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Failing to publish compressed image and depth topic data on Nvidia AGX Orin #3105
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Hi @nwissner-bdai May I please confirm that you are using the echo command below to access image_raw/compressed.
To access the compressed topics, the image-transport plugin must have been installed for Humble with the command below.
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Hello @MartyG-RealSense , yes I am using
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@nwissner-bdai I have the same issue and the same version packages launching |
The errors @nwissner-bdai and @annb3 Which RealSense firmware version are your cameras using, please? When using librealsense SDK 2.54.1 the camera firmware should be 5.15.0.2 and when using SDK 2.54.2 it should be 5.15.1.0. Using firmware versions other than the recommended one for a particular librealsense version can cause errors. |
@MartyG-RealSense I have SDK 2.55.1 and firmware version 5.16.01 but I have always the problem: |
@annb3 The current ROS wrapper 4.54.1 is not designed for use with SDK 2.55.1 and firmware 5.16.0.1. There is not currently a wrapper for 2.55.1. I note though that @nwissner-bdai has been using 2.54.2 and still also experienced 'OutOfMemoryError'. Do the compressed topic echoing errors still occur if you use a low resolution and FPS of 640x480 and 15 FPS?
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@MartyG-RealSense So the fw for the realsense camera I was using was not updated to 5.15.1.0, so I updated it and tested again to echo the compressed image topic data. Unfortunately still receiving the same errors. I also added the launch arguments you described and same errors. Do you recommend any other troubleshooting steps before I dig further into the problem? |
@nwissner-bdai I have also 2.55.1 and 5.16.0.1 and ROS wrapper works perfectly-
This solution works in my Jetson Orin. Let me know if you will solve in this way or will you find some other solutions.. |
Thanks so much @annb3 for sharing the difference that enabling the pointcloud filter made for you in your particular situation! Yes, please do let us know @nwissner-bdai if the above method works for you. Rebuilding the wrapper may not be a necessary step, as the launch file is independent from the wrapper files and is not affected by a rebuild. Instead of editing and saving the launch file, the launch command below may produce the same outcome.
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@MartyG-RealSense I use the file inside an enourmous repository of concatenate launchers and so on. that's why I can't launch the camera in this way and I have to rebuild (need to modify general settings of the overall project and it is super fast). |
Thanks very much @annb3 for the clarification about your situation. |
@MartyG-RealSense Okay after doing some more testing, I have found that adding that additional launch argument you provided still produces the same errors I have been getting. Like @annb3, I too am working with an enormous repository made up of various research projects and am tasked with debugging this specific issue of publishing high resolution compressed image and depth data. My original testing involved launching a node from the repo which also spawned
and:
I am now going to test this standalone node on non agx-orin hardware (thinkpad) and will update with those results when I can. I'll be sure to double check versioning for the sdk, wrapper and firmware on the camera |
Thanks very much @nwissner-bdai for the detailed update. I look forward to your next report after further testing. Good luck! |
Hello @MartyG-RealSense , I have tested Librealsense SDK versions paired with their appropriate realsense-ros wrapper versions on both the AGX Orin and Lenovo Thinkpad platforms extensively, documenting the topic statistics with Lenovo ThinkpadSDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
SDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
SDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
AGX OrinSDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
SDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
SDK Software Version and Firmware Version
Successful Image and Compression Topics
Unsuccessful Image and Compression Topics with Error Logs
Apologies if this information doesn't prove to be as useful as I had hoped, but it would be nice if the the community could take a special interest in this issue as it seems to be repeatable and prevalent to other users such as @annb3. If there is any other data you would recommend I collect on this issue I am happy to further investigate! |
Thank you very much for the detailed test results. It appears that for both the Lenovo and AGX, There was a past case at #1672 where a RealSense user also experienced low performance from |
@MartyG-RealSense Thank you for taking such consideration to look into this! I would say |
@MartyG-RealSense Oh I am working with ROS2 and not ROS1 for context. I do have the |
Thank you @nwissner-bdai - I will highlight this issue with high bandwidth usage to my Intel colleagues on the RealSense ROS team. Edit: the ROS team will attempt to look at this issue at a future date when there is the opportunity to work on it. |
@nwissner-bdai I can confirm that actually somehow I again receive the error: |
Hello @MartyG-RealSense , I was just wondering if the ROS team had made any progress on this issue that I could report back to my team as this is a blocking issue for them |
Hi @nwissner-bdai I will follow up with the RealSense ROS team about this issue. |
Hi @nwissner-bdai My Intel RealSense colleagues have officially created an internal ticket so that they can look at this issue with compression bandwidth at a future date when there is the opportunity to work on it. |
Sounds good, thank you for getting back to me @MartyG-RealSense |
Issue Description
When running the realsense2_camera, the
camera/camera/color/image_raw
andcamera/camera/depth/image_rect_raw
topics are echoing data just fine, but when trying to echo any data on the compressed topics, I am getting errors such as:When echoing
image_raw/compressed
data, and:When echoing
image_rect_raw/compressed
data.The text was updated successfully, but these errors were encountered: