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Ubuntu Virtualbox VM - ROS Noetic - D415 RealSense not recognized #3170
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Hi @TDVL The RealSense ROS1 wrapper has a launch file that supports RTABMAP. roslaunch realsense2_camera opensource_tracking.launch An alternative approach is to launch rs_camera.launch first and then the RTABMAP rtabmap.launch launch file afterwards.
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Hello Marty, |
My knowledge of getting RealSense cameras working with VMs is limited, unfortunately. #3128 (comment) has some references about using RealSense with ROS and Virtualbox. One user who could not access their camera found that updating the camera's firmware driver fixed the issue. The firmware driver version that should be used with SDK 2.50.0 and wrapper 2.3.2 is 5.13.0.50. |
I have installed the specified fimrware. |
Is the camera detected by If it is not detected after an unplug and replug, is it detected if you add initial_reset:=true to your roslaunch instruction to reset the camera at launch? |
Hello, |
Is the camera still undetected if you perform an RGBD launch with the RealSense ROS wrapper instead of using rs_camera.launch.
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What method did you use to install the RealSense ROS1 wrapper 2.3.2 please? |
Hello, |
Thanks very much for the confirmation of the command that you used, which installs librealsense 2.50.0 and ROS1 wrapper 2.3.2 at the same time. I wonder whether the camera would not be detectable if you have enabled USB 3 support with the Virtualbox USB 3 extension but the camera is being mis-detected by the roslaunch as being on a USB 2 connection. Does it make any difference if you unplug the micro-sized end of the USB cable from the side of the camera, turn it around the other way and re-insert it into the camera (USB Type-C cables are two-way insertion at the micro-sized end). |
You could check whether the camera is overheating and causing a detection failure by touching its casing a few minutes after launch. If it is already hot to the touch after 3 minutes then it would indicate a possible problem with the USB port or the USB cable. RTABMAP would not be able to do anything to damage the camera. Have you tried the opensource_tracking.launch launch file as suggested at #3170 (comment) so that RTABMAP support can be enabled in the RealSense ROS wrapper launch without having to use rtabmap_launch |
It could be that the opensource_tracking launch file is expecting rtabmap_ros to be installed as a prerequisite, like in Intel's D435i SLAM guide that uses the opensource_tracking launch file. https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i Can you confirm whether you have rtabmap_ros installed, please? |
Hello Marty, |
The D435i SLAM guide is very old and its instructions refer to the ROS1 Kinetic version from around 2016. Melodic and Noetic came after that. Have you tried installing the versions of the components for Noetic, please?
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You may need to enable the IMU's gyro and accelerometer in the ROS launch if you have not done so already. At a later date after the D435i SLAM guide was published, the IMU topics were made disabled by default but the guide was not updated to reflect this.
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Hi @TDVL Do you require further assistance with this case, please? Thanks! |
There is very little documentation available on the Failed to meet update rate warning. When ROS does generate this error though, it sometimes provides this advice:
I believe that 'sensor output frequency' is referring to the IMU frequency. The RealSense ROS launch is probably already using the accel and gyro minimum FPS speeds though. Does the number of warnings reduce if you set unite_imu_method in the opensource_tracking launch to copy instead of linear_interpolation?
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Hi @TDVL Do you require further assistance with this case, please? Thanks! |
I located a case at #2652 where Virtualbox is being used with ROS1 Noetic and the error Failed to meet update rate! is also experienced. No data was being published on their /imu topic. There was no solution in that case unfortunately In that discussion I made the following comment: 'Failed to meet update rate' is produced by robot_localization and not by librealsense or the RealSense ROS wrapper. I researched the subject extensively in non-RealSense discussions but it seems that nobody in the ROS community has found a solution to resolve the warnings despite many people having experienced them with robot_localization, unfortunately. I researched again today cases involving 'Failed to meet update' rate and people still did not seem to have solved it. A RealSense user at the link below concluded though that it was being caused by their USB port. https://support.intelrealsense.com/hc/en-us/community/posts/8338902895379-D435I-IMU-ISSUE |
Hello, |
The Intel RealSense developer who created the RealSense ROS1 wrapper suggests at #1080 that if mapping doesn't start then try using the topic /voxel_cloud and the frame_id map |
Hi @TDVL Do you require further assistance with this case, please? Thanks! |
Case closed due to no further comments received. |
Hello,
I have an Ubuntu Virtualbox VM with installed ROS Noetic which works great.
I would like to use the D415 RealSense depth camera for RTABMap mapping procedure, however the D415 is not recognized.
I have installed the USB 3 extension pack, everything works well, only the D415 is not recognized.
What is the problem?
Thank you in advance.
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