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Published 20 hours ago • verified publisher icon IntelRealSense

Simulated d435 model does not work

Open PhilipAmadasun opened this issue 2 years ago • 17 comments

I have installed realsense2_description and wish to use it for my simulated turtlebor2. I can see the d435 camera model connected to my turtelbot2in gazebo but the /scan topic does not receive any data so gmapping doesnt work. Is there some parameter in some file somewhere that I'm supposed to change?

PhilipAmadasun avatar Jul 23 '22 04:07 PhilipAmadasun

Hi @PhilipAmadasun May I first ask whether the /scan topic works if you perform roslaunch with the RealSense ROS wrapper's rs_d435_camera_with_model launch file if you are not using that launch file already? For example:

roslaunch realsense2_camera rs_d435_camera_with_model.launch

MartyG-RealSense avatar Jul 23 '22 09:07 MartyG-RealSense

@MartyG-RealSense When I just run what you suggested on it's own, rviz opens up and I see the model of the camera but on the terminal:

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [3538]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6135ba68-0ac5-11ed-a576-d43b04207196
process[rosout-1]: started with pid [3551]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [3554]
process[camera/realsense2_camera-3]: started with pid [3555]
process[robot_state_publisher-4]: started with pid [3556]
process[rviz-5]: started with pid [3557]
[ INFO] [1658607842.797853041]: Initializing nodelet with 12 worker threads.
[ INFO] [1658607843.944294542]: RealSense ROS v2.3.0
[ INFO] [1658607843.944333571]: Built with LibRealSense v2.45.0
[ INFO] [1658607843.944353220]: Running with LibRealSense v2.45.0
[ WARN] [1658607844.095673901]: No RealSense devices were found!
[ WARN] [1658607850.118074833]: No RealSense devices were found!
[ WARN] [1658607856.128003039]: No RealSense devices were found!
[ WARN] [1658607862.140627946]: No RealSense devices were found!
[ WARN] [1658607868.165867939]: No RealSense devices were found!
[ WARN] [1658607874.176789030]: No RealSense devices were found!

```and rostopic echo /scan gives me nothing

PhilipAmadasun avatar Jul 23 '22 20:07 PhilipAmadasun

Thanks very much @PhilipAmadasun four your patience.

After researching your issue, I concluded that the best place to start would be to try to resolve the No RealSense devices were found! warnings at the bottom of your log.

Please first try adding initial_reset:=true to your roslaunch instruction or setting initial_reset to true instead of false in your launch file. This will reset the camera hardware at launch.

MartyG-RealSense avatar Jul 24 '22 09:07 MartyG-RealSense

@MartyG-RealSense I added initial_reset:=true and still get the same problem. I see the model on rviz but no realsense devices found. Just a reminder I want to get the simulated camera to work.

PhilipAmadasun avatar Jul 24 '22 20:07 PhilipAmadasun

Are you using a Gazebo plugin for D435 like the one at https://github.com/pal-robotics/realsense_gazebo_plugin

The subject of RealSense Gazebo plugins is discussed further at https://github.com/IntelRealSense/realsense-ros/issues/1170

MartyG-RealSense avatar Jul 24 '22 20:07 MartyG-RealSense

@MartyG-RealSense No I have not, if I clone this to my workspace or something the camera starts working?

PhilipAmadasun avatar Jul 24 '22 22:07 PhilipAmadasun

I have not tried a RealSense Gazebo plugin myself, so I do not have advice about what the outcome of using one may be.

MartyG-RealSense avatar Jul 24 '22 22:07 MartyG-RealSense

so then the if the camera can work without that package what could be the other possible problems?

On Sun, Jul 24, 2022 at 3:35 PM MartyG-RealSense @.***> wrote:

I have not tried a RealSense Gazebo plugin myself, so I do not have advice about what the outcome of using one may be.

— Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/realsense-ros/issues/2422#issuecomment-1193407283, or unsubscribe https://github.com/notifications/unsubscribe-auth/AND3KDUUELQFQWFWXGE6MDDVVXAJNANCNFSM54NK2NSQ . You are receiving this because you were mentioned.Message ID: @.***>

PhilipAmadasun avatar Jul 24 '22 22:07 PhilipAmadasun

Thanks very much for your patience. I conducted extensive further research but the number of different elements involved in this particular case (RealSense, Gazebo, gmapping, turtlebot2 and no data on the /scan topic) means that there are no references that match up closely to your problem.

Some references recommended that if a simulated camera was being used with Gazebo and /scan had no data then try resetting Gazebo, as Gazebo might not provide data for the /scan topic on the first attempt. An example of this advice is at:

https://get-help.robotigniteacademy.com/t/ros-basics-real-robot-project-nothing-published-to-scan/11575/3

MartyG-RealSense avatar Jul 25 '22 11:07 MartyG-RealSense

Hi @PhilipAmadasun Do you require further assistance with this case, please? Thanks!

MartyG-RealSense avatar Jul 31 '22 06:07 MartyG-RealSense

I need to try out some of your advice this monday and get back to you.

On Sat, Jul 30, 2022 at 11:26 PM MartyG-RealSense @.***> wrote:

Hi @PhilipAmadasun https://github.com/PhilipAmadasun Do you require further assistance with this case, please? Thanks!

— Reply to this email directly, view it on GitHub https://github.com/IntelRealSense/realsense-ros/issues/2422#issuecomment-1200358665, or unsubscribe https://github.com/notifications/unsubscribe-auth/AND3KDXH7OIS4YBBSUYBAXLVWYL7XANCNFSM54NK2NSQ . You are receiving this because you were mentioned.Message ID: @.***>

PhilipAmadasun avatar Aug 01 '22 03:08 PhilipAmadasun

@MartyG-RealSense I installed the gazebo_realsense_plugin thing in my realsense_ws workspace. I don't know how exactly to use it. How will this help my simulated d435?

PhilipAmadasun avatar Aug 02 '22 07:08 PhilipAmadasun

The plugin has a pal-robotics GitHub support forum like this one.

https://github.com/pal-robotics/realsense_gazebo_plugin/issues/

This case in particular from that forum may be helpful: https://github.com/pal-robotics/realsense_gazebo_plugin/issues/7

MartyG-RealSense avatar Aug 02 '22 15:08 MartyG-RealSense

Has there been any progress on your Gazebo-related issue please?

MartyG-RealSense avatar Aug 08 '22 06:08 MartyG-RealSense

@MartyG-RealSense I follow the instructions in the forum and I'm sorta stuck on the last step of what urdf file to change. I cam accross this file "turtlebot_gazebo.urdf.xacro":

<?xml version="1.0"?>
<robot name="turtlebot_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Microsoft Kinect / ASUS Xtion PRO Live for simulation -->
  <xacro:macro name="turtlebot_sim_3dsensor">
    <gazebo reference="camera_link">  
      <sensor type="depth" name="camera">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
        </camera>
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_depth_optical_frame</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>
</robot>

Should I change the plugin here, which seems to be a controller for a kinect camera, would that change anything?

PhilipAmadasun avatar Aug 09 '22 02:08 PhilipAmadasun

The ROS wrapper provides a set of urdf.xacro files for RealSense cameras at the link below.

https://github.com/IntelRealSense/realsense-ros/tree/development/realsense2_description/urdf

The file for the D435 camera model is _d435.urdf.xacro

I do not know if changing the controller from the Kinect one makes a difference. You could try changing the urdf.xacro file first and see what difference it makes.

We mentioned plugins earlier in this discussion at https://github.com/IntelRealSense/realsense-ros/issues/2422#issuecomment-1193393072

MartyG-RealSense avatar Aug 09 '22 15:08 MartyG-RealSense

Hi @PhilipAmadasun Was the comment above helpful to you, please? Thanks!

MartyG-RealSense avatar Aug 15 '22 06:08 MartyG-RealSense

Hi @PhilipAmadasun Do you require further assistance with this case, please? Thanks!

MartyG-RealSense avatar Aug 20 '22 06:08 MartyG-RealSense

Case closed due to no further comments received.

MartyG-RealSense avatar Aug 26 '22 07:08 MartyG-RealSense

@MartyG-RealSense Sorry for late respnse, I still have issues with the simulated gazebo, I realize that my rostopic list doesnt even show any camera topics. So I'm guessing I need to use that realsense gazebo plugin package. I built it in a workspace but have no clue how to use it.The repo does not give any instructions on how. would you know?

PhilipAmadasun avatar Aug 31 '22 20:08 PhilipAmadasun

A user of the RealSense Gazebo plugin created their own instructions at their forked GitHub version of the plugin.

https://github.com/AzulRadio/realsense_gazebo_plugin

These were based on instructions at the pal-robotics support forum at https://github.com/pal-robotics/realsense_gazebo_plugin/issues/7

MartyG-RealSense avatar Sep 01 '22 10:09 MartyG-RealSense