means missing value/no data"

I just want to know what is the value for R200
? = 1 meter for R200 depth camera.

Make clear that the node also supports F200 - SR300 cameras

Great to see official ROS support for the RealSense cameras.

While the node supports the F200 and SR300 cameras as well, it is not very obvious.

The documentation should mention it, and the launch files should not be named *_r200_* as they are not R200 specific.

xyzrgb point cloud freezes in rviz after displaying for 1 second

System Configuration

Version	Known Good	Your Configuration
Operating System	ubuntu 14.04	ubuntu 14.04
Kernel Version	4.4.0-13	4.4.0-13
R200 FW	1.0.72.06	1.0.72.06
librealsense	0.9.1	master f019a > 0.9.1
ROS	Indigo	Jade

Expected Behavior

Start rgbd node, should display xyzrgb point cloud. (Point cloud with color from rgb image).

Actual Behavior

xyzrgb point cloud ( /camera/depth_registered/points ) displays for 1 second before crashing

xyz point cloud displays fine ( /camera/depth/points )

Steps to Reproduce

Unplug the realsense usb connection and reconnect it (it won't reliably start /camera/depth_registered/points at all otherwise.

roslaunch realsense_camera realsense_r200_rgbd.launch 
rviz

Add /camera/depth_registered/points as PointCloud2

Any way to increase the TF frame rate for the camera topics?

Hi,

Just posting here a quick question on how to change the TF frame rate for the camera topics (increase the frame rate), because I get the following Warnings when running Realsense R200 with RTAB:

[ WARN] [1470216120.812503232, 1470155297.576390646]: rtabmapviz: Could not get transform from odom to camera_depth_optical_frame after 0.200000 seconds (for stamp=1470155297.151934)!

Let me know if there is any parameter i could change or service I could call that might fix this problem by increasing the TF frame publication rate of the camera. Thanks!

Gabe

Service call failed! in odd number runs

System Configuration

Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic	3.10.96+
Backend	video4linux	video4linux
ROS	indigo	indigo
ROS RealSense	Latest Release	1.0.3
librealsense	0.9.1	0.9.1
R200 Firmware	1.0.72.06	3.10.10.0

---

Expected Behavior

I want to run realsense_camera_nodelet on odroid xu4, Samsung Exynos5422 ARM® Cortex™-A15 Quad 2.0GHz/Cortex™-A7 Quad 1.4GHz. I am using SR300 camera. I used the package for sr300 from here:
https://github.com/nlyubova/realsense
and librealsense library for ARM from here:
https://github.com/Maghoumi/librealsense
I reduce fps to 30.

Actual Behavior

Every time that I run the node for the first time it crashed, and I received Error below, but second time it run without error, and alternatively once time it crashes and the other time it runs successfully :

[FATAL] [1356999608.372189726]: Service call failed!
[SR300_nodelet_manager-2] process has died [pid 10925, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=SR300_nodelet_manager __log:=/root/.ros/log/fa7186aa-53a8-11e2-bf31-7cdd908e0595/SR300_nodelet_manager-2.log].
log file: /root/.ros/log/fa7186aa-53a8-11e2-bf31-7cdd908e0595/SR300_nodelet_manager-2*.log
[camera_nodelet-3] process has died [pid 10931, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense_camera/RealsenseNodelet SR300_nodelet_manager rgb/image_raw:=app/camera/rgb/image_raw camera/depth/image_raw:=depth/image_raw camera/color/image_raw:=rgb/image_raw camera/infrared1/image_raw:=ir/image_raw camera/infrared2/image_raw:=ir2/image_raw camera/depth/points:=depth/points camera/depth/camera_info:=depth/camera_info camera/color/camera_info:=rgb/camera_info camera/infrared1/camera_info:=ir/camera_info camera/infrared2/camera_info:=ir2/camera_info __name:=camera_nodelet __log:=/root/.ros/log/fa7186aa-53a8-11e2-bf31-7cdd908e0595/camera_nodelet-3.log].
log file: /root/.ros/log/fa7186aa-53a8-11e2-bf31-7cdd908e0595/camera_nodelet-3*.log

Do you have any idea? I think some where we should add waitforSerivce line, but I don't know where.

Steps to Reproduce

I can run the roslaunch successfully using line below:

timeout 10 roslaunch realsense_camera realsense_sr300.launch
roslaunch realsense_camera realsense_sr300.launch 

problem cpp-capture example : rs.warn: Subdevice 1 bad magic number 0x0

I have the following issue when trying to use a R200 with librealsense:

it works as following figures:

COLOR image is correctly shown,

but detph / infrared1/infrared 2 image are not enabled, and are shown as black

wkyoun@wkyoun-15Z960-GA70K:~/librealsense-stable/bin$ ./cpp-capture

Capturing DEPTH at 480 x 360, fov = 56.2 x 43.6, distortion = NONE
Capturing COLOR at 640 x 480, fov = 54.5 x 41.9, distortion = MODIFIED_BROWN_CONRADY
Capturing INFRARED at 480 x 360, fov = 56.2 x 43.6, distortion = NONE
Capturing INFRARED2 at 480 x 360, fov = 56.2 x 43.6, distortion = NONE
rs.warn: Subdevice 0 bad magic number 0x260025
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x230026
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x290024
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x29002f
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x1250108
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x1380139
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x14b0137
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x140013b
rs.warn: Subdevice 1 bad magic number 0x0
rs.warn: Subdevice 0 bad magic number 0x1380146
rs.warn: Subdevice 1 bad magic number 0x0

sudo dmesg | tail -n 50 command result in following

wkyoun@wkyoun-15Z960-GA70K:~/librealsense-stable/bin$ sudo dmesg | tail -n 50

[ 4457.046735] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.4/input/input29
[ 4457.213421] uvcvideo: Found UVC 1.00 device LG HD WebCam (2232:5008)
[ 4457.215481] input: LG HD WebCam as /devices/pci0000:00/0000:00:14.0/usb1/1-6/1-6:1.0/input/input30
[ 4457.222238] uvcvideo: Unknown video format 49323159-0000-0010-8000-00aa00389b71
[ 4457.222247] uvcvideo: Unknown video format 20493859-0000-0010-8000-00aa00389b71
[ 4457.222256] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 4457.263339] uvcvideo: Unknown video format 2036315a-0000-0010-8000-00aa00389b71
[ 4457.263367] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 4457.267106] uvcvideo: Unable to create debugfs 2-4 directory.
[ 4457.268395] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.2/input/input31
[ 4457.362164] uvcvideo: Unknown video format 30315752-0000-0010-8000-00aa00389b71
[ 4457.362182] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 4457.367833] uvcvideo: Unable to create debugfs 2-4 directory.
[ 4457.369267] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.4/input/input32
[ 4636.125445] uvcvideo: Non-zero status (-71) in video completion handler.
[ 4750.332679] uvcvideo: Non-zero status (-71) in video completion handler.
[ 4750.341494] uvcvideo: Non-zero status (-71) in video completion handler.
[ 4750.351163] uvcvideo: Non-zero status (-71) in video completion handler.
[ 4767.050127] systemd-hostnamed[7288]: Warning: nss-myhostname is not installed. Changing the local hostname might make it unresolveable. Please install nss-myhostname!
[ 7309.098505] usbcore: deregistering interface driver uvcvideo
[ 7430.853682] media: Linux media interface: v0.10
[ 7430.859091] Linux video capture interface: v2.00
[ 7430.951182] uvcvideo: Found UVC 1.00 device LG HD WebCam (2232:5008)
[ 7430.953611] input: LG HD WebCam as /devices/pci0000:00/0000:00:14.0/usb1/1-6/1-6:1.0/input/input33
[ 7431.037235] uvcvideo: Unknown video format 49323159-0000-0010-8000-00aa00389b71
[ 7431.037252] uvcvideo: Unknown video format 20493859-0000-0010-8000-00aa00389b71
[ 7431.037268] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.040997] uvcvideo: Unknown video format 2036315a-0000-0010-8000-00aa00389b71
[ 7431.041022] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.042912] uvcvideo: Unable to create debugfs 2-4 directory.
[ 7431.043529] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.2/input/input34
[ 7431.045414] uvcvideo: Unknown video format 30315752-0000-0010-8000-00aa00389b71
[ 7431.045435] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.047256] uvcvideo: Unable to create debugfs 2-4 directory.
[ 7431.047705] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.4/input/input35
[ 7431.048918] usbcore: registered new interface driver uvcvideo
[ 7431.048929] USB Video Class driver (1.1.1)
[ 7431.151828] uvcvideo: Found UVC 1.00 device LG HD WebCam (2232:5008)
[ 7431.157193] input: LG HD WebCam as /devices/pci0000:00/0000:00:14.0/usb1/1-6/1-6:1.0/input/input36
[ 7431.170372] uvcvideo: Unknown video format 49323159-0000-0010-8000-00aa00389b71
[ 7431.170396] uvcvideo: Unknown video format 20493859-0000-0010-8000-00aa00389b71
[ 7431.170423] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.224245] uvcvideo: Unknown video format 2036315a-0000-0010-8000-00aa00389b71
[ 7431.224255] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.226607] uvcvideo: Unable to create debugfs 2-4 directory.
[ 7431.226758] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.2/input/input37
[ 7431.265523] uvcvideo: Unknown video format 30315752-0000-0010-8000-00aa00389b71
[ 7431.265531] uvcvideo: Found UVC 1.10 device Intel RealSense 3D Camera R200 (8086:0a80)
[ 7431.267786] uvcvideo: Unable to create debugfs 2-4 directory.
[ 7431.268090] input: Intel RealSense 3D Camera R200 as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.4/input/input38

It seems to me that there are similar problems reported like mine, but I cannot see any clear solutions.

Last question is following

would you please let me know how to find the Firmware Version of R200 that I am using?

Calibration Question

Hello,

I am wondering if there are any plans to add a node to perform joint calibration of the RGB and Depth cameras in order to increase the accuracy and allow for the depth images to be registered in the RGB frame.

Thanks

Nodelet crashes when trying to display point cloud

Happens with a SR300 on a 32bit Ubuntu 14.04 (with a patched kernel 4.4) + ROS Jade

Steps to reproduce:

• start roscore and rviz
• launch realsense_camera realsense_r200_nodelet_standalone_preset.launch
• in rviz, add a PointCloud2 visualization and set the topic to camera/depth/points
• the nodelet crashes.

roslaunch output:

$ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch 
... logging to /home/lab/.ros/log/b4e40ce0-dfb7-11e5-8a15-00dbdf1f9ec4/roslaunch-PORTEGE-R830-4670.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://PORTEGE-R830:38149/

SUMMARY
========

PARAMETERS
 * /rosdistro: jade
 * /rosversion: 1.11.16

NODES
  /
    RealsenseNodelet (nodelet/nodelet)
    standalone_nodelet (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[standalone_nodelet-1]: started with pid [4688]
process[RealsenseNodelet-2]: started with pid [4689]
[ INFO] [1456841667.896780624]: Initializing nodelet with 4 worker threads.
[ INFO] [1456841668.391947827]: RealSense Camera - Starting camera nodelet.
[ INFO] [1456841669.237153943]: RealSense Camera - Number of cameras connected: 1
[ INFO] [1456841669.237346757]: RealSense Camera - Firmware version: 3.10.10.0
[ INFO] [1456841669.237507359]: RealSense Camera - Name: Intel RealSense SR300
[ INFO] [1456841669.237656812]: RealSense Camera - Serial no: 54FFFFFF9205001823
[ INFO] [1456841669.237785441]: RealSense Camera - Enabling Depth Stream: preset mode
[ INFO] [1456841669.238289684]: RealSense Camera - Enabling Color Stream: preset mode
[ INFO] [1456841669.275615697]: RealSense Camera - Publishing camera transforms
[standalone_nodelet-1] process has died [pid 4688, exit code -11, cmd /opt/ros/jade/lib/nodelet/nodelet manager __name:=standalone_nodelet __log:=/home/lab/.ros/log/b4e40ce0-dfb7-11e5-8a15-00dbdf1f9ec4/standalone_nodelet-1.log].
log file: /home/lab/.ros/log/b4e40ce0-dfb7-11e5-8a15-00dbdf1f9ec4/standalone_nodelet-1*.log
[RealsenseNodelet-2] process has finished cleanly
log file: /home/lab/.ros/log/b4e40ce0-dfb7-11e5-8a15-00dbdf1f9ec4/RealsenseNodelet-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The nodelets logs do not contain anything useful.

Importantly, displaying the camera in rviz works as expected.

Refactor code to easily support additional cameras

System Configuration

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-22-generic
Backend	video4linux
ROS	kinetic
ROS RealSense	1.1.0
librealsense	v0.9.2
R200 Firmware	1.0.72.06

Details

Refactor the current code to make it easier to extend to additional RealSense cameras.
Suggest creating a core, base camera class and then extended it for the R200.

Service '/camera/get_settings' is missing

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-28-generic
Backend	video4linux
ROS	kinetic
ROS RealSense	1.2.0
librealsense	0.9.2
R200 Firmware	1.0.72.06

---

The ROS service /camera/get_settings is no longer available in release 1.2.0.
$ rosservice list | grep get_settings

Expected Behavior

$ rosservice call /camera/get_settings
configuration_str: color_backlight_compensation:1;color_brightness:56;color_contrast:32;color_gain:32;color_gamma:220;color_hue:0;color_saturation:128;color_sharpness:0;color_white_balance:6500;color_enable_auto_white_balance:1;r200_lr_auto_exposure_enabled:0;r200_lr_gain:400;r200_lr_exposure:164;r200_emitter_enabled:1;r200_depth_units:1000;r200_depth_clamp_min:0;r200_depth_clamp_max:65535;r200_disparity_multiplier:32;r200_auto_exposure_mean_intensity_set_point:512;r200_auto_exposure_bright_ratio_set_point:0.20000000298023224;r200_auto_exposure_kp_gain:0.0024999999441206455;r200_auto_exposure_kp_exposure:0.0024999999441206455;r200_auto_exposure_kp_dark_threshold:10;r200_auto_exposure_top_edge:0;r200_auto_exposure_bottom_edge:65535;r200_auto_exposure_left_edge:0;r200_auto_exposure_right_edge:65535;r200_depth_control_estimate_median_decrement:5;r200_depth_control_estimate_median_increment:5;r200_depth_control_median_threshold:192;r200_depth_control_score_minimum_threshold:1;r200_depth_control_score_maximum_threshold:512;r200_depth_control_texture_count_threshold:6;r200_depth_control_texture_difference_threshold:24;r200_depth_control_second_peak_threshold:27;r200_depth_control_neighbor_threshold:7;r200_depth_control_lr_threshold:24;

Actual Behavior

$ rosservice call /camera/get_settings
ERROR: Service [/camera/get_settings] is not available.

Steps to Reproduce

Window 1:
$ roslaunch realsense_camera r200_nodelet_default.launch
Window 2:
$ rosservice call /camera/get_settings

Add missing install targets

Add missing install targets for the following:

• nodelet library
• launch files
• xml files
• rviz config files

This will be fixed in the next release.

Video4Linux backend patching

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-040400-generic
Backend
ROS	kinetic
ROS RealSense	Cannot locate [realsense_camera]
librealsense	0.9.1
R200 Firmware	1.0.72.06

When I run the example program "cpp-capture", it only can last for 2 seconds and then it crashes. So, I suspect that maybe my Video4Linux backend isn't installed correctly. Then, I tried several times to reinstall the backend and all attempts seem failed.

Patching command:
$ ./scripts/patch-uvcvideo-16.04.simple.sh
After I reloaded the uvcvideo. I have some errors:

$ sudo dmesg | tail -n 50
...
[   27.284877] usb 4-1: Product: Intel RealSense 3D Camera R200
[   27.284878] usb 4-1: Manufacturer: Intel Corp
[   27.284879] usb 4-1: SerialNumber: SN_2421007586
[  146.474076] usb 4-1: usbfs: process 2512 (cpp-capture) did not claim interface 3 before use
[  146.477690] usb 4-1: usbfs: process 2512 (cpp-capture) did not claim interface 5 before use
[  152.267237] usb 4-1: usbfs: process 2514 (cpp-capture) did not claim interface 2 before use
[  152.283057] usb 4-1: usbfs: process 2514 (cpp-capture) did not claim interface 4 before use
[  162.653226] usb 4-1: USB disconnect, device number 2
[  597.419219] usb 4-1: new SuperSpeed USB device number 3 using xhci_hcd
[  597.437910] usb 4-1: New USB device found, idVendor=8086, idProduct=0a80
[  597.437916] usb 4-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  597.437920] usb 4-1: Product: Intel RealSense 3D Camera R200
[  597.437923] usb 4-1: Manufacturer: Intel Corp
[  597.437926] usb 4-1: SerialNumber: SN_2421007586

I have reported this issue to IntalRealsense community. However, 5 days passed and nobody reply me. Could you please help me to solve this issue? Thanks!

Filtering noise from depth image/point cloud

The point clouds generated by the RealSense have a bit of noise in them which appear as these sort of "ghost points" or "speckles" in mid-air. These ghosts points are problematic in places like the ROS nav stack in which they are marked as obstacles. I've tested this across 5 different sensors, so I'm presuming it's just a property of the sensor.

In order to use the RealSense's in the ROS nav stack, the point clouds have to be filtered. I've had very good luck removing these ghost points using PCL's statistical outlier filter through the StatisticalOutlierNodelet provided with pcl_ros.

However, this filter is extremely computationally intensive -- using one filter on the realsense running at 320x240,30 fps generates a filtered stream at 5 fps that uses 100% CPU on a dual core i7.

I've been able to reduce this computational load by throttling the depth image topic, binning the depth image (via image_proc/CropDecimate nodelet), projecting a new point cloud from it, and filtering that point cloud. This reduces the load and the sensors are now usable, but the load is still quite high due to the stat outlier filter. I'm still searching for better solutions.

My request is - can we get out-of-the-box filtering with the RealSense on the full resolution depth image/point cloud that is computationally efficient? This would make the RealSenses much more plug & play and much more useful for ROS applications.

• Has anybody come up with a better way to filter such as run a filter directly on the depth image or perhaps there are settings on the camera that can natively do this?
• Is it possible to do this filtering onboard the firmware of the sensor?
• If filtering can't be done on the hardware, could Intel or somebody else provide a set of nodelets that can do the filtering in software + launch files for them?

Change architecture to pass parameters using ROS Params instead of command line args.

Change architecture to pass parameters using ROS Params instead of command line args.

Setting static parameters R200

System Configuration

Please complete Your Configuration detail below.

Version	Known Good	Your Configuration
Operating System	ubuntu 14.04	ubuntu 14.04
Kernel Version	4.4.0-13	4.4.0-040400-generic
R200 FW	1.0.72.06	1.0.72.06
librealsense	0.9.1	0.9.1

Question

How can I set the static parameters for R200? I'm new to ROS and I have googled around an can't find anything. Any help is appreciated, thanks.

roslaunch realsense_camera realsense_r200_rgbd.launch (Crash)

Hi,

I followed the "Installation Guide" step by step and I can even use qtcreator to run cpp-capture. I see the images just fine. I then proceeded to follow the instructions in the README file within the camera directory. I set my LD_PATH... to usr/local/include etc. As far as I can tell I've done everything correctly.

After calling catkin_make and successfully building the package, I run the instruction roslaunch in the title of this issue, and this is what I get:

What can I do?

Registered depth and color

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic	4.4.0-040400-generic
ROS	indigo	indigo
librealsense	0.9.1	0.9.1
R200 Firmware	1.0.72.06	1.0.72.06

Expected Behavior

Registered(matched) depth and color image at 640x480.
I'm trying to use rtabmap(mapping package, not so relevant to the problem) in ros, and I want to get a color and a matching depth image at 640x480 resolution.

Actual Behavior

Using "realsense_r200_nodelet_standalone_manual.launch" (with color&depth width and height set to 640x480), and using the topics
/camera/color/image_raw
/camera/depth/image_raw
I get the following results:

where the color and depth doesn't match.
Using "realsense_r200_rgbd.launch", which should register(match?) the color&depth gives me a 480x360 resolution at "/camera/depth/image_raw". other topics didn't give me an input, or bad(480x360) resolution.
Only "/camera/depth_registered/sw_registered/image_rect" and "#same#/image_rect_raw" gave me results at the desired resolution(640x480) but at some wired format(not as "/camera/depth/image_raw")

trying to change the default resolution at realsense_camera_nodelet.h resulted in a flickering(bad) depth image. Couldn't find other direction to try.

I saw in the limitation section you mention that there isn't a hardware based registartion, but the software registration doesn't suite me either, is there a way to fix it? Or something else to try to get a matching depth and color image at 640x480.

Steps to Reproduce

Mentioned launch files and "rosrun image_view image_view image:=#topic#"

Cannot see pointcloud in 1.3.0

Version	Your Configuration
Operating System	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic
Backend	video4linux
ROS	indigo
ROS RealSense	1.3.0; 1.0.3
librealsense	?.?.?
R200 Firmware	1.0.72.06

---

I installed 1.3.0 version of ROS realsense and tried to run rviz, I can see all four images, but I cannot see the pointcloud. There was no error in the rviz. But under the PointCloud2->Status, the item Transform [...] was missing.
When I reverted to 1.0.3 version of ROS realsense, everything was OK. I can see the pointcloud, and the Transform[...] item was there.
Can someone help to tell me what was wrong?

State explicitly whether this needs UVC or V4L backend for librealsense.

I think the readme should contain this kind of information in the install section.

error roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch

System Configuration

Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic	4.4.0-040400-generic
Backend	video4linux	Video4Linux backend
ROS	indigo	indigo
ROS RealSense	Latest Release	Latest Release
librealsense	0.9.1	0.9.1
R200 Firmware	1.0.72.06	1.0.72.06

---

HI! I'm Wejay
I have same problem like issue #26,I'm not really good at linux,please tell me how to solve this
problem.
And I can not run cpp-capture by command line,but running within QT creator works.
It shows:
RealSense error calling rs_create_context(api_version:4):
uvc_open2(...) returned Access denied
In https://github.com/IntelRealSense/librealsense/issues/81,I really can not understand how to fix this problem.

After kernel update, booting problem occur!

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 14.04 LTS
Kernel	4.4.0-040400-generic
Backend	?
ROS	indigo
ROS RealSense	?.?.?
librealsense	?.?.?
R200 Firmware	?.?.?.?

---

How to collect Configuration Data

This section can be deleted before submission.

Version	Method
Operating System	grep DISTRIB_DESCRIPTION /etc/*elease*
Kernel	uname -r
Backend	`ls /sys/class
ROS	rosversion -d
ROS RealSense	rosversion realsense_camera
librealsense	`cat /librealsense/readme.md
R200 Firmware	View the ROS log from running nodelet OR `/librealsense/bin/cpp-enumerate-devices

---

After I upated the kernel as following websites:

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

Updated 4.4 Stable Kernel 
◾Run the following script to install necessary dependencies (GCC 4.9 compiler and openssl) and update kernel to v4.4-wily 
◾ ./scripts/install_dependencies-4.4.sh 

Then I reboot,

After I log in the ubuntu, nothing showed up.

desktop is not enabled, therefore I was not able to run anything.

So, I tried to reboot in previous kernel version,

but the result was the same.

Would any of you please help me how to fix it?

Thank you in advance.

Expected Behavior

Actual Behavior

Steps to Reproduce

Error for realsense_camera realsense_r200_nodelet_standalone_preset.launch

System Configuration

Version	Known Good	Your Configuration
Operating System	ubuntu 14.04	ubuntu 14.04
Kernel Version	4.4.0-13	4.4.0-040400-generic
R200 FW	1.0.72.06	1.0.72.06
librealsense	0.9.1	0.9.0

I can run cpp-capture and build the package using catkin-make. However when I run
"roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch" , an error occurs.

[ INFO] [1460466020.703162344]: Initializing nodelet with 4 worker threads.
[ INFO] [1460466020.790980800]: RealSense Camera - Starting camera nodelet.
**[ERROR] [1460466021.095609328]: RealSense Camera - Error calling rs_create_context ( api_version:4 ):
uvc_open2(...) returned Access denied

[FATAL] [1460466021.232074645]: Service call failed!
[standalone_nodelet-2] process has died [pid 7430, exit code 1, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=standalone_nodelet _log:=/home/aicrobo/.ros/log/82e77eb2-00ae-11e6-a8a2-c01885c34cc3/standalone_nodelet-2.log].
log file: /home/aicrobo/.ros/log/82e77eb2-00ae-11e6-a8a2-c01885c34cc3/standalone_nodelet-2.log
[RealsenseNodelet-3] process has died [pid 7437, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense_camera/RealsenseNodelet standalone_nodelet mode preset enable_depth true enable_color true enable_pointcloud true enable_tf true __name:=RealsenseNodelet _log:=/home/aicrobo/.ros/log/82e77eb2-00ae-11e6-a8a2-c01885c34cc3/RealsenseNodelet-3.log].
log file: /home/aicrobo/.ros/log/82e77eb2-00ae-11e6-a8a2-c01885c34cc3/RealsenseNodelet-3.log
**

Do I need to run the command as a super user? I tried to add "sudo" before the command but it can not find the command "roslaunch"
What can I do?

Not able to launch camera due to Error calling rs_enable_stream

Even after reinstalling it many times

when i try to launch realsense camera with the following command
roslaunch realsense_camera r200_nodelet_default.launch

i get the following error

NODES
/
camera (nodelet/nodelet)
nodelet_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [22679]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bd721756-48c3-11e6-8aa1-78d00420a772
process[rosout-1]: started with pid [22692]
started core service [/rosout]
process[nodelet_manager-2]: started with pid [22707]
process[camera-3]: started with pid [22710]
[ INFO] [1468391622.192277938]: Initializing nodelet with 8 worker threads.
[ INFO] [1468391623.083983247]: /camera - Detected the following cameras:
- Serial No: 014150160808; Firmware: 2.60.0.0; Name: Intel RealSense F200; USB Port ID: 2-1
[ INFO] [1468391623.087121962]: /camera - Connecting to camera with Serial No: 014150160808 USB Port ID: 2-1
[ INFO] [1468391623.089646350]: /camera - Enabling Color stream: manual mode
[ INFO] [1468391623.092237652]: /camera - Enabling Depth stream: manual mode
[ INFO] [1468391623.094707818]: /camera - Enabling IR stream: manual mode
[ INFO] [1468391623.097742781]: /camera - Enabling IR2 stream: manual mode

[ERROR] [1468391623.098017013]: /camera - Error calling rs_enable_stream ( device:0x21f2908, stream:INFRARED2, width:640, height:480, format:Y8, framerate:30 ):
unsupported stream

[FATAL] [1468391623.272767279]: Failed to load nodelet '/cameraof typerealsense_camera/R200Nodeletto managernodelet_manager'
[nodelet_manager-2] process has died [pid 22707, exit code 1, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=nodelet_manager _log:=/home/acfr/.ros/log/bd721756-48c3-11e6-8aa1-78d00420a772/nodelet_manager-2.log].
log file: /home/acfr/.ros/log/bd721756-48c3-11e6-8aa1-78d00420a772/nodelet_manager-2.log
[camera-3] process has died [pid 22710, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense_camera/R200Nodelet nodelet_manager camera/depth/image_raw:=camera/depth/image_raw camera/color/image_raw:=camera/color/image_raw camera/ir/image_raw:=camera/ir/image_raw camera/ir2/image_raw:=camera/ir2/image_raw camera/depth/points:=camera/depth/points camera/depth/camera_info:=camera/depth/camera_info camera/color/camera_info:=camera/color/camera_info camera/ir/camera_info:=camera/ir/camera_info camera/ir2/camera_info:=camera/ir2/camera_info camera/get_settings:=camera/get_settings __name:=camera _log:=/home/acfr/.ros/log/bd721756-48c3-11e6-8aa1-78d00420a772/camera-3.log].
log file: /home/acfr/.ros/log/bd721756-48c3-11e6-8aa1-78d00420a772/camera-3.log**

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	ubutnu 14.04.4
Kernel	4.2.0
Backend	?
ROS	indigo
ROS RealSense	F200
librealsense	0.9.1
R200 Firmware	2.71

---

How to collect Configuration Data

This section can be deleted before submission.

Version	Method
Operating System	grep DISTRIB_DESCRIPTION /etc/*elease*
Kernel	uname -r
Backend	`ls /sys/class
ROS	rosversion -d
ROS RealSense	rosversion realsense_camera
librealsense	`cat /librealsense/readme.md
R200 Firmware	View the ROS log from running nodelet OR `/librealsense/bin/cpp-enumerate-devices

---

Expected Behavior

Actual Behavior

Steps to Reproduce

F200 support?

Hello,

I am really new to ROS and 3D cameras, so forgive me if the issue is easy to solve.

I managed to install everything according to the docs, but when running one of the launch files, there is an error about infrared2 stream:

`process[RealsenseNodelet-2]: started with pid [9442]
[ INFO] [1458304316.516457675]: Initializing nodelet with 8 worker threads.
[ INFO] [1458304316.584243499]: RealSense Camera - Starting camera nodelet.
[ INFO] [1458304317.185167616]: RealSense Camera - Number of cameras connected: 1
[ INFO] [1458304317.185233790]: RealSense Camera - Firmware version: 2.60.0.0
[ INFO] [1458304317.185246538]: RealSense Camera - Name: Intel RealSense F200
[ INFO] [1458304317.185260261]: RealSense Camera - Serial no: 015150131405
[ INFO] [1458304317.185271646]: RealSense Camera - Enabling Color Stream: preset mode
[ INFO] [1458304317.185402923]: RealSense Camera - Enabling Depth Stream: preset mode
[ INFO] [1458304317.185522817]: RealSense Camera - Enabling Infrared Stream: preset mode
[ INFO] [1458304317.185639040]: RealSense Camera - Enabling Infrared2 Stream: preset mode
[ERROR] [1458304317.185765818]: RealSense Camera - Error calling rs_get_stream_intrinsics ( device:0x1c22cb0, stream:INFRARED2, intrin:0x7ffc92766080 ):
stream not enabled: INFRARED2

[FATAL] [1458304317.301574020]: Service call failed!
`

I suppose this is related to differences between the f200 and r200 cameras? What do you suggest to do?

Thanks,
Gregor

Release realsense?

Are you planning to release the realsense repository as an official ROS package?

Thanks!

Install issue/question: missing symlink

Hi,

I come across this error while catkin making.

make[2]: *** No rule to make target `/usr/local/lib/librealsense.so', needed by `/home/user/catkin_ws/devel/lib/librealsense_camera_nodelet.so'.  Stop.
make[1]: *** [ros/realsense/camera/CMakeFiles/realsense_camera_nodelet.dir/all] Error 2

I added "/usr/local/lib" to my "LD_LIBRARY_PATH". However, there isn't a librealsense.so file in "/usr/local/lib".

Can I solve this by putting a symlink to the librealsense folder in usr/local/lib ? Is there a better way to fix this?

Thanks,

Christian

Question: Pointclouds from multiple cameras - single launch file

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic
Backend	video4linux
ROS	indigo
ROS RealSense	1.2.0
librealsense	0.9.1
R200 Firmware	1.0.72.04

Hi,

Is there already a launch file for getting registered pointclouds from multiple cameras?
I can see launch files for getting depth images from multiple cameras and also a launch file for getting registered pointclouds from a single file. I'm wondering if there is an under lying issue that makes this difficult at the moment or if it is simply a case of replacing the r200_nodelet_default xml code with the r200_nodelet_rgbd xml code.

Regards,

Christian

Consolidate publish_tf and enable_tf in launch/includes/realsense_r200_nodelet.launch.xml

This should just be a single variable "publish_tf", right now the behaviour is backwards from what is expected and the inclusion of "enable_tf" is confusing.

I have been using the launch file realsense_r200_rgbd.launch with publish_tf set to true from existing OpenNI compatible launch files and wondering why no tfs are being published from the nodelet.

Issue with color space

It seems that the RGB image published by the node does not use the correct color space (see screenshot below)

Start multiple camera nodes from single roslaunch XML

System Configuration

Version	Known Good	Your Configuration
Operating System	ubuntu 14.04	ubuntu 14.04
Kernel Version	4.4.0-13	4.4.0-040400-generic
R200 FW	1.0.72.06	1.0.72.06
librealsense	0.9.1	0.9.1

It'd be nice to be able to start up multiple camera nodes from a single .launch file. For example:

<launch>
    <include file="$(find realsense_camera)/launch/realsense_r200_rgbd.launch">
        <arg name="camera"      value="rs1" />
        <arg name="serial_no"   value="1234567890" />
    </include>

    <include file="$(find realsense_camera)/launch/realsense_r200_rgbd.launch">
        <arg name="camera"      value="rs2" />
        <arg name="serial_no"   value="0987654321" />
    </include>
</launch>

Running the script above results in the following error which brings down the process:

[ERROR] [1460047172.302085622]: RealSense Camera - Error calling rs_create_context ( api_version:4 ): 
UVCIOC_CTRL_QUERY:UVC_SET_CUR error 5, Input/output error

Change all ROS dynamic_reconfigure and parameter to consistent, lowercase

Currently there is a mix of lower and upper case parameter names. Request all variable are changed to lower case with underscores for consistent naming convention.

This will require changes to launch files as well.

Multiple cameras question

I have some questions on using the ros wrapper for multiple cameras. Currently I see in your ros code a rs_context object that contains all camera device information. Your source calls the first realsense device (index 0) and pushes the data from the device into ros messages.

It will be convenient to spawn multiple nodelets where each nodelet brings up a single realsense camera. Currently if I try that, the nodelets crash. I believe this is due a single rs_context object controlling all cameras and when a new rs_context object is created (from a different nodelet), it causes some low level permissions issue. Please correct me if I am wrong.

One way I can think of getting around this problem is to just use a single nodelet to get all datastreams from all realsenses using a single rs_context object. Is there a more elegant way to solve this problem?

I would prefer a solution where each realsense camera can be brought up from a separate nodelet. Please let me know if you want further information or clarifications.

320*240 depth image with wrong data

System Configuration

Version	Your Configuration
Operating System	Ubuntu14.04.4 LTS
Kernel	4.4.0-040400-generic
Backend	video4linux
ROS	Indigo
ROS RealSense	1.1.0
librealsense	0.9.1
R200 Firmware	1.0.72.06

I subscribe the /camera/depth/image_raw topic to get depth image but the depth data seems wrong. So I just tested the depth data in the realsense_camera_nodelet.cpp. In function "RealsenseNodelet::prepareStreamData", copy the depth data and save the depth image. The 360_480 depth images looks fine but when I change the resolution to 240_320, the depth image seems to be wrong, as

Black IR view for R200

Hello all,

Compilation and ROS driver make seemed to go well.

I can now see color video in rviz at roughly 60Hz.
However, the IR stream seems to be constantly black, no data to my view.
Consequently, no pointcloud, etc.
I have tried changing the dynamic params in the IR space, to no effect.
(they work, I can toggle the IR illumination on and off)

Is there possibly a configuration issue, or is my unit not working?

R200 Jetson TX1 ROS

### System Configuration
Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	Ubuntu 14.04.1 LTS
Kernel	4.4.0-040400-generic	3.10.67-g458d45c
ROS	indigo	indigo
librealsense	0.9.1	0.9.1
R200 Firmware	1.0.72.06	1.0.72.06

### Expected Behavior
Realsense ROS package compiling.

### Actual Behavior
Examples from librealsense working properly using LibUVC backend on NVIDIA Jetson TX1, the only problem is the one about unplugging and plugging the realsense.
Realsense ROS package not compiling:

ubuntu@tegra-ubuntu:~/rs_ws$ catkin_make
Base path: /home/ubuntu/rs_ws
Source space: /home/ubuntu/rs_ws/src
Build space: /home/ubuntu/rs_ws/build
Devel space: /home/ubuntu/rs_ws/devel
Install space: /home/ubuntu/rs_ws/install

Running command: "make cmake_check_build_system" in "/home/ubuntu/rs_ws/build"

Running command: "make -j4 -l4" in "/home/ubuntu/rs_ws/build"

[ 0%] [ 11%] Built target std_msgs_generate_messages_py
Built target realsense_camera_gencfg
[ 11%] Built target std_msgs_generate_messages_cpp
[ 22%] [ 22%] Built target gtest
Built target std_msgs_generate_messages_lisp
[ 22%] Built target _realsense_camera_generate_messages_check_deps_cameraConfiguration
[ 33%] [ 44%] [ 66%] Built target realsense_camera_generate_messages_cpp
Built target realsense_camera_generate_messages_lisp
Built target realsense_camera_generate_messages_py
make[2]: *** No rule to make target /usr/lib/arm-linux-gnueabihf/libopencv_videostab.so.2.4.8', needed by/home/ubuntu/rs_ws/devel/lib/librealsense_camera_nodelet.so'. Stop.
make[1]: *** [realsense/camera/CMakeFiles/realsense_camera_nodelet.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target /usr/lib/arm-linux-gnueabihf/libopencv_videostab.so.2.4.8', needed by/home/ubuntu/rs_ws/devel/lib/realsense_camera/realsense_camera_test_rgbd'. Stop.
make[1]: *** [realsense/camera/CMakeFiles/realsense_camera_test_rgbd.dir/all] Error 2
make[2]: *** No rule to make target /usr/lib/arm-linux-gnueabihf/libopencv_videostab.so.2.4.8', needed by/home/ubuntu/rs_ws/devel/lib/realsense_camera/realsense_camera_test'. Stop.
make[1]: *** [realsense/camera/CMakeFiles/realsense_camera_test.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

It is a problem with opencv due to TX1 is using opencv4tegra. Is there any known fix for it?

### Steps to Reproduce

1. Follow installation guide for librealsense using LibUVC backend and avoiding the mssse flag for compilation.
2. Download ROS package for realsense and trying to compile it with catkin_make.
3. Getting the error previously described.

editing default parameters while using own ros-package

System Configuration

Please complete Your Configuration detail below.

Version	Best Known	Your Configuration
Operating System	Ubuntu 14.04.4 LTS	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic	?-?-?
ROS	indigo	indigo
librealsense	0.9.1	newest (April-18-2016)
R200 Firmware	1.0.72.06	?.?.?.?

Hello,

I am new to ROS / librealsense and I want to permanently change static parameters like texture_difference_threshold such that my ROS-node gets modified depth points for further image processing. Is there a way to do so?

With the provided librealsense/cpp-config-ui I was able to temporarily change those values, but found no way to save my edits.

Thanks in advance and regards,

PP.

ROS Installation of Realsense package

I try to install the ROS-Librealsense package on OS X. ROS is installed properly and working well. Also librealsense is working; cpp-capture also works fine.

When trying to run catkin_make on the ROS package, I get the following error:

Scanning dependencies of target _realsense_camera_generate_messages_check_deps_cameraConfiguration
Scanning dependencies of target realsense_camera_gencfg
[ 28%] Generating dynamic reconfigure files from cfg/camera_params.cfg: /Users/ecmnet/PixHawk/ros/devel/include/realsense_camera/camera_paramsConfig.h /Users/ecmnet/PixHawk/ros/devel/lib/python2.7/site-packages/realsense_camera/cfg/camera_paramsConfig.py
**/Users/ecmnet/PixHawk/ros/build/camera/setup_custom_pythonpath.sh: line 4: /Users/ecmnet/PixHawk/ros/src/camera/cfg/camera_params.cfg: Permission denied**
/Users/ecmnet/PixHawk/ros/build/camera/setup_custom_pythonpath.sh: line 4: exec: /Users/ecmnet/PixHawk/ros/src/camera/cfg/camera_params.cfg: cannot execute: Undefined error: 0
make[2]: *** [/Users/ecmnet/PixHawk/ros/devel/include/realsense_camera/camera_paramsConfig.h] Error 126
make[1]: *** [camera/CMakeFiles/realsense_camera_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

Any advise how to overcome that issue? Thank you

Parent link stays as "camera_link" even after changing the camera parameter

When running two instances of realsense_r200_rgbd.launch simultaneously, both cameras retain the parent link of "camera_link" for the rgb and optical frames.

e.g. If you set camera:=camera1, the rgb and depth links will be camera1_rgb_frame and camera1_depth_frame, but the parent link will be camera_link instead of camera1_link.

proportional-to-distance mean error of depth measurements

System Configuration

Version	Your Configuration
Operating System	Ubuntu 14.04.4 LTS
Kernel	4.4.0-040400-generic
Backend	video4linux
ROS	indigo
ROS RealSense	1.0.4
librealsense	0.9.1
R200 Firmware	1.0.72.06

I'm currently trying to use the R200 on a quadrocopter for 3D map generation. Something that I observed is that the (or my) R200 seems to have a mean error in depth measurements that is dependent on the measured distance. The following maps were generated while moving the quadrocopter slowly towards a wall. In the first image you can clearly see how the wall shifts forward when the quadrotor gets nearer (i.e. mean error gets smaller). In the second image I used a quadratic function of measured distance to subtract the mean error.

The subtraction of the mean error works fairly well. I'm just wondering whether this is a problem of my R200 or whether this is expected behaviour so I can include it in the report.
Depth image resolution is 320x240 at 30fps. I don't modify any of the calibration settings.

Make folder for driver consistent with package name ("realsense_camera")

It is a (nearly) ubiquitously used convention within the ROS community to name a folder where a package resides the same as the package name in the package.xml file. Especially users new to ROS might be confused by the driver being placed in the "camera" folder instead of "realsense_camera" (which is the actual package name according to the package.xml.

xyzrgb point cloud freezes in rviz after displaying for 15 seconds

This is a regression on issue #25

Remove native node support for PointCloud

System Configuration

Please complete Your Configuration detail below. Refer to the BKC at Configuration.

Version	Your Configuration
Operating System	Ubuntu 16.04 LTS
Kernel	4.4.0-22-generic
Backend	video4linux
ROS	kinetic
ROS RealSense	1.1.0
librealsense	v0.9.2
R200 Firmware	1.0.72.06

Expected Behavior

No frame loss on Color, Depth, and IR streams.

Actual Behavior

Running streams with higher frame rates and/or resolution can result in dropped frames.

The publishing loop for the stream is slowed when native PointCloud generation is enabled in the ROS RealSense node. If kept, this should be placed into a separate thread for publishing the PointCould.

Instead of having the functionality native in the Node, most user would use the existing ROS packages to generate any needed PointClouds.

Recommendation: Remove the native PointCloud from the ROS RealSense node as it is redundant and creating unnecessary overhead.

Connect to camera using unique id

The user will be able to specify a unique id in the launch file using the parameter "serial_no".