realsense-ros Error occurs when T265 turns on the fisheye camera

After installing the SDK, there is no problem running the realsense viewer, then after installing realsense2_camera, running rs_t265.launchrs is also no problem, there is no image theme at this time, but once I change it

          <arg name="enable_fisheye1" default="true"/>
         <arg name="enable_fisheye2" default="true"/>

Run rs_t265.launch again, and the following error will appear.

PARAMETERS

/camera/tracking_module/enable_pose_jumping: False
/camera/tracking_module/enable_relocalization: True
/rosdistro: melodic
/rosversion: 1.14.12
/t265/realsense2_camera/accel_fps: 62
/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: True
/t265/realsense2_camera/enable_color: True
/t265/realsense2_camera/enable_confidence: True
/t265/realsense2_camera/enable_depth: True
/t265/realsense2_camera/enable_fisheye1: True
/t265/realsense2_camera/enable_fisheye2: True
/t265/realsense2_camera/enable_fisheye: False
/t265/realsense2_camera/enable_gyro: True
/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: False
/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: 800
/t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti...
/t265/realsense2_camera/fisheye_width: 848
/t265/realsense2_camera/gyro_fps: 200
/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/reconnect_timeout: 6.0
/t265/realsense2_camera/rosbag_filename:
/t265/realsense2_camera/serial_no:
/t265/realsense2_camera/stereo_module/exposure/1: 7500
/t265/realsense2_camera/stereo_module/exposure/2: 1
/t265/realsense2_camera/stereo_module/gain/1: 16
/t265/realsense2_camera/stereo_module/gain/2: 16
/t265/realsense2_camera/tf_publish_rate: 0.0
/t265/realsense2_camera/topic_odom_in: t265/odom_in
/t265/realsense2_camera/unite_imu_method:
/t265/realsense2_camera/usb_port_id:
/t265/realsense2_camera/wait_for_device_timeout: -1.0

NODES / rviz (rviz/rviz) /t265/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [27788] ROS_MASTER_URI=http://localhost:11311

setting /run_id to c46da644-556d-11ec-80c2-f48e38e7fd27 process[rosout-1]: started with pid [27806] started core service [/rosout] process[t265/realsense2_camera_manager-2]: started with pid [27813] process[t265/realsense2_camera-3]: started with pid [27814] process[rviz-4]: started with pid [27815] [ INFO] [1638669048.711854497]: Initializing nodelet with 8 worker threads. [ INFO] [1638669048.947057789]: RealSense ROS v2.3.2 [ INFO] [1638669048.947112709]: Built with LibRealSense v2.50.0 [ INFO] [1638669048.947134145]: Running with LibRealSense v2.50.0 [ INFO] [1638669048.967897170]:
[ INFO] [1638669048.974737706]: Device with serial number 908412110344 was found.

[ INFO] [1638669048.974791531]: Device with physical ID 2-1.3-4 was found. [ INFO] [1638669048.974810828]: Device with name Intel RealSense T265 was found. [ INFO] [1638669048.975490237]: Device with port number 2-1.3 was found. [ INFO] [1638669048.975568333]: Device USB type: 3.1 [ INFO] [1638669048.981779927]: No calib_odom_file. No input odometry accepted. [ INFO] [1638669048.982006501]: getParameters... [ INFO] [1638669049.021829380]: setupDevice... [ INFO] [1638669049.021861624]: JSON file is not provided [ INFO] [1638669049.021880263]: ROS Node Namespace: t265 [ INFO] [1638669049.021917208]: Device Name: Intel RealSense T265 [ INFO] [1638669049.021938078]: Device Serial No: 908412110344 [ INFO] [1638669049.021961540]: Device physical port: 2-1.3-4 [ INFO] [1638669049.021984595]: Device FW version: 0.2.0.951 [ INFO] [1638669049.022006258]: Device Product ID: 0x0B37 [ INFO] [1638669049.022028621]: Enable PointCloud: Off [ INFO] [1638669049.022044113]: Align Depth: Off [ INFO] [1638669049.022065377]: Sync Mode: Off [ INFO] [1638669049.022096527]: Device Sensors: [ INFO] [1638669049.022247850]: Tracking Module was found. [ INFO] [1638669049.022287661]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1638669049.022307217]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1638669049.022329899]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1638669049.022365956]: num_filters: 0 [ INFO] [1638669049.022391324]: Setting Dynamic reconfig parameters. [ WARN] [1638669049.024862637]: Param '/t265/tracking_module/frames_queue_size' has value 256 that is not in range [0, 32]. Removing this parameter from dynamic reconfigure options. [ INFO] [1638669049.030180619]: Done Setting Dynamic reconfig parameters. /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/zyf/catkin_ws2/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1EiiiRKNS_7Scalar_IdEE

I don’t know why this happens, and I also found

/t265/realsense2_camera/enable_fisheye1: True
/t265/realsense2_camera/enable_fisheye2: True
/t265/realsense2_camera/enable_fisheye: False In the end, why is this still false? Could it be the problem?

Dec 05 '21 01:12 RoZhong

In my case, change dir to yours ros_ws working directory.

type vim src/realsense-ros/realsense2_camera/CMakeLists.txt

add the following code link to OpenCV

find_package(OpenCV 4 REQUIRED) include_directories(${OpenCV_INCLUDE_DIRS) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} )

Mar 09 '22 02:03 liaozihang

In my case, change dir to yours ros_ws working directory.

type vim src/realsense-ros/realsense2_camera/CMakeLists.txt

add the following code link to OpenCV

find_package(OpenCV 4 REQUIRED) include_directories(${OpenCV_INCLUDE_DIRS) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} )

I meet the same error.Having add opencv to cmakelist. but still:

[ INFO] [1652953871.787076391]: Done Setting Dynamic reconfig parameters. /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/young8/mobile_manipulater/real_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev

May 19 '22 09:05 BingyangZHOU

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Error occurs when T265 turns on the fisheye camera

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