D435i can't be found, ubuntu22.04 jammy(core 5.10), ROS2 humble #13611
Comments
|
Hi @Frank198002 It is recommended that on Rockchip (RK) devices, the librealsense SDK is built from source code with the libuvc backend installation method. A libuvc build of the SDK bypasses the kernel and so can avoid problems that may occur on a kernel-patched installation of librealsense. https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md The libuvc backend installation method provides a pre-made build script called 'libuvc_installation.sh'. https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh If you need your librealsense installation to include the realsense-viewer and other tools and examples then please change line 46 of the script from this:
to this:
After installing librealsense with the libuvc backend method, please build the RealSense ROS2 wrapper from source code again with colcon build. |
|
Hi @MartyG-RealSense, thank you for your guider on on Rockchip (RK) devices! I have installed SDK successfully, and can use RealSense -viewer to see RGB,Stereo and Motion. But after I connect D435i to usb3.0, and run verity command: And build the RealSense ROS2 wrapper from source code again with colcon build(option 2). But when we run ros node, can't find the device, info as following: orangepi@orangepi5b:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py |
|
Does it make a differene if you launch rs-enumerate-devices in sudo admin permissions mode with sudo rs-enumerate-devices Ideally, the ROS wrapper should be the only program installed in the /ros2_ws catkin workspace directory and librealsense should be installed in another directory. The quoted command /ros2_ws$ rs-enumerate-devices indicates that librealsense is installed in the ROS catkin workspace directory. |
|
Here is the new system, realsense is the first application. Now realsense-ros is the unique dir in ros2_ws/src as following: Thank you for your suggestion! We can see info with "sudo". And we can also find device. Another terminal is |
|
Please try enabling only Motion Module on its own in realsense-viewer to see whether the IMU data appears. There is a known issue with realsense-viewer for some RealSense users where if you enable three streams and one of them is the Motion Module (such as Depth, RGB and Motion Module), one of the streams will not provide data. For users of realsense-viewer who experience this problem, there is no fix for this except to only enable Motion Module on its own, or only enable two streams (Depth + Motion Module or RGB + Motion Module). In the ROS wrapper, the IMU topics are disabled by default unless you add the parameters below to your ros2 launch instruction to publish them.
|
|
I only open IMU stream in viewer as you said, but still can't see IMU image. I remmber when I first install camera,which firmware is 5.13, realsense-viewer can show RGB, depth and IMU at the same time. a. Here is the error log when i only open IMU in realsense-viewer. b. then I close realsense-viewer, resatrt system, and us ROS2 command to run package as following: I can't find the topic output. But it is surprise that I close ros2 node and open realsense-view, I can see RGB and depth video. My request is receiving RGB and IMU ros stream from this camera, if depth ok, it will be best! |
|
At #13611 (comment) earlier in this discussion you said that you could use realSense-viewer to see RGB, Stereo and Motion Module. But when you plugged the camera into USB 3.0 on your Orange Pi, that's when your problems occurred. Looking at information about Orange Pi 5b, it has 1 USB 3.0 port and 1 USB 3.1 Gen 1 port (plus two USB 2 ports). It is highly recommendable to ensure that the camera is in the USB 3.1 port. This is because RealSense 400 Series cameras only minimally supported USB 3.0 even when they were first launched in December 2017. They should be used with USB 3.1 Gen 1. |
|
Yes, before install D435i, i read the relative issue about USB3.0; OrangePi5B has 2 USB2.0 and 1 USB3.0. I purchase one USB3.0 wire to connect. Could you kindly give me more suggestions? |
|
Have you checked RViz to see whether the topics can be correctly displayed, please? Sometimes the topics publish normally in RViz even when |
|
Hi MartyG, I find the cause. D435i Firmware should be 5.13.0.55, it runs OK not only in realsense-view but also in ROS2 topic. |
|
I'm pleased to hear that firmware 5.13.0.55 worked for you! The 'Frame Drops Per Second' graph in realsense-viewer can be disregarded as it does not provide useful information about analysing performance. Clicking the 'i' button on the top of the stream panels to overlay information over the panel provides more reliable information, such as the current frames per second (FPS) speed of a stream. The librealsense versions that match to firmware 5.13.0.55 are 2.50.0 and 2.51.1. However, as you found yourself, 5.13.0.55 can also be successfully used with librealsense 2.55.1. |
Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):
All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)
Issue Description
When install SDK 2.0, I select "Option 3: Build from source". Follow the instructions under [Linux Installation] and Install librealsense2, on step 3: Build and apply patched kernel modules for:
My system is Ubuntu 22.04 jammy ,but core is 5.10, so I can't run patch script on this kernel. Could you give me some suggestion and I have another kernel version is 6.1, but still not in list.
The text was updated successfully, but these errors were encountered: