D455 camera cannot get imu msg from rostopic #3121

Hanning-Liu · 2024-06-11T06:08:09Z

Required Info
Camera Model	{ D455}
Firmware Version	(5.16.0.1)
Operating System & Version	{ Ubuntu 20.04.6 LTS }
Kernel Version (Linux Only)	(5.15.0-107-generic)
Platform	NUC
Librealsense SDK Version	{ 5.16.0.1 }
Language	{bash}
Segment	{others }
ROS Distro	{ROS 1 noetic}
RealSense ROS Wrapper Version	{2.3.2}

Issue Description

I launch my D455 camera using this launch file:


<launch>
  <arg name="serial_no"           default="242422302661"/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default="d455"/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="d455_242422302661"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>
  <arg name="output"              default="screen"/>
  <arg name="respawn"              default="true"/>

  <arg name="fisheye_width"       default="-1"/>
  <arg name="fisheye_height"      default="-1"/>
  <arg name="enable_fisheye"      default="false"/>

  <arg name="depth_width"         default="848"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="confidence_width"    default="-1"/>
  <arg name="confidence_height"   default="-1"/>
  <arg name="enable_confidence"   default="true"/>
  <arg name="confidence_fps"      default="-1"/>

  <arg name="infra_width"         default="848"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="false"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>
  <arg name="infra_rgb"           default="false"/>

  <arg name="color_width"         default="848"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="-1"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="200"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>

  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>
  <arg name="allow_no_texture_points"   default="false"/>
  <arg name="ordered_pc"                default="false"/>

  <arg name="enable_sync"               default="false"/>
  <arg name="align_depth"               default="true"/>

  <arg name="publish_tf"                default="true"/>
  <arg name="tf_publish_rate"           default="0"/>

  <arg name="filters"                   default="pointcloud"/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="reconnect_timeout"         default="6.0"/>
  <arg name="wait_for_device_timeout"   default="-1.0"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>
  <arg name="publish_odom_tf"           default="true"/>

  <arg name="stereo_module/exposure/1"  default="7500"/>
  <arg name="stereo_module/gain/1"      default="16"/>
  <arg name="stereo_module/exposure/2"  default="1"/>
  <arg name="stereo_module/gain/2"      default="16"/>
  
  

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="external_manager"         value="$(arg external_manager)"/>
      <arg name="manager"                  value="$(arg manager)"/>
      <arg name="output"                   value="$(arg output)"/>
      <arg name="respawn"                  value="$(arg respawn)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="usb_port_id"              value="$(arg usb_port_id)"/>
      <arg name="device_type"              value="$(arg device_type)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="confidence_width"         value="$(arg confidence_width)"/>
      <arg name="confidence_height"        value="$(arg confidence_height)"/>
      <arg name="enable_confidence"        value="$(arg enable_confidence)"/>
      <arg name="confidence_fps"           value="$(arg confidence_fps)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra"             value="$(arg enable_infra)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
      <arg name="infra_rgb"                value="$(arg infra_rgb)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>

      <arg name="publish_tf"               value="$(arg publish_tf)"/>
      <arg name="tf_publish_rate"          value="$(arg tf_publish_rate)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="reconnect_timeout"        value="$(arg reconnect_timeout)"/>
      <arg name="wait_for_device_timeout"  value="$(arg wait_for_device_timeout)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
      <arg name="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/>
      <arg name="stereo_module/gain/1"     value="$(arg stereo_module/gain/1)"/>
      <arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/>
      <arg name="stereo_module/gain/2"     value="$(arg stereo_module/gain/2)"/>

      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
      <arg name="ordered_pc"               value="$(arg ordered_pc)"/>
      
    </include>
  </group>
</launch>

I get this after I launch it:

henry@henry-NUC8v5PNK:~/kalibr_workspace/test_VIO$ roslaunch realsense.launch 
... logging to /home/henry/.ros/log/517eaa20-27b1-11ef-9424-158a6b168511/roslaunch-henry-NUC8v5PNK-9861.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://henry-NUC8v5PNK:38831/

SUMMARY
========

PARAMETERS
 * /d455_242422302661/realsense2_camera/accel_fps: 200
 * /d455_242422302661/realsense2_camera/accel_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/accel_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/align_depth: True
 * /d455_242422302661/realsense2_camera/aligned_depth_to_color_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/aligned_depth_to_fisheye1_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/aligned_depth_to_fisheye2_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/aligned_depth_to_fisheye_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/aligned_depth_to_infra1_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/aligned_depth_to_infra2_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/allow_no_texture_points: False
 * /d455_242422302661/realsense2_camera/base_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/calib_odom_file: 
 * /d455_242422302661/realsense2_camera/clip_distance: -2.0
 * /d455_242422302661/realsense2_camera/color_fps: 30
 * /d455_242422302661/realsense2_camera/color_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/color_height: 480
 * /d455_242422302661/realsense2_camera/color_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/color_width: 848
 * /d455_242422302661/realsense2_camera/confidence_fps: -1
 * /d455_242422302661/realsense2_camera/confidence_height: -1
 * /d455_242422302661/realsense2_camera/confidence_width: -1
 * /d455_242422302661/realsense2_camera/depth_fps: 30
 * /d455_242422302661/realsense2_camera/depth_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/depth_height: 480
 * /d455_242422302661/realsense2_camera/depth_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/depth_width: 848
 * /d455_242422302661/realsense2_camera/device_type: d455
 * /d455_242422302661/realsense2_camera/enable_accel: True
 * /d455_242422302661/realsense2_camera/enable_color: True
 * /d455_242422302661/realsense2_camera/enable_confidence: True
 * /d455_242422302661/realsense2_camera/enable_depth: True
 * /d455_242422302661/realsense2_camera/enable_fisheye1: False
 * /d455_242422302661/realsense2_camera/enable_fisheye2: False
 * /d455_242422302661/realsense2_camera/enable_fisheye: False
 * /d455_242422302661/realsense2_camera/enable_gyro: True
 * /d455_242422302661/realsense2_camera/enable_infra1: False
 * /d455_242422302661/realsense2_camera/enable_infra2: False
 * /d455_242422302661/realsense2_camera/enable_infra: False
 * /d455_242422302661/realsense2_camera/enable_pointcloud: False
 * /d455_242422302661/realsense2_camera/enable_pose: False
 * /d455_242422302661/realsense2_camera/enable_sync: False
 * /d455_242422302661/realsense2_camera/filters: pointcloud
 * /d455_242422302661/realsense2_camera/fisheye1_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye1_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye2_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye2_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye_fps: -1
 * /d455_242422302661/realsense2_camera/fisheye_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye_height: -1
 * /d455_242422302661/realsense2_camera/fisheye_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/fisheye_width: -1
 * /d455_242422302661/realsense2_camera/gyro_fps: 400
 * /d455_242422302661/realsense2_camera/gyro_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/gyro_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/imu_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/infra1_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/infra1_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/infra2_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/infra2_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/infra_fps: 30
 * /d455_242422302661/realsense2_camera/infra_height: 480
 * /d455_242422302661/realsense2_camera/infra_rgb: False
 * /d455_242422302661/realsense2_camera/infra_width: 848
 * /d455_242422302661/realsense2_camera/initial_reset: False
 * /d455_242422302661/realsense2_camera/json_file_path: 
 * /d455_242422302661/realsense2_camera/linear_accel_cov: 0.01
 * /d455_242422302661/realsense2_camera/odom_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/ordered_pc: False
 * /d455_242422302661/realsense2_camera/pointcloud_texture_index: 0
 * /d455_242422302661/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /d455_242422302661/realsense2_camera/pose_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/pose_optical_frame_id: d455_242422302661...
 * /d455_242422302661/realsense2_camera/publish_odom_tf: True
 * /d455_242422302661/realsense2_camera/publish_tf: True
 * /d455_242422302661/realsense2_camera/reconnect_timeout: 6.0
 * /d455_242422302661/realsense2_camera/rosbag_filename: 
 * /d455_242422302661/realsense2_camera/serial_no: 242422302661
 * /d455_242422302661/realsense2_camera/stereo_module/exposure/1: 7500
 * /d455_242422302661/realsense2_camera/stereo_module/exposure/2: 1
 * /d455_242422302661/realsense2_camera/stereo_module/gain/1: 16
 * /d455_242422302661/realsense2_camera/stereo_module/gain/2: 16
 * /d455_242422302661/realsense2_camera/tf_publish_rate: 0.0
 * /d455_242422302661/realsense2_camera/topic_odom_in: odom_in
 * /d455_242422302661/realsense2_camera/unite_imu_method: linear_interpolation
 * /d455_242422302661/realsense2_camera/usb_port_id: 
 * /d455_242422302661/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /d455_242422302661/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[d455_242422302661/realsense2_camera_manager-1]: started with pid [9875]
process[d455_242422302661/realsense2_camera-2]: started with pid [9876]
[ INFO] [1718085892.094613447]: Initializing nodelet with 8 worker threads.
[ INFO] [1718085892.172997132]: RealSense ROS v2.3.2
[ INFO] [1718085892.173023769]: Built with LibRealSense v2.50.0
[ INFO] [1718085892.173033342]: Running with LibRealSense v2.50.0
[ INFO] [1718085892.195337394]:  
[ INFO] [1718085892.406931324]: Device with serial number 242422302661 was found.

[ INFO] [1718085892.406970803]: Device with physical ID 2-4-5 was found.
[ INFO] [1718085892.406992934]: Device with name Intel RealSense D455 was found.
[ INFO] [1718085892.407384726]: Device with port number 2-4 was found.
[ INFO] [1718085892.407419235]: Device USB type: 3.2
[ INFO] [1718085892.408832396]: getParameters...
[ INFO] [1718085892.441218226]: setupDevice...
[ INFO] [1718085892.441244865]: JSON file is not provided
[ INFO] [1718085892.441256359]: ROS Node Namespace: d455_242422302661
[ INFO] [1718085892.441268162]: Device Name: Intel RealSense D455
[ INFO] [1718085892.441306076]: Device Serial No: 242422302661
[ INFO] [1718085892.441316328]: Device physical port: 2-4-5
[ INFO] [1718085892.441326292]: Device FW version: 05.16.00.01
[ INFO] [1718085892.441337801]: Device Product ID: 0x0B5C
[ INFO] [1718085892.441347255]: Enable PointCloud: On
[ INFO] [1718085892.441357459]: Align Depth: On
[ INFO] [1718085892.441367165]: Sync Mode: On
[ INFO] [1718085892.441405617]: Device Sensors: 
[ INFO] [1718085892.575821123]: Stereo Module was found.
[ INFO] [1718085892.589239353]: RGB Camera was found.
[ INFO] [1718085892.589445332]: Motion Module was found.
[ INFO] [1718085892.589488797]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1718085892.589797736]: Add Filter: pointcloud
[ INFO] [1718085892.590270162]: num_filters: 2
[ INFO] [1718085892.590289134]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1718085896.129190730]: Done Setting Dynamic reconfig parameters.
[ INFO] [1718085896.129751028]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1718085896.130312095]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8
[ INFO] [1718085896.131548117]: gyro stream is enabled - fps: 400
[ INFO] [1718085896.131587303]: accel stream is enabled - fps: 200
[ INFO] [1718085896.131616423]: setupPublishers...
[ INFO] [1718085896.134018805]: Expected frequency for depth = 30.00000
[ INFO] [1718085896.167450343]: Expected frequency for color = 30.00000
[ INFO] [1718085896.188107052]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1718085896.208446704]: Start publisher IMU
[ INFO] [1718085896.209273819]: setupStreams...
 11/06 14:04:56,517 WARNING [139667088672512] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 11/06 14:04:56,958 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,009 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,060 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1718085897.110768521]: SELECTED BASE:Depth, 0
[ INFO] [1718085897.125908431]: RealSense Node Is Up!
[ WARN] [1718085897.195430175]: 
 11/06 14:04:57,196 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,246 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,298 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,349 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,400 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,451 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,502 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,562 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,613 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,622 ERROR [139666008168192] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
 11/06 14:04:57,866 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,917 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:57,968 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:58,019 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:04:59,979 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 11/06 14:05:06,035 WARNING [139667063494400] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b

I can see the rostopics are published:

henry@henry-NUC8v5PNK:~/kalibr_workspace/test_VIO$ rostopic list
/d455_242422302661/accel/imu_info
/d455_242422302661/align_to_color/parameter_descriptions
/d455_242422302661/align_to_color/parameter_updates
/d455_242422302661/aligned_depth_to_color/camera_info
/d455_242422302661/aligned_depth_to_color/image_raw
/d455_242422302661/aligned_depth_to_color/image_raw/compressed
/d455_242422302661/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/d455_242422302661/aligned_depth_to_color/image_raw/compressed/parameter_updates
/d455_242422302661/aligned_depth_to_color/image_raw/compressedDepth
/d455_242422302661/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/d455_242422302661/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/d455_242422302661/aligned_depth_to_color/image_raw/theora
/d455_242422302661/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/d455_242422302661/aligned_depth_to_color/image_raw/theora/parameter_updates
/d455_242422302661/color/camera_info
/d455_242422302661/color/image_raw
/d455_242422302661/color/image_raw/compressed
/d455_242422302661/color/image_raw/compressed/parameter_descriptions
/d455_242422302661/color/image_raw/compressed/parameter_updates
/d455_242422302661/color/image_raw/compressedDepth
/d455_242422302661/color/image_raw/compressedDepth/parameter_descriptions
/d455_242422302661/color/image_raw/compressedDepth/parameter_updates
/d455_242422302661/color/image_raw/theora
/d455_242422302661/color/image_raw/theora/parameter_descriptions
/d455_242422302661/color/image_raw/theora/parameter_updates
/d455_242422302661/color/metadata
/d455_242422302661/depth/camera_info
/d455_242422302661/depth/color/points
/d455_242422302661/depth/image_rect_raw
/d455_242422302661/depth/image_rect_raw/compressed
/d455_242422302661/depth/image_rect_raw/compressed/parameter_descriptions
/d455_242422302661/depth/image_rect_raw/compressed/parameter_updates
/d455_242422302661/depth/image_rect_raw/compressedDepth
/d455_242422302661/depth/image_rect_raw/compressedDepth/parameter_descriptions
/d455_242422302661/depth/image_rect_raw/compressedDepth/parameter_updates
/d455_242422302661/depth/image_rect_raw/theora
/d455_242422302661/depth/image_rect_raw/theora/parameter_descriptions
/d455_242422302661/depth/image_rect_raw/theora/parameter_updates
/d455_242422302661/depth/metadata
/d455_242422302661/extrinsics/depth_to_color
/d455_242422302661/gyro/imu_info
/d455_242422302661/imu
/d455_242422302661/motion_module/parameter_descriptions
/d455_242422302661/motion_module/parameter_updates
/d455_242422302661/pointcloud/parameter_descriptions
/d455_242422302661/pointcloud/parameter_updates
/d455_242422302661/realsense2_camera_manager/bond
/d455_242422302661/rgb_camera/auto_exposure_roi/parameter_descriptions
/d455_242422302661/rgb_camera/auto_exposure_roi/parameter_updates
/d455_242422302661/rgb_camera/parameter_descriptions
/d455_242422302661/rgb_camera/parameter_updates
/d455_242422302661/stereo_module/auto_exposure_roi/parameter_descriptions
/d455_242422302661/stereo_module/auto_exposure_roi/parameter_updates
/d455_242422302661/stereo_module/parameter_descriptions
/d455_242422302661/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

But I cannot get any message from the topic:


henry@henry-NUC8v5PNK:~/kalibr_workspace/test_VIO$ rostopic info /d455_242422302661/imu
Type: sensor_msgs/Imu

Publishers: 
 * /d455_242422302661/realsense2_camera_manager (http://henry-NUC8v5PNK:33605/)

Subscribers: None


henry@henry-NUC8v5PNK:~/kalibr_workspace/test_VIO$ rostopic hz /d455_242422302661/imu
subscribed to [/d455_242422302661/imu]
no new messages
no new messages
no new messages
no new messages
no new messages

Why could this happen, how to solve it? Thanks for your help in advance!

The text was updated successfully, but these errors were encountered:

MartyG-RealSense · 2024-06-11T10:40:56Z

Hi @Hanning-Liu If you are using ROS1 Noetic with the 2.3.2 ROS1 wrapper then your librealsense SDK version should be 2.50.0 or 2.51.1 and your firmware driver version should be 5.13.0.50. This is because the ROS1 wrapper is no longer updated (only the ROS2 wrapper is actively updated), so the ROS1 wrapper has not been updated for recent librealsense and firmware versions.

Hanning-Liu · 2024-06-12T02:00:56Z

@MartyG-RealSense Thank you for your help!

I can get the IMU data from rostopic after reinstalling the librealsense SDK. But my librealsense SDK version is not the same as what you mentioned.
Here is my version infomation after I input the roslaunch command:
[ INFO] [1718157091.132644463]: RealSense ROS v2.3.2
[ INFO] [1718157091.132736139]: Built with LibRealSense v2.55.1
[ INFO] [1718157091.132788226]: Running with LibRealSense v2.55.1

henry@henry-NUC8v5PNK:~/kalibr_workspace/test_VIO$ roslaunch custonD455.launch 
... logging to /home/henry/.ros/log/7287cd86-285c-11ef-b304-537834ed4b16/roslaunch-henry-NUC8v5PNK-8623.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://henry-NUC8v5PNK:46369/

SUMMARY
========

PARAMETERS
 * /d455_242422302566/realsense2_camera/accel_fps: 100
 * /d455_242422302566/realsense2_camera/accel_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/accel_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/align_depth: True
 * /d455_242422302566/realsense2_camera/aligned_depth_to_color_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/aligned_depth_to_fisheye1_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/aligned_depth_to_fisheye2_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/aligned_depth_to_fisheye_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/aligned_depth_to_infra1_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/aligned_depth_to_infra2_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/allow_no_texture_points: False
 * /d455_242422302566/realsense2_camera/base_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/calib_odom_file: 
 * /d455_242422302566/realsense2_camera/clip_distance: -2.0
 * /d455_242422302566/realsense2_camera/color_fps: 30
 * /d455_242422302566/realsense2_camera/color_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/color_height: 480
 * /d455_242422302566/realsense2_camera/color_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/color_width: 848
 * /d455_242422302566/realsense2_camera/confidence_fps: -1
 * /d455_242422302566/realsense2_camera/confidence_height: -1
 * /d455_242422302566/realsense2_camera/confidence_width: -1
 * /d455_242422302566/realsense2_camera/depth_fps: 30
 * /d455_242422302566/realsense2_camera/depth_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/depth_height: 480
 * /d455_242422302566/realsense2_camera/depth_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/depth_width: 848
 * /d455_242422302566/realsense2_camera/device_type: d455
 * /d455_242422302566/realsense2_camera/enable_accel: True
 * /d455_242422302566/realsense2_camera/enable_color: True
 * /d455_242422302566/realsense2_camera/enable_confidence: True
 * /d455_242422302566/realsense2_camera/enable_depth: True
 * /d455_242422302566/realsense2_camera/enable_fisheye1: False
 * /d455_242422302566/realsense2_camera/enable_fisheye2: False
 * /d455_242422302566/realsense2_camera/enable_fisheye: False
 * /d455_242422302566/realsense2_camera/enable_gyro: True
 * /d455_242422302566/realsense2_camera/enable_infra1: False
 * /d455_242422302566/realsense2_camera/enable_infra2: False
 * /d455_242422302566/realsense2_camera/enable_infra: False
 * /d455_242422302566/realsense2_camera/enable_pointcloud: False
 * /d455_242422302566/realsense2_camera/enable_pose: False
 * /d455_242422302566/realsense2_camera/enable_sync: False
 * /d455_242422302566/realsense2_camera/filters: pointcloud
 * /d455_242422302566/realsense2_camera/fisheye1_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye1_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye2_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye2_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye_fps: -1
 * /d455_242422302566/realsense2_camera/fisheye_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye_height: -1
 * /d455_242422302566/realsense2_camera/fisheye_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/fisheye_width: -1
 * /d455_242422302566/realsense2_camera/gyro_fps: 200
 * /d455_242422302566/realsense2_camera/gyro_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/gyro_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/imu_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/infra1_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/infra1_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/infra2_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/infra2_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/infra_fps: 30
 * /d455_242422302566/realsense2_camera/infra_height: 480
 * /d455_242422302566/realsense2_camera/infra_rgb: False
 * /d455_242422302566/realsense2_camera/infra_width: 848
 * /d455_242422302566/realsense2_camera/initial_reset: False
 * /d455_242422302566/realsense2_camera/json_file_path: 
 * /d455_242422302566/realsense2_camera/linear_accel_cov: 0.01
 * /d455_242422302566/realsense2_camera/odom_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/ordered_pc: False
 * /d455_242422302566/realsense2_camera/pointcloud_texture_index: 0
 * /d455_242422302566/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /d455_242422302566/realsense2_camera/pose_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/pose_optical_frame_id: d455_242422302566...
 * /d455_242422302566/realsense2_camera/publish_odom_tf: True
 * /d455_242422302566/realsense2_camera/publish_tf: True
 * /d455_242422302566/realsense2_camera/reconnect_timeout: 6.0
 * /d455_242422302566/realsense2_camera/rosbag_filename: 
 * /d455_242422302566/realsense2_camera/serial_no: 242422302566
 * /d455_242422302566/realsense2_camera/stereo_module/exposure/1: 7500
 * /d455_242422302566/realsense2_camera/stereo_module/exposure/2: 1
 * /d455_242422302566/realsense2_camera/stereo_module/gain/1: 16
 * /d455_242422302566/realsense2_camera/stereo_module/gain/2: 16
 * /d455_242422302566/realsense2_camera/tf_publish_rate: 0.0
 * /d455_242422302566/realsense2_camera/topic_odom_in: odom_in
 * /d455_242422302566/realsense2_camera/unite_imu_method: linear_interpolation
 * /d455_242422302566/realsense2_camera/usb_port_id: 
 * /d455_242422302566/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /d455_242422302566/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[d455_242422302566/realsense2_camera_manager-1]: started with pid [8637]
process[d455_242422302566/realsense2_camera-2]: started with pid [8638]
[ INFO] [1718157090.932067149]: Initializing nodelet with 8 worker threads.
[ INFO] [1718157091.132644463]: RealSense ROS v2.3.2
[ INFO] [1718157091.132736139]: Built with LibRealSense v2.55.1
[ INFO] [1718157091.132788226]: Running with LibRealSense v2.55.1
[ INFO] [1718157091.180700490]:  
[ INFO] [1718157091.198112106]: Device with serial number 242422302566 was found.

[ INFO] [1718157091.198164630]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0 was found.
[ INFO] [1718157091.198194907]: Device with name Intel RealSense D455 was found.
[ INFO] [1718157091.198824182]: Device with port number 2-3 was found.
[ INFO] [1718157091.198882340]: Device USB type: 3.2
[ INFO] [1718157091.201261364]: getParameters...
[ INFO] [1718157091.253481739]: setupDevice...
[ INFO] [1718157091.253510191]: JSON file is not provided
[ INFO] [1718157091.253525073]: ROS Node Namespace: d455_242422302566
[ INFO] [1718157091.253543632]: Device Name: Intel RealSense D455
[ INFO] [1718157091.253561093]: Device Serial No: 242422302566
[ INFO] [1718157091.253579829]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0
[ INFO] [1718157091.253598484]: Device FW version: 5.16.0.1
[ INFO] [1718157091.253616589]: Device Product ID: 0x0B5C
[ INFO] [1718157091.253634014]: Enable PointCloud: On
[ INFO] [1718157091.253650667]: Align Depth: On
[ INFO] [1718157091.253667667]: Sync Mode: On
[ INFO] [1718157091.253724294]: Device Sensors: 
[ INFO] [1718157091.259303179]: Stereo Module was found.
[ INFO] [1718157091.263152596]: RGB Camera was found.
[ INFO] [1718157091.263286937]: Motion Module was found.
[ INFO] [1718157091.263310482]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1718157091.263349799]: Add Filter: pointcloud
[ INFO] [1718157091.263387847]: num_filters: 2
[ INFO] [1718157091.263404505]: Setting Dynamic reconfig parameters.
[ INFO] [1718157091.306693737]: Done Setting Dynamic reconfig parameters.
[ INFO] [1718157091.307152084]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1718157091.307552033]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8
[ INFO] [1718157091.308561047]: gyro stream is enabled - fps: 200
[ INFO] [1718157091.308594060]: accel stream is enabled - fps: 100
[ INFO] [1718157091.308615792]: setupPublishers...
[ INFO] [1718157091.310697602]: Expected frequency for depth = 30.00000
[ INFO] [1718157091.339652957]: Expected frequency for color = 30.00000
[ INFO] [1718157091.358401111]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1718157091.377659709]: Start publisher IMU
[ INFO] [1718157091.378436299]: setupStreams...
 12/06 09:51:31,379 WARNING [140199745025792] (ds-calib-parsers.cpp:35) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ INFO] [1718157091.400911424]: SELECTED BASE:Depth, 0
[ INFO] [1718157091.411113764]: RealSense Node Is Up!

MartyG-RealSense · 2024-06-12T11:21:37Z

The most recent librealsense version meant to be used with wrapper 2.3.2 is 2.51.1. However, if the wrapper works well with 2.3.2 on your particular computer then the mis-match between versions does not matter. I'm pleased to hear that you were successful :)

MartyG-RealSense · 2024-06-21T07:16:30Z

Hi @Hanning-Liu Do you require further assistance with this case, please? Thanks!

Hanning-Liu · 2024-06-21T07:18:21Z

@MartyG-RealSense Thank you for your help! Please close this issue!

MartyG-RealSense · 2024-06-21T10:37:17Z

You are very welcome. Thanks very much :)

kevin-chau · 2024-07-20T00:58:25Z

@Hanning-Liu @MartyG-RealSense I'm running into a similar issue. How did you update the librealsense to 2.55.1? I can't figure out how to build realsense-ros 2.3.2 with any other version than librealsense 2.50.0

MartyG-RealSense · 2024-07-20T08:24:00Z

Hi @kevin-chau A simple way to build librealsense 2.55.1 would be to use the libuvc backend build script at the link below.

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

You would then have to build the ROS wrapper 2.3.2 from source code afterwards using the Method 2 instructions.

I should emphasize though that 2.55.1 is not designed for use with wrapper 2.3.2 as it should be used with 2.50.0 or 2.51.1. 2.55.1 and firmware 5.16.0.1 do sometimes work with 2.3.2 though, even though they are not meant to.

kevin-chau · 2024-07-22T21:31:36Z

OK thanks! I'll try to build 2.51.1 with wrapper 2.3.2.

Hanning-Liu mentioned this issue Jun 11, 2024

D435i issues IMU calibration and topics missing #1368

Closed

MartyG-RealSense added the D400 label Jun 11, 2024

NamTruongTran mentioned this issue Jun 18, 2024

Latency when subscribing to VSLAM topics. NVIDIA-ISAAC-ROS/isaac_ros_visual_slam#126

Open

MartyG-RealSense closed this as completed Jun 21, 2024

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D455 camera cannot get imu msg from rostopic #3121

D455 camera cannot get imu msg from rostopic #3121

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D455 camera cannot get imu msg from rostopic #3121

D455 camera cannot get imu msg from rostopic #3121

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Hanning-Liu commented Jun 11, 2024 • edited Loading

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