The issue of "No stream match for pointcloud chosen texture Process" when playing back recording #1826
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Hi @victorll998 It was stated by Doronhi the RealSense ROS developer in a past case (in the link below) that the warning No stream match for pointcloud chosen texture Process - Color can occur due to a frame drop. I note in your launch log that the color stream FPS is initially set at 30 FPS but the camera configuration was decided by the launch process to be invalid and color was set to 5 FPS instead (the minimum FPS of the D455 camera model). I also note that your log indicates that you have a mismatch between your librealsense SDK version and ROS wrapper version. For SDK 2.44.0, the wrapper version 2.2.24 should be used instead of 2.2.23. This is because it is important to match the wrapper version as closely as possible with the specific librealsense version recommended in a wrapper's release notes. https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.24
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I think it is related to #1778 |
victorll998
changed the title
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@MartyG-RealSense thank you for your responses. How careless I am to not notice the mismatch of version and now I have fixed that. Now I also notice the fps has been reset by the launch process. Does that mean I need to know the fps and resolution too before I load the recording using |
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What is the full roslaunch instruction that you are using when attempting to produce a point cloud from the bag data, please? Is it this: roslaunch realsense2_camera rs_from_file.launch filters:=pointcloud |
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yes, I am using " rs_from_file.launch" filters:=pointcloud rosbag_filename:=globalfilepath |
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Hi @victorll998 I apologize for the delay in responding further. Do you still have the No stream match for pointcloud chosen texture Process - Color please? |
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I have done some more tests on Nano Tx2 and unfortunately this issue is still there. Now I have switched to intel NUC i7 to eliminate any possible frame drops. I observed that other than frame drop if the first frame in depth and color stream doesn't match in timestamp it would cause this issue too. But I only have this issue when running it on 2.2.44. Now I am not sure if this issue comes along with the version. What are your thoughts? |
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Now that the RealSense ROS wrapper 2.3.0 for use with librealsense SDK version 2.45.0 is available, is it possible for you to test with these versions to see whether No stream match for pointcloud chosen texture Process - Color continues to be present, given that you only experience the problem on the previous ROS wrapper 2.2.24 https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.0 |
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As far as I know, the causing issue that first appeared in librealsense2 v2.43.0, reported in #1778, is not fixed yet. |
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Hi @victorll998 Bearing in mind the comment of Doronhi above, do you require further assistance with this case please? Thanks! |
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Thank you @MartyG-RealSense I hope this issue would be fixed soon. Meanwhile, I would like to if there is any way that I could change time tag of the recording when I playback recording using sim_time. |
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I researched your use_sim_time question. As far as I can tell, modifying the timing of use_sim_time from its default '0' value would require use of the /clock topic. http://wiki.ros.org/Clock#Using_Simulation_Time_from_the_.2Fclock_Topic https://answers.ros.org/question/361531/publish-rosbag-in-synch-with-clock-by-roscpp/ |
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Hi @victorll998 Do you require further assistance with this case, please? Thanks! |
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Sorry for the late update. use_sim_time is be useful to sync topics when reading from one rosbag file. In my multi-cameras node case, I create a sudo /clock signal using But there are two follow-up questions which I am eager to know the answers:
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Thanks very much @victorll998 for the update regarding your success! In regard to your follow-up questions:
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Hi @victorll998 Regarding your second question "I wonder if there is any possibility that I can stop/resume the playback when using rs_from_file": do you require further assistance with this please? Thanks! |
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Hi @MartyG-RealSense Thank you for your consistent and useful help. I really appreciate that. I walked around a big circle to find out that rosnode kill is the most effective method to stop ROS nodes. Before that I tried roslaunch python api but it won't let me kill ROS nodes completely. Currently, I'm working on building a controller of realsense. I want to develop via ROS and C++ because most of my system's processing is on ROS. What I found is that realsense ROS has only little freedom to manipulate from the lower level. For example, it is difficult to detect and extract device/sensor states. If I develop via SDK, I could miss some useful ROS functionalities. I'm seeking somewhere between the two. I wonder if you have any suggestions on that. |
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You can obtain some information from the /diagnostics topic that the RealSense ROS wrapper publishes, including ASIC, projector and motion module temperature readings. If you are able to use ROS2, the 3.1.6 version of the ROS2 wrapper in May 2021 also added an enable service to toggle sensors on / off. |
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@MartyG-RealSense actually, I'm thinking if the realsense ros wrapper has any heartbeat-like function/topics |
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I suppose that the current FPS speed of a particular stream would be like a heartbeat, with a relatively fixed and consistent rate when healthy and demonstrating significant variations when unhealthy. rostopic hz could display the average publishing rate of a particular stream topic. http://wiki.ros.org/rostopic#rostopic_hz The RealSense-using robot_devkit project has also suggested a couple of performance monitoring tools for ROS2 (rtmonitor and rdkperf). https://intel.github.io/robot_devkit_doc/pages/overview.html#id6 |
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Hi @victorll998 Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
Hi everyone,
I have been testing with
rs_from_file.launch. Now I can replay depth and color stream from the bag files that I recorded either throughrs_recordorrealsense viewer. But when I tried to reproduce point cloud from the d455 bag file usingrs_from_file.launch, I got nothing. To be more exact, I got a warning " No stream match for pointcloud chosen texture Process - Color "I am not sure if I made a mistake or the base node doesn't support point cloud reproduction. If so, Is there any way to reproduce pointcloud from the recording? Thank you in advance.
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