Not able to get data from /camera/imu, It stays blank, checked with mutiple threads but nothing solved #3145
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Hi @ShreyasK-alt The recommended camera firmware driver version for ROS1 wrapper 2.3.2 and librealsense 2.50.0 is the old 5.13.0.50 version rather than the current latest 5.16.0.1. I can appreciate though that downgrading to 5.13.0.50 would be problematic if you also need to use the latest 2.55.1 Viewer which requires firmware 5.16.0.1. unite_imu_method is the paramater which combines the separate gyro and accel topics into a single /imu topic. If the warning control_transfer returned is generating continuously in a log then it can indicate that there is a communication problem between the camera and the the computer / computing device, such as an issue with the USB port or the USB cable. Are you using the official 1 meter USB cable supplied with the camera or another cable of your own choice, please? Does it make a difference if you perform an RGBD launch instead of using rs_camera.launch?
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So the uninstallation process is gonna help me too in order to reinstall under your guidance. And will help with setting up IMU on realsense, as most of the resources out there suggests inferring imu data for ros application from other sources but none of the guides help out in setting up Realsense camera with imu from camera. |
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If installation was done from packages then all packages with 'realsense' in their name can be removed with a single command:
If the ROS wrapper was built from source code then it can be removed simply by deleting the entire catkin workspace folder. In the ROS1 wrapper this folder is called If librealsense was built from a source code folder with CMake then it can be uninstalled by going to the 'Build' directory of that folder and running the CMake build command below:
In regard to accessing the RealSense IMU from ROS1, the guide at the link below is worth reading, although it is very old now. https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i |
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OK Sir will try out and will update you by tomorrow. |
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As discussed earlier needed help with regards to installing the correct version of realsense, realsense-ros. So that things gonna work fine! |
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Is your problem now solved, please? Thanks! |
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I have completely removed realsense package and freshly installed it. It give this output: and when checked with the There is no imu topic now. And when checked with When these commands are executed : Even Tried with copy method In order to verify if things are in place, Tried these commands: So Can you please check this and help me on what to do? |
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A RealSense ROS user at #2892 (comment) also had problems with the IMU topics when using rs_rgbd.launch. They said that IMU worked if they set |
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I tried the same but still its not working, no imu topic at all, neither accel and gyro topic is working. |
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as soon as i close roslaunch and everything related to ros and if i open realsense-viewer and switch on motion module. These were some of the errors shown: |
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Should I flash older version of firmware? Should I download 5.13.0.50 (https://www.intelrealsense.com/download/19295/), and flash the same? |
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I would recommend first checking whether your camera hardware has a corrupted calibration table inside it by creating a new table in the Viewer using the procedure at IntelRealSense/librealsense#10182 (comment) You can downgrade the firmware in the Viewer using the following procedure.
https://dev.intelrealsense.com/docs/firmware-releases-d400#d400-series-firmware-downloads
On Linux you would have to install the entire 2.50.0 or 2.51.1 version of the librealsense SDK to obtain the 2.50.0 or 2.51.1 version of the Viewer. |
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I tried above steps for resetting calibration table.
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Enabling the depth stream just means enabling the Stereo Module in the.Viewer's options side-panel to start the depth stream. The Stereo Module should be enabled first before opening the camera calibration window. Then the Write Table button will be usable. |
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First flashed firmware version: Version-5_13_0_50 Later started installing librealsense version of 2.50.0 by using these commands:
Please check this and confirm if I have installed the right versions. This is what it looks like after doing all these: |
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It is only necessary to install librealsense2-dkms first and librealsense2-utils second. The dev and dbg packages are optional. But it is very important that the dkms package is installed first as the other packages may have components that depend on it I am not certain about librealsense2-dkms=1.3.18-0ubuntu1 but the version number looks correct for the librealsense versions that were being released around the time of 2.50.0. Usually though you do not have to install this package with an apt command, as simply installing the librealsense2-dkms and librealsense2-utils packages is all that is required. The -utils package should install the gl graphics. |
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Thank you so much for your patience, Can you please help with some of these final issues. Hope things will on track soon.
These are outputs:
Finally able to see some data for this command being publsihed but no single imu topic being listed. Now it feels better that there is some progress. Can you please reply with issue number on what to do. |
With regard to gl graphics, Should I do a rework or something or just leave as it is? |
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1 & 2. Failed to set power state means that the program is having difficulty accessing the camera. This could be because another program is already using the camera. For example, if you have an active ROS launch then I would recommend not opening the Viewer whilst the ROS session is active.
https://askubuntu.com/questions/1035209/how-to-turn-off-screen-rotation-in-ubuntu-18-04-lts
Regarding a re-work, it depends if you have unresolvable errors. If you do then it is likely to be best to purge all the packages and install again. Otherwise, if it works okay then leave it as it is. |
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It seems I get the same problem as yours. Do you solve it ? Thanks! |
Can you elaborate your issue? |
I can get the imu data flow now, but I can only use the "copy" method. I consider if it is still caused by th version. Can you use "Linear Interpolation“ to get the imu data now? And could you plz tell me your version about FW,sdk and ros wrapper ? Thanks a lot! |
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Currently, I don't have the set-up ready but what i remember is for the ros1 wrapper we need 5.13 version firmware and 2.50 librealsense version. |
Yes..As far as I know it's majorly causes due to verison mismatch.
Yes I was able to get the days is correct way. |
I have installed librealsense after removing previously built realsense package(dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge), then installed by using apt package method(https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md).
then excuted this command:
roslaunch realsense2_camera rs_camera.launch
and in another terminal checked with rostopic echo /camera/imu as it was listed in the rostopic list.
When checked previous issues, Tried these fixes nothing worked:
using gyro and accel enabled(roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true)
this list imu topic but nothing streams in imu topic
changing unite imu method to linear_interpolation method(roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=linear_interpolation), Still nothing streams in the imu topic
changing unite imu method to copy(roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true unite_imu_method:=copy), still nothing streams in the imu topic
AS the terminal output is same for three of the method will be attaching it only once:
Tried mutiple methods nothing worked hence came out to create an issue.
When tried with realsense-viewer, I was able to check data of imu.
One thing i observed is if i close realsense-viewer and run roslaunch, I wont able to switch on imu , U can hcek below attached screenshot.
So, Can you please help through this on what to do about it?
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