IntelRealSense
D555 not detected using rs-tools but publishes ROS2 topics
Hi,
Our start-up got the new Real-Sense PoE depth camera D555 for running dynamic obstacle avoidance with our nav2 waypoint follower, couple our GNSS-based localization process with visual odometry in GNSS-denied environments, testing out perception algorithms in Isaac Sim on the digital twin of our AMR, etc.
When connected and tried to run with SDK-2.0 installed using the native backend, the rs-enumerate-devices command, the realsense-viewer, or the rs_launch.py file from the realsense2_camera package were unable to detect the camera. HOWEVER, the camera has somehow been publishing to the 5 topics as shown in the image below. All topics are echoing properly and I can visualize them all in Foxglove.
My concern is that it needs to be detected by the rs-tools and the viewer and its not. What could be causing this?
Also, I need to convert these depth images to laser scans using the package depthimage_to_laserscan. But that requires a depth_cam_info calibration file for the camera which is currently missing. There should be a topic for it but doesn't appear in our case. Why isn't the camera_info topic published alongside all these other topics?
Hi @subbubhat99 I have highlighted your D555 issue to my RealSense colleagues to seek their input. Thanks very much for your patience!
Hi @MartyG-RealSense! Thank you. Look forward to hearing from your colleagues.
All topics are echoing properly and I can visualize them all in Foxglove
This is nice and thanks for sharing :)
Please confirm that BUILD_WITH_DDS flag is set to true if you built from the SDK source.
cmake -DBUILD_WITH_DDS=ON ../ && make
You should find and be able to run rs-dds-config from the build/Release folder
Hi @hsuys,
Apologies for the delayed response. I tried the cmake command you mentioned above but it returned the following output: CMake Error: The source directory "/home" does not appear to contain CMakeLists.txt. Specify --help for usage, or press the help button on the CMake GUI.
rs-dds-config returns command not found. Also, which build/release folder were you referring to? I guess I did not build from the SDK source because the only packages I can find are the realsense2_camera, realsense2_description, and realsense2_msgs in the /opt/ros/humble/share directory.
The installed library probably doesn't have DDS enabled for D555. Please download the latest SDK source v2.57.3 Unzip it, install dependencies and build .
Make sure -DBUILD_WITH_DDS=ON when running the cmake configure step.
@subbubhat99 Another of my colleagues has posted information about connecting to a D555 at https://github.com/IntelRealSense/librealsense/issues/14284#issuecomment-3349204762 that confirms the advice provided by my colleague @hsuys in the comment above.
Hi @subbubhat99 Do you require further assistance with this case, please? Thanks!
Hi @MartyG-RealSense ,
I haven't been able to finish this task since we had to attend to some other tasks with robot's navigation stack not functioning as expected. Once that glitch is solved, I will get back to working on obstacle avoidance which brings back in the D555 we have here. Will let you know accordingly.
Okay, that's no problem at all. I will leave this issue open until you are ready. Thanks very much for the update!