zacharytaylor/realsense

ASL version of the Intel RealSense ROS drivers

realsense's Issues

Can't launch zr300_nodelet_rgdb.launch

Version	Your Configuration
Operating System	16.04
Kernel	4.13.0-45
ROS	kinetic
ROS RealSense	ZR300
librealsense	1.12.1
Camera Type-Firmware	?-?.?.?.?
roslaunch realsense_camera zr300_nodelet_rgdb.launch
Hello, I run the command crash ，what is the reason for this,Is it not supported?

Expected Behaviorbyd@byd:~/realsense/catkin_ethz_asl_realsense_ws$ roslaunch realsense_camera zr300_nodelet_rgdb.launch

... logging to /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/roslaunch-byd-6614.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://byd:41401/

SUMMARY

PARAMETERS

• /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/driver/base_frame_id: camera_link
• /camera/driver/camera_type: ZR300
• /camera/driver/color_fps: 30
• /camera/driver/color_frame_id: camera_rgb_frame
• /camera/driver/color_height: 480
• /camera/driver/color_optical_frame_id: camera_rgb_optica...
• /camera/driver/color_width: 640
• /camera/driver/depth_fps: 30
• /camera/driver/depth_frame_id: camera_depth_frame
• /camera/driver/depth_height: 360
• /camera/driver/depth_optical_frame_id: camera_depth_opti...
• /camera/driver/depth_width: 480
• /camera/driver/enable_color: True
• /camera/driver/enable_depth: True
• /camera/driver/enable_fisheye: True
• /camera/driver/enable_imu: True
• /camera/driver/enable_ir2: True
• /camera/driver/enable_ir: True
• /camera/driver/enable_pointcloud: False
• /camera/driver/enable_tf: True
• /camera/driver/ir2_frame_id: camera_ir2_frame
• /camera/driver/ir_frame_id: camera_ir_frame
• /camera/driver/mode: manual
• /camera/driver/serial_no:
• /camera/driver/usb_port_id:
• /camera/points_xyzrgb_sw_registered/queue_size: 100
• /rosdistro: kinetic
• /rosversion: 1.12.13

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)
disparity_depth (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [6624]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f19d1ce6-84e0-11e8-8a3a-28d244ecd703
process[rosout-1]: started with pid [6637]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [6654]
process[camera/driver-3]: started with pid [6655]
process[camera/rgb_debayer-4]: started with pid [6656]
process[camera/rgb_rectify_mono-5]: started with pid [6658]
process[camera/rgb_rectify_color-6]: started with pid [6674]
process[camera/ir_rectify_ir-7]: started with pid [6684]
process[camera/depth_rectify_depth-8]: started with pid [6705]
[ INFO] [1531296230.177886009]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-9]: started with pid [6721]
process[camera/depth_metric-10]: started with pid [6734]
process[camera/depth_points-11]: started with pid [6752]
process[camera/register_depth_rgb-12]: started with pid [6766]
process[camera/points_xyzrgb_sw_registered-13]: started with pid [6777]
process[camera/depth_registered_sw_metric_rect-14]: started with pid [6788]
process[camera/disparity_depth-15]: started with pid [6802]
process[camera/disparity_registered_sw-16]: started with pid [6827]
[ERROR] [1531296230.813195312]: /camera/driver - Error calling rs_get_device_info ( device:0x15ede30, info:ADAPTER_BOARD_FIRMWARE_VERSION ):
selected camera info is not supported for this camera!

[FATAL] [1531296231.032977778]: Failed to load nodelet '/camera/driverof typerealsense_camera/ZR300Nodeletto managercamera_nodelet_manager'
[FATAL] [1531296231.032988767]: Failed to load nodelet '/camera/rgb_rectify_monoof typeimage_proc/rectifyto managercamera_nodelet_manager'
[FATAL] [1531296231.032998472]: Failed to load nodelet '/camera/ir_rectify_irof typeimage_proc/rectifyto managercamera_nodelet_manager'
[FATAL] [1531296231.033017048]: Failed to load nodelet '/camera/depth_rectify_depthof typeimage_proc/rectifyto managercamera_nodelet_manager'
[FATAL] [1531296231.033435471]: Failed to load nodelet '/camera/depth_metricof typedepth_image_proc/convert_metricto managercamera_nodelet_manager'
[FATAL] [1531296231.033455975]: Failed to load nodelet '/camera/depth_metric_rectof typedepth_image_proc/convert_metricto managercamera_nodelet_manager'
[FATAL] [1531296231.033664342]: Failed to load nodelet '/camera/register_depth_rgbof typedepth_image_proc/registerto managercamera_nodelet_manager'
[FATAL] [1531296231.033478237]: Failed to load nodelet '/camera/depth_pointsof typedepth_image_proc/point_cloud_xyzto managercamera_nodelet_manager'
[FATAL] [1531296231.033847399]: Failed to load nodelet '/camera/points_xyzrgb_sw_registeredof typedepth_image_proc/point_cloud_xyzrgbto managercamera_nodelet_manager'
[FATAL] [1531296231.033985120]: Failed to load nodelet '/camera/depth_registered_sw_metric_rectof typedepth_image_proc/convert_metricto managercamera_nodelet_manager'
[FATAL] [1531296231.034003843]: Failed to load nodelet '/camera/disparity_depthof typedepth_image_proc/disparityto managercamera_nodelet_manager'
[FATAL] [1531296231.034167966]: Failed to load nodelet '/camera/disparity_registered_swof typedepth_image_proc/disparityto managercamera_nodelet_manager'
[camera/camera_nodelet_manager-2] process has died [pid 6654, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-camera_nodelet_manager-2.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-camera_nodelet_manager-2*.log
[camera/driver-3] process has died [pid 6655, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/ZR300Nodelet camera_nodelet_manager depth:=depth color:=rgb ir:=ir ir2:=ir2 __name:=driver __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-driver-3.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-driver-3*.log
[camera/rgb_rectify_mono-5] process has died [pid 6658, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_mono image_rect:=rgb/image_rect_mono __name:=rgb_rectify_mono __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-rgb_rectify_mono-5.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-rgb_rectify_mono-5*.log
[camera/ir_rectify_ir-7] process has died [pid 6684, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=ir_rectify_ir __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-ir_rectify_ir-7.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-ir_rectify_ir-7*.log
[camera/depth_rectify_depth-8] process has died [pid 6705, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_rectify_depth-8.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_rectify_depth-8*.log
[camera/depth_metric_rect-9] process has died [pid 6721, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_metric_rect-9.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_metric_rect-9*.log
[camera/depth_metric-10] process has died [pid 6734, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_metric-10.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_metric-10*.log
[camera/depth_points-11] process has died [pid 6752, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_points-11.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_points-11*.log
[camera/register_depth_rgb-12] process has died [pid 6766, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-register_depth_rgb-12.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-register_depth_rgb-12*.log
[camera/points_xyzrgb_sw_registered-13] process has died [pid 6777, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-points_xyzrgb_sw_registered-13.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-points_xyzrgb_sw_registered-13*.log
[camera/depth_registered_sw_metric_rect-14] process has died [pid 6788, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_registered_sw_metric_rect-14.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-depth_registered_sw_metric_rect-14*.log
[camera/disparity_depth-15] process has died [pid 6802, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-disparity_depth-15.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-disparity_depth-15*.log
[camera/disparity_registered_sw-16] process has died [pid 6827, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-disparity_registered_sw-16.log].
log file: /home/byd/.ros/log/f19d1ce6-84e0-11e8-8a3a-28d244ecd703/camera-disparity_registered_sw-16*.log

Images with "0" header timestamps

I observed some images being published with 0 in their header timestamps.
I guess this occurs when there in no match found in the HW timestamp queue.
This is a big issue for dependent code eg. kalibr/ rovio.
Possible solutions are either to interpolate using the received timestamps and correction secs from device_time, or not to publish the image at all.
@ZacharyTaylor did you also observe this?
@HannesSommer what would be the better fix in your opinion?

Extrinsics published by driver have hardcoded rotation

Just making a note, haven't checked yet whether the rotational part of the extrinsics given by librealsense make any sense.

Example for infrared camera (seems to be the case for all cameras)

add subsampling

I really liked the subsampling feature in realsense-ros. It keeps bags limited to a reasonable size and I think it's also useful during calibration with kalibr.

can't output ir2 images

node crashes if output of ir2 is enabled (ir1 works fine)