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L515 unstable #1803

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NorwegianPi opened this issue Apr 9, 2021 · 6 comments
Closed

L515 unstable #1803

NorwegianPi opened this issue Apr 9, 2021 · 6 comments
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@NorwegianPi
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Hello,

I have some issues with the L515.
I am not able to integrate it rtabmap_ros along side my T265. At first i suspected that it was a config issue, but I was able to get hold of another L515 to test with.

The new camera worked with RTABMAP strait away without any changes to the config.

Both cameras are running FW: 01.05.04.01 (Updated using windows SDK)

The new camera worked as expected for 1 day, the next day, i some times got connection error but re-connecting the camera seemed to do the trick.
Today I am however not able to get a stable connection with rtabmap_ros (same cables and ports).

I get it to update the map 60 or so times before it seems to stop.

If i try to relaunch rtabmap without stopping thr realsense node, I get this message:

[ WARN] [1617886497.652308693]: /rtabmap_l515/rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap_l515/rgbd_sync subscribed to (exact sync):
   /l515/color/image_raw \
   /l515/aligned_depth_to_color/image_raw \
   /l515/color/camera_info

When it is not working at all i some times get this warning from realsense_ros:

[ WARN] [1617973602.106265942]: No stream match for pointcloud chosen texture Process - Color

I have checked these topics and data is published to them.

If realsense_ros is restarted rtabmap resumes map update for a short while.

I have similar setup and configuration for D435 and T265 which is stable.

Any suggestions on how to debug this?

System
Ubuntu 18.04 Intel NUC
RTABMAP built from source
Real Sense built from source
IntelNuc built from source
ROS Melodic apt

Realsense Launch File

<launch>
  <arg name="device_type_t265"    		default="t265"/>
  <arg name="device_type_l515"    		default="l515"/>
  
  <arg name="serial_no_t265"    			default="948422110768"/>
  <arg name="serial_no_l515"    			default="f0190011"/>
  
  <arg name="t265_ns"              			default="t265"/>
  <arg name="l515_ns"              			default="l515"/>

  <arg name="tf_prefix_t265"         default="$(arg t265_ns)"/>
  <arg name="tf_prefix_l515"         default="$(arg l515_ns)"/>

  <arg name="initial_reset"             default="false"/>
  <arg name="enable_fisheye"            default="false"/>

  <arg name="color_width"               default="1280"/>
  <arg name="color_height"              default="720"/>

  <arg name="depth_width"               default="640"/>
  <arg name="depth_height"              default="480"/>

  <arg name="ordered_pc"                default="false"/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>


 <!-- Param '/t265/tracking_module/frames_queue_size' has value 256 that is not in range [0, 32]. Removing this parameter from dynamic reconfigure options. -->
  <param name="/t265/tracking_module/frames_queue_size" type="int" value="16"/>
  <group ns="$(arg t265_ns)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="device_type"           value="$(arg device_type_t265)"/>
      <arg name="serial_no"             value="$(arg serial_no_t265)"/>
      <arg name="tf_prefix"         	  value="$(arg tf_prefix_t265)"/>
      <arg name="initial_reset"         value="$(arg initial_reset)"/>
      <arg name="enable_fisheye1"       value="$(arg enable_fisheye)"/>
      <arg name="enable_fisheye2"       value="$(arg enable_fisheye)"/>
      <arg name="topic_odom_in"         value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"       value="$(arg calib_odom_file)"/>
      <arg name="enable_pose"           value="true"/>
      <!-- <arg name="ordered_pc"            value="$(arg ordered_pc)"/> -->
    </include>
  </group>
  
  <!-- Launch L515 through nodeler -->
  <group ns="$(arg l515_ns)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="device_type"           value="$(arg device_type_l515)"/>
      <arg name="serial_no"             value="$(arg serial_no_l515)"/>
      <arg name="tf_prefix"		          value="$(arg tf_prefix_l515)"/>
      <arg name="initial_reset"         value="$(arg initial_reset)"/>
      <arg name="align_depth"           value="true"/>
      <arg name="filters"               value="pointcloud"/>
      <arg name="color_width"           value="$(arg color_width)"/>
      <arg name="color_height"          value="$(arg color_height)"/>
      <arg name="depth_width"           value="$(arg depth_width)"/>
      <arg name="depth_height"          value="$(arg depth_height)"/>
      <arg name="clip_distance"         value="$(arg clip_distance)"/>
      <arg name="ordered_pc"            value="$(arg ordered_pc)"/>
    </include>
  </group>
      <!-- <arg name="enable_infra"          default="true"/> -->
  <!-- CAMERA ALIGNMENT: Can not be done propperly until we have a machined mount with less flex -->
  <!-- TF is estimated according to drawing by Magnus ISX 45-->
  <!-- <node pkg="tf" type="static_transform_publisher" name="t265_to_l515" args="0 0.085 0.015 0 0 0 /$(arg tf_prefix_t265)_link /$(arg tf_prefix_l515)_link 100"/> -->
  <node pkg="tf" type="static_transform_publisher" name="t265_to_l515" args="0 0.085 0.015 0 0 0 /t265_link /l515_link 100"/>
</launch>

rtabmap_ros Launch File

<launch>
  <arg name="detection_rate"        default="5"/>
  <arg name="voxel_size"            default="0.01"/>
  <arg name="odom_topic"               default="/t265/odom/sample"/> <!-- Odometry topic name -->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="frame_id"                default="t265_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="depth_topic"             default="/l515/aligned_depth_to_color/image_raw" />
  <arg name="rgb_topic"               default="/l515/color/image_raw" />
  <arg name="camera_info_topic"       default="/l515/color/camera_info" />
  <arg name="database_path"           default="~/.ros/rtabmap_l515.db"/>
  <!-- <arg name="args" value=" -delete_db_on_start -Reg/Strategy 0 -Mem/UseOdomGravity true -Optimizer/GravitySigma 0.3 -Grid/MaxGroundHeight 0.2 -Grid/MaxObstacleHeight 2 -Grid/NormalsSegmentation false"/> -->
  <arg name="args" value= " --delete_db_on_start --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3"/>

  <!-- Choose between depth and stereo, set both to false to do only scan -->      
  <arg name="stereo"                    default="false"/>
  <arg     if="$(arg stereo)" name="depth"  default="false"/>
  <arg unless="$(arg stereo)" name="depth"  default="true"/>
  <!-- <arg name="depth"  default="true"/> -->
 
  <!-- Choose visualization -->
  <!-- <arg name="rtabmapviz"              default="false" />  -->
  <arg name="rviz"                    default="true" />
  
  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>
  
  <!-- sim time for convenience, if playing a rosbag -->
  <arg name="use_sim_time"            default="false"/>
  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
  
  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find realsense_scanner)/launch/config/rviz_config.rviz" />
  
  <arg name="odom_frame_id"           default=""/>                <!-- If set, TF is used to get odometry instead of the topic -->
  <arg name="map_frame_id"            default="map"/>
  <arg name="ground_truth_frame_id"   default=""/>     <!-- e.g., "world" -->
  <arg name="ground_truth_base_frame_id" default=""/>  <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
  <arg name="namespace"               default="rtabmap_l515"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <!-- <arg name="args"                    default=""/>              delete_db_on_start, udebug -->
  <arg name="rtabmap_args"            default="$(arg args)"/>   deprecated, use "args" argument
  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
  <arg name="output"                  default="screen"/>        <!-- Control node output (screen or log) -->
  <arg name="publish_tf_map"          default="true"/>

  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/>         
   
  <!-- RGB-D related topics -->
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
  
  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
  
  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="true"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
  <arg name="approx_rgbd_sync"        default="false"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="false"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         <!-- Deprecated, use rgbd_depth_scale instead -->
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />
  
  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
   
  <arg name="subscribe_scan"          default="false"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="false"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
   
  <arg name="visual_odometry"          default="false"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="icp_odometry"             default="false"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="publish_tf_odom"          default="true"/>
  <arg name="odom_tf_angular_variance" default="1"/>             <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="1"/>             <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="false"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/>
  <arg name="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/imu/data"/>          <!-- only used with VIO approaches -->
  <arg name="wait_imu_to_init"         default="false"/>
  
  <arg name="scan_cloud_assembling"              default="false"/>
  <arg name="scan_cloud_assembling_time"         default="1"/>
  <arg name="scan_cloud_assembling_fixed_frame"  default=""/>
  <arg name="scan_cloud_assembling_voxel_size"   default="0.05"/>
  <arg name="scan_cloud_assembling_noise_radius"   default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_min_neighbors"   default="5"/>
  
  <arg name="subscribe_user_data"      default="false"/>             <!-- user data synchronized subscription -->
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
  
  <arg name="gps_topic"                default="/gps/fix" />         <!-- gps async subscription -->
  
  <arg name="tag_topic"                default="/tag_detections" />  <!-- apriltags async subscription -->
  <arg name="tag_linear_variance"      default="0.0001" />
  <arg name="tag_angular_variance"     default="9999" />             <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
  
  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
  <arg if="$(arg rgbd_sync)"      name="rgbd_topic_relay"          default="$(arg rgbd_topic)"/>
  <arg unless="$(arg rgbd_sync)"  name="rgbd_topic_relay"          default="$(arg rgbd_topic)_relay"/>

  <!-- Nodes -->
  <group ns="$(arg namespace)">
     
    <!-- relays -->
    <group if="$(arg depth)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
          <param name="depth_scale"     type="double" value="$(arg rgbd_depth_scale)"/>
          <param name="decimation"     type="double" value="$(arg rgbd_decimation)"/>
        </node>
      </group>
    </group>
    <group if="$(arg stereo)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
          <remap from="left/image_rect"   to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"  to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
        </node>
      </group>
    </group>
    
    <group unless="$(arg rgbd_sync)">
       <group if="$(arg subscribe_rgbd)">
         <node name="republish_rgbd_image"  type="rgbd_relay" pkg="rtabmap_ros">
           <remap     if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
           <remap     if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
           <remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
           <param if="$(arg compressed)" name="uncompress" value="true"/>
         </node>
      </group>
    </group>

    <!-- Visual odometry -->
    <group unless="$(arg icp_odometry)">
      <group if="$(arg visual_odometry)">
      
        <!-- RGB-D Odometry -->
        <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"            to="$(arg odom_topic)"/>
          <remap from="imu"             to="$(arg imu_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
        </node>

        <!-- Stereo Odometry -->
        <node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"             to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"                   to="$(arg odom_topic)"/>
          <remap from="imu"                    to="$(arg imu_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
        </node>
      </group>
    </group>
    
    <!-- ICP Odometry -->
    <node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>
      
      <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
      <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
      <param name="config_path"                 type="string" value="$(arg cfg)"/>
      <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
      <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
      <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
      <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
      <param name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
      <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
      <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
    </node>
    
    <node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
      <remap     if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>

      <remap from="odom"            to="$(arg odom_topic)"/>
      <param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
      <param name="fixed_frame_id"  type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
      <param name="voxel_size"      type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
      <param name="noise_radius"        type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
      <param name="noise_min_neighbors" type="int"    value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
      <param name="subscribe_rgb"        type="bool"   value="$(arg depth)"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(arg subscribe_rgbd)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
      <param name="subscribe_user_data"  type="bool"   value="$(arg subscribe_user_data)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="map_frame_id"         type="string" value="$(arg map_frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="publish_tf"           type="bool"   value="$(arg publish_tf_map)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
      <param name="odom_tf_linear_variance"  type="double" value="$(arg odom_tf_linear_variance)"/>
      <param name="odom_sensor_sync"         type="bool"   value="$(arg odom_sensor_sync)"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="database_path"        type="string" value="$(arg database_path)"/>
      <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
      <param name="config_path"          type="string" value="$(arg cfg)"/>
      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
      <param name="scan_cloud_max_points"     type="int" value="$(arg scan_cloud_max_points)"/>
      <param name="landmark_linear_variance"   type="double" value="$(arg tag_linear_variance)"/>
      <param name="landmark_angular_variance"  type="double" value="$(arg tag_angular_variance)"/>      
      
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      
      <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
	
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
      <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="user_data"              to="$(arg user_data_topic)"/>
      <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
      <remap from="gps/fix"                to="$(arg gps_topic)"/>
      <remap from="tag_detections"         to="$(arg tag_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>
      
      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>

      <!-- My parameters -->
      <param name="Rtabmap/DetectionRate"        type="string" value="$(arg detection_rate)"/>
      <param name="Grid/CellSize"                type="string" value="$(arg voxel_size)"/>
      <!-- <param name="Rtabmap/DetectionRate" type="string" value="5"/> -->
      <!-- <param name="Grid/CellSize" type="string" value="0.01"/> -->

    </node>
  </group>
</launch>

realsense_ros printout(When it is working for a short while)

SUMMARY
========

PARAMETERS
 * /l515/realsense2_camera/accel_fps: 0
 * /l515/realsense2_camera/accel_frame_id: l515_accel_frame
 * /l515/realsense2_camera/accel_optical_frame_id: l515_accel_optica...
 * /l515/realsense2_camera/align_depth: True
 * /l515/realsense2_camera/aligned_depth_to_color_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/aligned_depth_to_fisheye1_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/aligned_depth_to_fisheye2_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/aligned_depth_to_fisheye_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/aligned_depth_to_infra1_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/aligned_depth_to_infra2_frame_id: l515_aligned_dept...
 * /l515/realsense2_camera/allow_no_texture_points: False
 * /l515/realsense2_camera/base_frame_id: l515_link
 * /l515/realsense2_camera/calib_odom_file: 
 * /l515/realsense2_camera/clip_distance: -2.0
 * /l515/realsense2_camera/color_fps: 30
 * /l515/realsense2_camera/color_frame_id: l515_color_frame
 * /l515/realsense2_camera/color_height: 720
 * /l515/realsense2_camera/color_optical_frame_id: l515_color_optica...
 * /l515/realsense2_camera/color_width: 1280
 * /l515/realsense2_camera/confidence_fps: 30
 * /l515/realsense2_camera/confidence_height: 480
 * /l515/realsense2_camera/confidence_width: 640
 * /l515/realsense2_camera/depth_fps: 30
 * /l515/realsense2_camera/depth_frame_id: l515_depth_frame
 * /l515/realsense2_camera/depth_height: 480
 * /l515/realsense2_camera/depth_optical_frame_id: l515_depth_optica...
 * /l515/realsense2_camera/depth_width: 640
 * /l515/realsense2_camera/device_type: l515
 * /l515/realsense2_camera/enable_accel: False
 * /l515/realsense2_camera/enable_color: True
 * /l515/realsense2_camera/enable_confidence: True
 * /l515/realsense2_camera/enable_depth: True
 * /l515/realsense2_camera/enable_fisheye1: False
 * /l515/realsense2_camera/enable_fisheye2: False
 * /l515/realsense2_camera/enable_fisheye: False
 * /l515/realsense2_camera/enable_gyro: False
 * /l515/realsense2_camera/enable_infra1: False
 * /l515/realsense2_camera/enable_infra2: False
 * /l515/realsense2_camera/enable_infra: False
 * /l515/realsense2_camera/enable_pointcloud: False
 * /l515/realsense2_camera/enable_pose: False
 * /l515/realsense2_camera/enable_sync: False
 * /l515/realsense2_camera/filters: 
 * /l515/realsense2_camera/fisheye1_frame_id: l515_fisheye1_frame
 * /l515/realsense2_camera/fisheye1_optical_frame_id: l515_fisheye1_opt...
 * /l515/realsense2_camera/fisheye2_frame_id: l515_fisheye2_frame
 * /l515/realsense2_camera/fisheye2_optical_frame_id: l515_fisheye2_opt...
 * /l515/realsense2_camera/fisheye_fps: 30
 * /l515/realsense2_camera/fisheye_frame_id: l515_fisheye_frame
 * /l515/realsense2_camera/fisheye_height: 0
 * /l515/realsense2_camera/fisheye_optical_frame_id: l515_fisheye_opti...
 * /l515/realsense2_camera/fisheye_width: 0
 * /l515/realsense2_camera/gyro_fps: 0
 * /l515/realsense2_camera/gyro_frame_id: l515_gyro_frame
 * /l515/realsense2_camera/gyro_optical_frame_id: l515_gyro_optical...
 * /l515/realsense2_camera/imu_optical_frame_id: l515_imu_optical_...
 * /l515/realsense2_camera/infra1_frame_id: l515_infra1_frame
 * /l515/realsense2_camera/infra1_optical_frame_id: l515_infra1_optic...
 * /l515/realsense2_camera/infra2_frame_id: l515_infra2_frame
 * /l515/realsense2_camera/infra2_optical_frame_id: l515_infra2_optic...
 * /l515/realsense2_camera/infra_fps: 30
 * /l515/realsense2_camera/infra_height: 480
 * /l515/realsense2_camera/infra_rgb: False
 * /l515/realsense2_camera/infra_width: 640
 * /l515/realsense2_camera/initial_reset: False
 * /l515/realsense2_camera/json_file_path: 
 * /l515/realsense2_camera/linear_accel_cov: 0.01
 * /l515/realsense2_camera/odom_frame_id: l515_odom_frame
 * /l515/realsense2_camera/ordered_pc: False
 * /l515/realsense2_camera/pointcloud_texture_index: 0
 * /l515/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /l515/realsense2_camera/pose_frame_id: l515_pose_frame
 * /l515/realsense2_camera/pose_optical_frame_id: l515_pose_optical...
 * /l515/realsense2_camera/publish_odom_tf: True
 * /l515/realsense2_camera/publish_tf: True
 * /l515/realsense2_camera/rosbag_filename: 
 * /l515/realsense2_camera/serial_no: f0190011
 * /l515/realsense2_camera/tf_publish_rate: 0.0
 * /l515/realsense2_camera/topic_odom_in: l515/odom_in
 * /l515/realsense2_camera/unite_imu_method: none
 * /l515/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /t265/realsense2_camera/accel_fps: 0
 * /t265/realsense2_camera/accel_frame_id: t265_accel_frame
 * /t265/realsense2_camera/accel_optical_frame_id: t265_accel_optica...
 * /t265/realsense2_camera/align_depth: False
 * /t265/realsense2_camera/aligned_depth_to_color_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_infra1_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_infra2_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/allow_no_texture_points: False
 * /t265/realsense2_camera/base_frame_id: t265_link
 * /t265/realsense2_camera/calib_odom_file: 
 * /t265/realsense2_camera/clip_distance: -1.0
 * /t265/realsense2_camera/color_fps: 30
 * /t265/realsense2_camera/color_frame_id: t265_color_frame
 * /t265/realsense2_camera/color_height: 480
 * /t265/realsense2_camera/color_optical_frame_id: t265_color_optica...
 * /t265/realsense2_camera/color_width: 640
 * /t265/realsense2_camera/confidence_fps: 30
 * /t265/realsense2_camera/confidence_height: 480
 * /t265/realsense2_camera/confidence_width: 640
 * /t265/realsense2_camera/depth_fps: 30
 * /t265/realsense2_camera/depth_frame_id: t265_depth_frame
 * /t265/realsense2_camera/depth_height: 480
 * /t265/realsense2_camera/depth_optical_frame_id: t265_depth_optica...
 * /t265/realsense2_camera/depth_width: 640
 * /t265/realsense2_camera/device_type: t265
 * /t265/realsense2_camera/enable_accel: False
 * /t265/realsense2_camera/enable_color: True
 * /t265/realsense2_camera/enable_confidence: True
 * /t265/realsense2_camera/enable_depth: True
 * /t265/realsense2_camera/enable_fisheye1: False
 * /t265/realsense2_camera/enable_fisheye2: False
 * /t265/realsense2_camera/enable_fisheye: False
 * /t265/realsense2_camera/enable_gyro: False
 * /t265/realsense2_camera/enable_infra1: False
 * /t265/realsense2_camera/enable_infra2: False
 * /t265/realsense2_camera/enable_infra: False
 * /t265/realsense2_camera/enable_pointcloud: False
 * /t265/realsense2_camera/enable_pose: True
 * /t265/realsense2_camera/enable_sync: False
 * /t265/realsense2_camera/filters: 
 * /t265/realsense2_camera/fisheye1_frame_id: t265_fisheye1_frame
 * /t265/realsense2_camera/fisheye1_optical_frame_id: t265_fisheye1_opt...
 * /t265/realsense2_camera/fisheye2_frame_id: t265_fisheye2_frame
 * /t265/realsense2_camera/fisheye2_optical_frame_id: t265_fisheye2_opt...
 * /t265/realsense2_camera/fisheye_fps: 30
 * /t265/realsense2_camera/fisheye_frame_id: t265_fisheye_frame
 * /t265/realsense2_camera/fisheye_height: 0
 * /t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti...
 * /t265/realsense2_camera/fisheye_width: 0
 * /t265/realsense2_camera/gyro_fps: 0
 * /t265/realsense2_camera/gyro_frame_id: t265_gyro_frame
 * /t265/realsense2_camera/gyro_optical_frame_id: t265_gyro_optical...
 * /t265/realsense2_camera/imu_optical_frame_id: t265_imu_optical_...
 * /t265/realsense2_camera/infra1_frame_id: t265_infra1_frame
 * /t265/realsense2_camera/infra1_optical_frame_id: t265_infra1_optic...
 * /t265/realsense2_camera/infra2_frame_id: t265_infra2_frame
 * /t265/realsense2_camera/infra2_optical_frame_id: t265_infra2_optic...
 * /t265/realsense2_camera/infra_fps: 30
 * /t265/realsense2_camera/infra_height: 480
 * /t265/realsense2_camera/infra_rgb: False
 * /t265/realsense2_camera/infra_width: 640
 * /t265/realsense2_camera/initial_reset: False
 * /t265/realsense2_camera/json_file_path: 
 * /t265/realsense2_camera/linear_accel_cov: 0.01
 * /t265/realsense2_camera/odom_frame_id: t265_odom_frame
 * /t265/realsense2_camera/ordered_pc: False
 * /t265/realsense2_camera/pointcloud_texture_index: 0
 * /t265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /t265/realsense2_camera/pose_frame_id: t265_pose_frame
 * /t265/realsense2_camera/pose_optical_frame_id: t265_pose_optical...
 * /t265/realsense2_camera/publish_odom_tf: True
 * /t265/realsense2_camera/publish_tf: True
 * /t265/realsense2_camera/rosbag_filename: 
 * /t265/realsense2_camera/serial_no: 948422110768
 * /t265/realsense2_camera/tf_publish_rate: 0.0
 * /t265/realsense2_camera/topic_odom_in: odom_in
 * /t265/realsense2_camera/unite_imu_method: none
 * /t265/realsense2_camera/usb_port_id: 
 * /t265/tracking_module/frames_queue_size: 16

NODES
  /
    t265_to_l515 (tf/static_transform_publisher)
  /l515/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /t265/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://192.168.1.12:11311

process[t265/realsense2_camera_manager-1]: started with pid [10722]
[ INFO] [1617973851.081024004]: Initializing nodelet with 12 worker threads.
process[t265/realsense2_camera-2]: started with pid [10723]
process[l515/realsense2_camera_manager-3]: started with pid [10742]
[ INFO] [1617973851.259771099]: Initializing nodelet with 12 worker threads.
[ INFO] [1617973851.296104736]: RealSense ROS v2.2.22
[ INFO] [1617973851.296125925]: Built with LibRealSense v2.42.0
[ INFO] [1617973851.296136379]: Running with LibRealSense v2.42.0
process[l515/realsense2_camera-4]: started with pid [10747]
[ INFO] [1617973851.343130662]:  
process[t265_to_l515-5]: started with pid [10771]
[ INFO] [1617973851.414067988]: RealSense ROS v2.2.22
[ INFO] [1617973851.414091173]: Built with LibRealSense v2.42.0
[ INFO] [1617973851.414100801]: Running with LibRealSense v2.42.0
[ INFO] [1617973851.454243215]:  
[ INFO] [1617973851.679445369]: Device with serial number f0190011 was found.

[ INFO] [1617973851.679492850]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1617973851.679516557]: Device with name Intel RealSense L515 was found.
[ INFO] [1617973851.680065848]: Device with port number 2-2 was found.
[ INFO] [1617973851.680339191]: Device with serial number f0190011 was found.

[ INFO] [1617973851.680374048]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1617973851.680392653]: Device with name Intel RealSense L515 was found.
[ INFO] [1617973851.680863845]: Device with port number 2-2 was found.
[ INFO] [1617973851.680909449]: Device USB type: 3.2
[ INFO] [1617973851.685462651]: getParameters...
[ INFO] [1617973851.686674881]: Device with serial number 948422110768 was found.

[ INFO] [1617973851.686694695]: Device with physical ID 2-1-21 was found.
[ INFO] [1617973851.686705391]: Device with name Intel RealSense T265 was found.
[ INFO] [1617973851.686928957]: Device with port number 2-1 was found.
[ INFO] [1617973851.686950462]: Device USB type: 3.1
[ INFO] [1617973851.702427651]: No calib_odom_file. No input odometry accepted.
[ INFO] [1617973851.702582055]: getParameters...
[ INFO] [1617973852.169966948]: setupDevice...
[ INFO] [1617973852.170081902]: JSON file is not provided
[ INFO] [1617973852.170157929]: ROS Node Namespace: l515
[ INFO] [1617973852.170205035]: Device Name: Intel RealSense L515
[ INFO] [1617973852.170252340]: Device Serial No: f0190011
[ INFO] [1617973852.170300639]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0
[ INFO] [1617973852.170343080]: Device FW version: 01.05.04.01
[ INFO] [1617973852.170383533]: Device Product ID: 0x0B64
[ INFO] [1617973852.170435390]: Enable PointCloud: Off
[ INFO] [1617973852.170480098]: Align Depth: On
[ INFO] [1617973852.170521170]: Sync Mode: On
[ INFO] [1617973852.170668741]: Device Sensors: 
[ INFO] [1617973852.171087131]: setupDevice...
[ INFO] [1617973852.171200306]: JSON file is not provided
[ INFO] [1617973852.171283295]: ROS Node Namespace: t265
[ INFO] [1617973852.171494774]: Device Name: Intel RealSense T265
[ INFO] [1617973852.171618096]: Device Serial No: 948422110768
[ INFO] [1617973852.171719329]: Device physical port: 2-1-21
[ INFO] [1617973852.171821815]: Device FW version: 0.2.0.951
[ INFO] [1617973852.171910919]: Device Product ID: 0x0B37
[ INFO] [1617973852.172006530]: Enable PointCloud: Off
[ INFO] [1617973852.172089609]: Align Depth: Off
[ INFO] [1617973852.172170432]: Sync Mode: Off
[ INFO] [1617973852.172285527]: Device Sensors: 
[ INFO] [1617973852.172708213]: Tracking Module was found.
[ INFO] [1617973852.172845002]: L500 Depth Sensor was found.
[ INFO] [1617973852.172886687]: (Depth, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1617973852.173010703]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1617973852.173115692]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1617973852.173258369]: num_filters: 0
[ INFO] [1617973852.173445956]: Setting Dynamic reconfig parameters.
 09/04 15:10:52,171 WARNING [140352673814272] (backend-v4l2.cpp:1357) Pixel format 20204746-0000-0010-8000-00aa003 likely requires patch for fourcc code FG  !
[ INFO] [1617973852.181126646]: RGB Camera was found.
[ INFO] [1617973852.181767829]: Motion Module was found.
[ INFO] [1617973852.181860761]: num_filters: 0
[ INFO] [1617973852.181904993]: Setting Dynamic reconfig parameters.
[ INFO] [1617973852.246985014]: Done Setting Dynamic reconfig parameters.
[ INFO] [1617973852.247316391]: pose stream is enabled - fps: 200
[ INFO] [1617973852.247463132]: setupPublishers...
[ INFO] [1617973852.254583677]: setupStreams...
[ INFO] [1617973852.254771001]: insert Pose to Tracking Module
[ INFO] [1617973852.282075296]: SELECTED BASE:Pose, 0
[ INFO] [1617973852.282815893]: RealSense Node Is Up!
[ INFO] [1617973852.450792245]: Done Setting Dynamic reconfig parameters.
[ INFO] [1617973852.452091114]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1617973852.455903635]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1617973852.456326521]: confidence stream is enabled - width: 640, height: 480, fps: 30, Format: RAW8
[ INFO] [1617973852.457619477]: setupPublishers...
[ INFO] [1617973852.469991374]: Expected frequency for depth = 30.00000
[ INFO] [1617973852.616549825]: Expected frequency for color = 30.00000
[ INFO] [1617973852.749744086]: Expected frequency for aligned_depth_to_color = 30.00000
[ WARN] [1617973852.783723034]: 
[ INFO] [1617973852.881377962]: Expected frequency for confidence = 30.00000
[ INFO] [1617973852.999506374]: setupStreams...
[ INFO] [1617973853.052326469]: insert Depth to L500 Depth Sensor
[ INFO] [1617973853.052562250]: insert Color to RGB Camera
[ INFO] [1617973853.052762334]: insert Confidence to L500 Depth Sensor
 09/04 15:10:53,233 WARNING [140352673814272] (backend-v4l2.cpp:1357) Pixel format 20204746-0000-0010-8000-00aa003 likely requires patch for fourcc code FG  !
 09/04 15:10:53,235 WARNING [140352673814272] (backend-v4l2.cpp:1357) Pixel format 20204746-0000-0010-8000-00aa003 likely requires patch for fourcc code FG  !
 09/04 15:10:53,265 WARNING [140352200406784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,265 WARNING [140352200406784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,265 WARNING [140352200406784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,265 WARNING [140352200406784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,276 WARNING [140352192014080] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,276 WARNING [140352192014080] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,276 WARNING [140352192014080] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,276 WARNING [140352192014080] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,290 WARNING [140352183621376] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,290 WARNING [140352183621376] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
[ INFO] [1617973853.296476063]: SELECTED BASE:Depth, 0
 09/04 15:10:53,290 WARNING [140352183621376] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,290 WARNING [140352183621376] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,313 WARNING [140352159446784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,313 WARNING [140352159446784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,313 WARNING [140352159446784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
 09/04 15:10:53,313 WARNING [140352159446784] (backend-v4l2.cpp:1775) Invalid md size: bytes used =  0 ,start offset=10
[ INFO] [1617973853.491250616]: RealSense Node Is Up!
[ WARN] [1617973853.498533836]: 
[ WARN] [1617973853.498662203]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.

rtabmap_ros printout:(When it is working for a short while)

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rtabmap_l515/rgbd_sync/approx_sync: False
 * /rtabmap_l515/rgbd_sync/decimation: 1.0
 * /rtabmap_l515/rgbd_sync/depth_scale: 1.0
 * /rtabmap_l515/rgbd_sync/queue_size: 10
 * /rtabmap_l515/rtabmap/Grid/CellSize: 0.01
 * /rtabmap_l515/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap_l515/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap_l515/rtabmap/Rtabmap/DetectionRate: 5
 * /rtabmap_l515/rtabmap/approx_sync: True
 * /rtabmap_l515/rtabmap/config_path: 
 * /rtabmap_l515/rtabmap/database_path: ~/.ros/rtabmap_l5...
 * /rtabmap_l515/rtabmap/frame_id: t265_link
 * /rtabmap_l515/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap_l515/rtabmap/ground_truth_frame_id: 
 * /rtabmap_l515/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap_l515/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap_l515/rtabmap/map_frame_id: map
 * /rtabmap_l515/rtabmap/odom_frame_id: 
 * /rtabmap_l515/rtabmap/odom_sensor_sync: False
 * /rtabmap_l515/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap_l515/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap_l515/rtabmap/publish_tf: True
 * /rtabmap_l515/rtabmap/queue_size: 10
 * /rtabmap_l515/rtabmap/scan_cloud_max_points: 0
 * /rtabmap_l515/rtabmap/subscribe_depth: True
 * /rtabmap_l515/rtabmap/subscribe_rgb: True
 * /rtabmap_l515/rtabmap/subscribe_rgbd: False
 * /rtabmap_l515/rtabmap/subscribe_scan: False
 * /rtabmap_l515/rtabmap/subscribe_scan_cloud: False
 * /rtabmap_l515/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap_l515/rtabmap/subscribe_stereo: False
 * /rtabmap_l515/rtabmap/subscribe_user_data: False
 * /rtabmap_l515/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap_l515/
    rgbd_sync (nodelet/nodelet)
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://192.168.1.12:11311

process[rtabmap_l515/rgbd_sync-1]: started with pid [10849]
type is rtabmap_ros/rgbd_sync
process[rtabmap_l515/rtabmap-2]: started with pid [10850]
[ INFO] [1617973856.267978073]: Starting node...
[ INFO] [1617973856.319213416]: /rtabmap_l515/rgbd_sync: approx_sync = false
[ INFO] [1617973856.323434809]: /rtabmap_l515/rgbd_sync: queue_size  = 10
[ INFO] [1617973856.323477695]: /rtabmap_l515/rgbd_sync: depth_scale = 1.000000
[ INFO] [1617973856.323488788]: /rtabmap_l515/rgbd_sync: decimation = 1
[ INFO] [1617973856.323497881]: /rtabmap_l515/rgbd_sync: compressed_rate = 0.000000
[ INFO] [1617973856.330270130]: Initializing nodelet with 12 worker threads.
[ INFO] [1617973856.372677732]: 
/rtabmap_l515/rgbd_sync subscribed to (exact sync):
   /l515/color/image_raw \
   /l515/aligned_depth_to_color/image_raw \
   /l515/color/camera_info
[ INFO] [1617973856.485756249]: /rtabmap_l515/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1617973856.485788499]: /rtabmap_l515/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1617973856.485801961]: /rtabmap_l515/rtabmap(maps): map_cleanup                = true
[ INFO] [1617973856.485819403]: /rtabmap_l515/rtabmap(maps): map_always_update          = false
[ INFO] [1617973856.485828841]: /rtabmap_l515/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1617973856.485837818]: /rtabmap_l515/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1617973856.485845682]: /rtabmap_l515/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1617973856.485855717]: /rtabmap_l515/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1617973856.499832163]: /rtabmap_l515/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1617973856.665910444]: rtabmap: frame_id      = t265_link
[ INFO] [1617973856.665941297]: rtabmap: map_frame_id  = map
[ INFO] [1617973856.665951539]: rtabmap: use_action_for_goal  = false
[ INFO] [1617973856.665960984]: rtabmap: tf_delay      = 0.050000
[ INFO] [1617973856.665972385]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1617973856.665995596]: rtabmap: odom_sensor_sync   = false
[ INFO] [1617973856.669327402]: rtabmap: gen_scan  = false
[ INFO] [1617973856.669347021]: rtabmap: gen_depth  = false
[ INFO] [1617973857.045901978]: Setting RTAB-Map parameter "Grid/CellSize"="0.01"
[ INFO] [1617973857.806345188]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1617973857.808412412]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1617973858.435070309]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="5"
[ INFO] [1617973859.255895050]: Update RTAB-Map parameter "Mem/UseOdomGravity"="true" from arguments
[ INFO] [1617973859.255942198]: Update RTAB-Map parameter "Optimizer/GravitySigma"="0.3" from arguments
[ INFO] [1617973860.260121192]: RTAB-Map detection rate = 5.000000 Hz
[ INFO] [1617973860.268237829]: rtabmap: Deleted database "/home/spotx/.ros/rtabmap_l515.db" (--delete_db_on_start or -d are set).
[ INFO] [1617973860.268340605]: rtabmap: Using database from "/home/spotx/.ros/rtabmap_l515.db" (0 MB).
[ INFO] [1617973860.342516972]: rtabmap: Database version = "0.20.9".
[ INFO] [1617973860.490923142]: /rtabmap_l515/rtabmap: subscribe_depth = true
[ INFO] [1617973860.490959619]: /rtabmap_l515/rtabmap: subscribe_rgb = true
[ INFO] [1617973860.490985719]: /rtabmap_l515/rtabmap: subscribe_stereo = false
[ INFO] [1617973860.491001089]: /rtabmap_l515/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1617973860.491016178]: /rtabmap_l515/rtabmap: subscribe_odom_info = false
[ INFO] [1617973860.491026454]: /rtabmap_l515/rtabmap: subscribe_user_data = false
[ INFO] [1617973860.491038907]: /rtabmap_l515/rtabmap: subscribe_scan = false
[ INFO] [1617973860.491053988]: /rtabmap_l515/rtabmap: subscribe_scan_cloud = false
[ INFO] [1617973860.491076496]: /rtabmap_l515/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1617973860.491090275]: /rtabmap_l515/rtabmap: queue_size    = 10
[ INFO] [1617973860.491103178]: /rtabmap_l515/rtabmap: approx_sync   = true
[ INFO] [1617973860.491223937]: Setup depth callback
[ INFO] [1617973860.553273372]: 
/rtabmap_l515/rtabmap subscribed to (approx sync):
   /t265/odom/sample \
   /l515/color/image_raw \
   /l515/aligned_depth_to_color/image_raw \
   /l515/color/camera_info
[ INFO] [1617973861.025705883]: rtabmap (1): Rate=0.20s, Limit=0.000s, Conversion=0.0050s, RTAB-Map=0.3133s, Maps update=0.0008s pub=0.0002s (local map=1, WM=1)
[ INFO] [1617973861.285572424]: rtabmap 0.20.9 started...
...
...
...
[ INFO] [1617973888.569313459]: rtabmap (82): Rate=0.20s, Limit=0.000s, Conversion=0.0014s, RTAB-Map=0.3086s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)
[ INFO] [1617973888.945341897]: rtabmap (83): Rate=0.20s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=0.3183s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)

then nothing...
@mirkocomparetti-synesis
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Are you using the RaspberryPi to handle the camera?
I'm facing an issue with the same camera in ros and the raspberrypi4 and I'm wondering if you are using the same hardware #1804

@NorwegianPi
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@mirkocomparetti-synesis No. I am running it on a Intel NUC with Ubuntu 18.04.

@NorwegianPi
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New observation: one of the L515s are detected as USB 2.1 or 3.2 depending on orientaton of the cable. This happens with multiple cables and only on one of my L515s

@mirkocomparetti-synesis
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@mirkocomparetti-synesis No. I am running it on a Intel NUC with Ubuntu 18.04.

Thanks for the confirmation!

@NorwegianPi
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@RealSenseSupport any ideas what might be causing this issue?

@RealSenseSupport
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Hi @NorwegianPi

Looking at your new observation with one of the cameras showing differences based on the orientation of the USB connector, I suggest submitting for RMA either on the intelrealsense.com webstore or distributor that you may have purchased the camera from.

@MartyG-RealSense MartyG-RealSense mentioned this issue Sep 13, 2021
Closed
@jacklu333333 jacklu333333 mentioned this issue Oct 5, 2021
Closed
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@NorwegianPi @mirkocomparetti-synesis @RealSenseSupport