[WARN] .... : No RealSense devices were found!
continuing on from https://support.intelrealsense.com/hc/en-us/community/posts/360049164854-D435i-SLAM-on-Raspbian-buster-raspberry-pi-4
I managed to get the four components required for SLAM (I think) from https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i
by following the instructions to add released packages from section 4.2 from http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Melodic%20on%20the%20Raspberry%20Pi
by using the command
rosinstall_generator desktop realsense2_camera imu_filter_madgwick rtabmap_ros robot_localization --rosdistro melodic --deps --wet-only --tar > melodic-custom_ros.rosinstall
but when i run
roslaunch realsense2_camera rs_camera.launch
I get an error saying it can't detect realsense devices, (obtaining those four components needed for SLAM made this happen, it gives me this error when running realsense-viewer aswell) so I followed your instructions from
this made it so realsense viewer can detect the camera but it still says [WARN]: No RealSense devices were found when running
roslaunch realsense2_camera rs_camera.launch
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There was another case in which problems with the ROSBerryPi installation guide were mentioned. I pointed them to the eleccelerator guide for installing librealsense, ROS and the RealSense ROS wrapperon a Pi 4 with Raspian Buster. This guide also links to the ROSBerryPi guide but has a list of suggestions for fixes for some of the errors that you may encounter during the ROSBerryPi guide's use.
https://eleccelerator.com/wiki/index.php?title=Raspbian_Buster_ROS_RealSense
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Do you get camera detection with roslaunch realsense2_camera rs_camera.launch
If the above launch does work ... as the IMU topics are set to False by default from ROS wrapper 2.2.15 onward, I wonder if the open-source tracking launch file is looking for those D435i topics and cannot access them if you are using wrapper 2.2.15 or newer..
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How would I change the imu topics to true.
when I run
roslaunch realsense2_camera opensource_tracking.launch
it says failed to meet update rate and no realsense devices were found. along with a few big red errors after a while saying rvis process has died, rtab process has died
and when i run
roslaunch realsense2_camera rs_camera.launch
it just says no realsense devices were found by itself
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i added enable_gyro:=true enable_accel:=true after
roslaunch realsense2_camera rs_camera.launch
and
roslaunch realsense2_camera opensource_tracking.launch
and still got the same errors.
I however noticed that when i run realsense-viewer it use librealsense 2.38.1 and realsense viewer detects the camera but when i use the other two above commands it uses librealsense 2.37.0 which doesn't detect the camera.
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The recommended RealSense ROS wrapper version to match with SDK 2.38.1 is wrapper 2.2.17, which was released this week.
https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.17
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In these situations, I believe that it is best to start again from the beginning and make sure that you have a rock solid stable librealsense installation on Pi 4 before seeking to add ROS. The popular Acrobotic guide for setting up Pi 4 has a YouTube video version of their installation guidance.
https://youtube.com/watch?v=LBIBUntnxp8
The original text version of their guide is here:
https://github.com/IntelRealSense/librealsense/issues/7290#issuecomment-689615393
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realsense-viewer works initially from using the acrobotic guide but after obtaining realsense2_camera from ROS, realsense-viewer no longer detects the camera and neither does
roslaunch realsense2_camera rs_camera.launch
, so i used this link:https://community.intel.com/t5/Items-with-no-label/RPi-4-Raspbian-Buster-realsense-viewer-cannot-detect-D435i/td-p/701349
and this then made it so that realsense-viewer can once again detect the camera but
roslaunch realsense2_camera rs_camera.launch
still doesn't detect the camera. Therefore yes I can confirm this.
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Of the two methods featured in the forum post that you linked to, did you use the libuvc-backend method please? If so, that would make sense as it is a recommended means of installing librealsense on Raspberry Pi because it is suited to the Pi's Arm processor.
https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md
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I see, that makes sense. A problem with Pi 4 installations that can sometimes occur is an error that using -latomic fixes. So from my previous experience of these cases, you should have a good and stable installation of librealsense set up on your Pi 4 after using -latomic. So you just need to get it working with ROS now.
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I followed the instructions on ROSberry for melodic (http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Melodic%20on%20the%20Raspberry%20Pi) to install ROS then obtained realsense2_camera using section 4.2 of the above link. This then caused realsense-viewer to not detect the camera and when running
roslaunch realsense2_camera opensource_tracking.launch
the cameras wasn't detected aswell (same for this below command aswell)
roslaunch realsense2_camera rs_camera.launch
so then I obtained libuvc and added lbatomic thing to cmakelists.txt. This only sorted the problem out for realsense-viewer. and not for
roslaunch realsense2_camera opensource_tracking.launch
roslaunch realsense2_camera rs_camera.launch
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The usual order for setting up the ROS wrapper on librealsense is:
1. Install librealsense.
2. Install ROS (Kinetic or Melodic).
3. Install the RealSense ROS wrapper.
*******
As I understand it, using the ROSBerryPi guide installs ROS but does not install the RealSense ROS wrapper.
So once ROS has been successfully installed, it may be a good idea to try testing it to make sure that it is working before you move on to installing realsense2_camera. A test command that you could try in the ROS terminal (getting the ROS version) is:
rosversion roscpp
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Okay, that sounds positive. Hopefully we just need to install the RealSense ROS wrapper now (do not try to install librealsense once you have already set it up successfully in step 1 of this process). This part - installing the RealSense ROS wrapper - seems to be the point where things are most likely to go wrong.
I am hesitant to suggest using the official instructions on the RealSense ROS wrapper as they are primarily aimed at Ubuntu installation rather than Raspbian Buster. The eleccelerator guide may therefore be the most suitable one, as it is designed specifically for Raspbian Buster and Pi 4.
BUT I am aware that you have already tried this guide earlier and got the same error when using roslaunch.
Looking at their method, it seems most likely to work if librealsense SDK version 2.38.1 was installed in step 1. This is because it installs the newest version of the RealSense ROS wrapper by cloning the RealSense ROS GitHub.
Can you confirm that you have librealsense SDK 2.38.1 currently installed, please?
If you do use the eleccelerator guide again to try to install realsense2_camera, please do not go further down past the end of the Installing ROS Package: realsense-ros section as we do not currently want to install RTABMAP.
Thank you very much for your patience so far.
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Thank you Marty I'm very grateful for this help. Where I was going wrong was not obtaining the ROS wrapper properly, I have it now and have completed the three steps:
1. Install librealsense. (using acrobotic guide)
2. Install ROS (Kinetic or Melodic).
3. Install the RealSense ROS wrapper.
I have librealsense SDK 2.38.1 installed.
When i got realsense2_camera from ros it also gave me librealsense sdk 2.37 aswell however, This is because on https://github.com/IntelRealSense/realsense-ros/ it says
"This will install both realsense2_camera and its dependents, including librealsense2 library.
Notice:
- The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository."
I'm assuming i would now get RTAB-MAP
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There are two official ROS wrapper installation methods, Method 1 and Method 2, and you use one or the other. The first method is easier as it installs librealsense and the ROS wrapper together. Like the message said though, because it is installing from packages the installed librealsense version may be a bit older than the newest one that Method 2 installs (e.g 2.37.0 instead of 2.38.1).
Everything seems to have worked out for you now though and you have a template to follow if you have to repeat it in future. So that is great news.
Yes, the next logical step will be RTABMAP_ROS if you are using the D435i SLAM guide.
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