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Simulated d435 model does not work #2422

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PhilipAmadasun opened this issue Jul 23, 2022 · 21 comments
Closed

Simulated d435 model does not work #2422

PhilipAmadasun opened this issue Jul 23, 2022 · 21 comments
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D400

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@PhilipAmadasun
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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?
@MartyG-RealSense
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MartyG-RealSense commented Jul 23, 2022 •
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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

@PhilipAmadasun
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PhilipAmadasun commented Jul 23, 2022 •
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@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

@MartyG-RealSense
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MartyG-RealSense commented Jul 24, 2022 •
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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.

@PhilipAmadasun
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@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.

@MartyG-RealSense
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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 #1170

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

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

@PhilipAmadasun
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PhilipAmadasun commented Jul 24, 2022 via email

@MartyG-RealSense
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MartyG-RealSense commented Jul 25, 2022 •
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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 MartyG-RealSense mentioned this issue Jul 26, 2022
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@MartyG-RealSense
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Hi @PhilipAmadasun Do you require further assistance with this case, please? Thanks!

@PhilipAmadasun
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PhilipAmadasun commented Aug 1, 2022 via email

@PhilipAmadasun
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@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?

@MartyG-RealSense
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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: pal-robotics/realsense_gazebo_plugin#7

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

@PhilipAmadasun
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@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?

@MartyG-RealSense
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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 #2422 (comment)

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

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

@MartyG-RealSense
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Case closed due to no further comments received.

@PhilipAmadasun
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@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?

@MartyG-RealSense
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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 pal-robotics/realsense_gazebo_plugin#7

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