No color topic in ros #2152
Comments
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Hi @zxl5344 Are you able to receive the color topic if you unplug the USB cable from the base of the camera, turn the micro-sized connector around the opposite way and re-insert it into the base of the camera (USB Type-C cables are two-way insertion on the micro sized end). Edit: I see that you have already tried a cable reversal without success in your other case in IntelRealSense/librealsense#9931 Do you still receive no color topic if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch? roslaunch realsense2_camera rs_camera.launch initial_reset:=true |
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No, I still only get topic depth. My camera should work well since I can see RGB and depth when I run realsense-viewer. |
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In #1523 a RealSense ROS user with an L515 had a similar problem with the color topic not being published. Whilst #1523 mentions that 640x480 color is not supported on L515, that reference is now out of date as support for color 640x480 and 640x360 was added in L515 firmware version 1.5.8.1. That support would no longer be present though if the camera firmware had been downgraded to an earlier firmware version. May I ask whether you have edited the rs_launch file to specify a custom resolution for color instead of letting the default color resolution be chosen automatically by the ROS launch? You also mentioned in your other L515 case in IntelRealSense/librealsense#9931 that the camera was only being detected as USB 2.1 in the Viewer. Could you also check whether the camera is being mis-detected as USB 2.1 in the ROS launch, please? You can do this by finding a line called Device USB Type in the launch log in the ROS terminal. If the camera is being detected as 2.1 then it will say '2.1' instead of '3.2'.
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No, I didn't edit it. Yes, it is being detected as 2.1 |
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I checked my log and I found there is not "color stream is enabled" even "enable_color: True". ... logging to /home/zxl5344/.ros/log/af44d6bc-42fc-11ec-9209-ef9a2ee492f5/roslaunch-E5-ME-L-KAFI11-177380.log started roslaunch server http://E5-ME-L-KAFI11:40449/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to af44d6bc-42fc-11ec-9209-ef9a2ee492f5 [ INFO] [1636641359.760909250]: Device with physical ID 1-4-26 was found. |
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Does the color stream become enabled if you enable it in the roslaunch instruction: roslaunch realsense2_camera rs_camera.launch enable_color:=true |
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No, "color stream" is still missing |
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As you intend to buy a new USB cable as mentioned in IntelRealSense/librealsense#9931 (comment) - shall we come back to this question after you have had the opportunity to see whether a cable change makes a difference? Thanks! |
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Thank you. I will update it once I got the new data cable |
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Hi, I tried my new cable. Although i still have "11:12:14 [Warn] /home/zxl5344/Realsense SDK/librealsense-2.49.0/src/libusb/messenger-libusb.cpp:42 - control_transfer returned error, index: 768, error: No data available, number: 61", all camera function looks working well so far. |
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Excellent news, @zxl5344 - thanks for the update! If you are receiving the control_transfer returned warning only a small number of times during launch and then they stop, or they occur one or two times a minute after launch, then this warning can be safely ignored. Likewise, if the topics are being published correctly in RViz despite the warnings being generated regularly after launch and performance does not seem to be degraded then the warnings can also be disregarded in that situation. |
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I had the same issue, it got solved with: |
HI, I am using a L515 camera. I run roslaunch realsense2_camera rs_camera.launch in this repo and I only get topic in depth.
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How do I get all topic?
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