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Pointcloud filter type messed d435i #2476
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Hi @tugbakara There is a Jetson-specific known issue with pointcloud generation in the RealSense ROS wrapper that does not occur on desktop / laptop PCs. If the pointcloud filter is not enabled on Jetson then the wrapper performs normally. Further information about it can be found at #1967 I note that you are using the ROS1 wrapper as your launch file is rs_camera.launch. The best known solution on ROS1 for the Jetson pointcloud problem is to use librealsense 2.43.0 and ROS wrapper 2.2.23, as described at #1967 (comment) An alternative on ROS1 is to use the rs_rgbd launch file to generate the pointcloud in a different way that is not affected by the Jetson-specific issue. Instructions for an RGBD launch are at #2454 (comment) |
Hi Marty, |
Hi @hsynklceng There is not currently a known reason why the pointcloud problem on Jetson manifested after librealsense 2.43.0 / wrapper 2.2.23. There is an official internal bug report for the issue. However, the focus of RealSense ROS wrapper development is now on the ros2_beta ROS2 wrapper. |
Thanks @MartyG-RealSense ! :)
Here you said different way, so using rs_rgbd creates same quality pointcloud as with version 2.43 or does choosing rs_rgbd differ from normal algorithm of realsense when creating pointcloud? |
Hi @MartyG-RealSense , I edited closed issue that's why I think you didn't see my edit and I add another question in it. Can you look at ? |
My sincere apologies for the oversight. rs_rgbd publishes an ordered point cloud by default, whilst rs_camera publishes an unordered pointcloud by default. You can though publish an ordered cloud with rs_camera by adding the term ordered_pc:=true to the roslaunch instruction. |
Hi @MartyG-RealSense ! :)
GPU: Nvidia Jetson AGX
2 D435i
I have that type of launch:
when I start to launch I got that kinda o/ps :
In above launch o/ps there is librealsense built and running with different version, but we install SDK with 2.50
and I guess when we make catkin_make ROS side of librealsense becomes 2.51.1(?) Maybe the problem comes from (pointcloud side) there but not sure.
I am using rtabmap with Realsense to create map BUT when we select filter as pointcloud in realsense launch side, Realsense gets crazy and freezes in RVIZ and didn't give any pointcloud data in topic, I don't know what problem can cause this?
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