Realsense-ros: Support for L515 LiDAR camera

Created on 14 Jun 2020  路  25Comments  路  Source: IntelRealSense/realsense-ros

When I do roslaunch realsense2_camera rs_camera.launch with the L515 model, the nodes failed to launch with the error Unsupported device! Product ID: 0x0B64. I have to manually change RS_L515_PID to 0x0B64 to make it launch.

With that hack, the nodes launched with another error An error has occurred during frame callback: Time is out of dual 32-bit range.

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud works without errors and publishes the depth image. But there are still a couple of warnings:

  1. Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 1, Width: 640, Height: 480, FPS: 30
  2. No mathcing profile found for accel with fps=250
  3. Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
  4. No stream match for pointcloud chosen texture Process - Color

I haven't looked deep into the code. But it seems that the driver is not in full support for the L515 model. The firmware version I am using is 01.04.01.00

bug l500
Source
picture caochao39

Most helpful comment

There also seems to be another largely sporadic bug. The L515 causes the orientation of the desktop to change. I noticed this on two occasions while using the realsense-viewer and today after killing the ros node.

picture nkhedekar on 30 Jun 2020
👍5

All 25 comments

The latest librealsense2 version (2.35.2) together with firmware version 01.04.01.00 introduced a new PID for the L515 device.
The plan is to release a new realsense2_camera version to include that new PID later this week.
As for the other warnings you mention:
"Time is out of dual 32-bit range" - as far as I remember this is not a realsense2_camera error. You should look it up.
As for the other issues I'll have to check when I'll have a device at hand. In the meanwhile, regarding the "No matching profile..." issues, do the configurations you ask for, including fps, appear when you run rs-enumerate-devices?

doronhi picture doronhi on 14 Jun 2020

Great! I'll wait for the update then. For the "no matching profile...", rs-enumerate-devices shows that the fps options for Accel are 400, 200, and 100Hz. I think that's why it's complaining about the 250Hz. I will take a deeper look into the other error. Thanks!

caochao39 picture caochao39 on 14 Jun 2020

On launching (roslaunch realsense2_camera rs_camera.launch), I continuously get the warning on the terminal: No RealSense devices were found! even after changing the PID. The device does get enumerated and is able to show the sensor streams in the realsense-viewer. Are there any other changes that need to be made from the current version of the development branch to launch the driver with the L515?

Thanks!

nkhedekar picture nkhedekar on 17 Jun 2020

Having the same problem here.

caochao39 picture caochao39 on 17 Jun 2020

This is fixed in PR #1248.

doronhi picture doronhi on 18 Jun 2020

PR #1248 which adds 0x0B64 PID is merged to the new release: version 2.2.14.
It also takes care of the issue you mentioned:
Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 1, Width: 640, Height: 480, FPS: 30
Issue 3. Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) is fixed by updating package librealsense2-dkms to version 1.3.12.
Please let me know if the issue 4 still occurs.

doronhi picture doronhi on 18 Jun 2020

With the newest release v2.2.14, the issue regarding RS_L515_PID is resolved. However, there are still some warnings:

  1. Given stream configuration is not supported by the device! Stream: Color, Stream Index: 0, Width: 640, Height: 480, FPS: 30.
  2. No mathcing profile found for accel with fps=250 (I guess there is a typo with matching) and Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) are still there. The version of the package librealsense2-dkms on our setup is 1.3.13.
  3. No stream match for pointcloud chosen texture Process - Color still occurs, and no colored pointcloud is published. Only when we run the command roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY, the warning doesn't appear and the pointcloud is published. But the pointcloud is still not colored.
Le-Li-Franka picture Le-Li-Franka on 19 Jun 2020

@doronhi Thanks for the update. The L515 does get launched now, however, there doesn't seem to be a pointcloud topic (colored or otherwise) on the rs_camera.launch.

I am also seeing the warnings that @Le-Li-Franka mentions

nkhedekar picture nkhedekar on 21 Jun 2020

I am seeing the same issue as reported by @nkhedekar in this thread. Not able to view the point cloud using Rviz. I am using Ubuntu 16.04 and ROS Kinetic.

I tried the exact same command as @doronhi suggested. No point cloud being published. I echoed the topic as well rostopic echo /camera/depth/color/points, no points are published.

spgitmonish picture spgitmonish on 23 Jun 2020

I can't reproduce. I tested L515 with the following command: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud and besides the obvious warning "No mathcing profile found for accel with fps=250" I got no message regarding the color stream nor did I see any issue with the pointcloud. Checking with rqt_reconfigure; camera->pointcloud->stream_filter="Process - Color(2)".
I use ubuntu 16.04 with LRS v2.35.2, realsense2_camera version 2.2.14 and L515 with firmware 01.04.01.00 connected though usb 3.2.
@RealSenseCustomerSupport , did you manage to reproduce?

doronhi picture doronhi on 23 Jun 2020

I can't reproduce. I tested L515 with the following command: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud and besides the obvious warning "No mathcing profile found for accel with fps=250" I got no message regarding the color stream nor did I see any issue with the pointcloud. Checking with rqt_reconfigure; camera->pointcloud->stream_filter="Process - Color(2)".
I use ubuntu 16.04 with LRS v2.35.2, realsense2_camera version 2.2.14 and L515 with firmware 01.04.01.00 connected though usb 3.2.
@RealSenseCustomerSupport , did you manage to reproduce?

Thanks for updating. We are using ubuntu 18.04 with exactly the same librealsense, realsense_camera and firmware. Could you test it again on a machine with ubuntu 18.04? @doronhi @RealSenseCustomerSupport

Le-Li-Franka picture Le-Li-Franka on 23 Jun 2020

Config:
Ubuntu: 18.04
librealsense: 2.35.2
firmware: 01.04.01.00
rqt_reconfigure: camera->pointcloud->stream_filter="Process - Color(2)".

The topic /camera/depth/color/points exists but nothing is published on it.

Output of roslaunch realsense2_camera rs_camera.launch filters:=pointcloud 

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 250
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: True
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 640
 * /camera/realsense2_camera/gyro_fps: 400
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [15171]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a166d6da-b734-11ea-a978-4c1d96890fb2
process[rosout-1]: started with pid [15183]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [15190]
process[camera/realsense2_camera-3]: started with pid [15191]
[ INFO] [1593124727.014842058]: Initializing nodelet with 12 worker threads.
[ INFO] [1593124727.195341105]: RealSense ROS v2.2.14
[ INFO] [1593124727.195430676]: Running with LibRealSense v2.33.1
[ INFO] [1593124727.214925474]:  
[ INFO] [1593124727.341813313]: Device with serial number 00000000f0140727 was found.

[ INFO] [1593124727.341918798]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video4 was found.
[ INFO] [1593124727.341964676]: Device with name Intel RealSense L515 was found.
[ INFO] [1593124727.343031379]: Device with port number 2-2 was found.
[ INFO] [1593124727.348168573]: getParameters...
[ INFO] [1593124727.424889265]: setupDevice...
[ INFO] [1593124727.424916127]: JSON file is not provided
[ INFO] [1593124727.424927503]: ROS Node Namespace: camera
[ INFO] [1593124727.424940731]: Device Name: Intel RealSense L515
[ INFO] [1593124727.424950303]: Device Serial No: 00000000f0140727
[ INFO] [1593124727.424968584]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video4
[ INFO] [1593124727.424981096]: Device FW version: 01.04.01.00
[ INFO] [1593124727.424992711]: Device Product ID: 0x0B64
[ INFO] [1593124727.425001874]: Enable PointCloud: On
[ INFO] [1593124727.425012387]: Align Depth: Off
[ INFO] [1593124727.425023030]: Sync Mode: On
[ INFO] [1593124727.425056382]: Device Sensors: 
[ INFO] [1593124727.425341593]: L500 Depth Sensor was found.
[ INFO] [1593124727.425666589]: RGB Camera was found.
[ INFO] [1593124727.425744763]: Motion Module was found.
[ INFO] [1593124727.425765583]: (Infrared, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425782233]: (Infrared, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425793916]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425804929]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425815795]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425827370]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1593124727.425847718]: Add Filter: pointcloud
[ INFO] [1593124727.426257700]: num_filters: 1
[ INFO] [1593124727.426272750]: Setting Dynamic reconfig parameters.
[ INFO] [1593124727.454132676]: Done Setting Dynamic reconfig parameters.
[ INFO] [1593124727.454670921]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1593124727.454811058]: infra stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ WARN] [1593124727.454867835]: Given stream configuration is not supported by the device!  Stream: Color, Stream Index: 0, Width: 640, Height: 480, FPS: 30
[ WARN] [1593124727.454901031]: No mathcing profile found for accel with fps=250
[ WARN] [1593124727.454921224]: profiles found for accel:
[ WARN] [1593124727.454938902]: fps: 400. format: MOTION_XYZ32F
[ WARN] [1593124727.454955594]: fps: 200. format: MOTION_XYZ32F
[ WARN] [1593124727.454971111]: fps: 100. format: MOTION_XYZ32F
[ INFO] [1593124727.454990670]: setupPublishers...
[ INFO] [1593124727.457016229]: Expected frequency for depth = 30.00000
[ INFO] [1593124727.478311961]: Expected frequency for infra = 30.00000
[ INFO] [1593124727.491737719]: setupStreams...
[ INFO] [1593124727.492158082]: insert Depth to L500 Depth Sensor
[ INFO] [1593124727.492184973]: insert Infrared to L500 Depth Sensor
[ INFO] [1593124727.492203309]: insert Gyro to Motion Module
[ INFO] [1593124727.623352089]: SELECTED BASE:Depth, 0
 25/06 15:38:47,623 WARNING [139987242583808] (types.cpp:49) Requested extrinsics are not available!
[ WARN] [1593124727.623920993]: (Gyro, 0) -> (Depth, 0): Requested extrinsics are not available! : using unity as default.
[ INFO] [1593124727.626124883]: RealSense Node Is Up!

Output of rostopic list:

/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/gyro/imu_info
/camera/gyro/sample
/camera/infra/camera_info
/camera/infra/image_raw
/camera/infra/image_raw/compressed
/camera/infra/image_raw/compressed/parameter_descriptions
/camera/infra/image_raw/compressed/parameter_updates
/camera/infra/image_raw/compressedDepth
/camera/infra/image_raw/compressedDepth/parameter_descriptions
/camera/infra/image_raw/compressedDepth/parameter_updates
/camera/infra/image_raw/theora
/camera/infra/image_raw/theora/parameter_descriptions
/camera/infra/image_raw/theora/parameter_updates
/camera/l500_depth_sensor/parameter_descriptions
/camera/l500_depth_sensor/parameter_updates
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static
nkhedekar picture nkhedekar on 26 Jun 2020

@nkhedekar according to the output it seems the default settings are not valid for the color stream...

[ WARN] [1593124727.454867835]: Given stream configuration is not supported by the device! Stream: Color, Stream Index: 0, Width: 640, Height: 480, FPS: 30

Try setting the RGB stream to 1280x720 or 1920x1080.

pauldeee picture pauldeee on 26 Jun 2020
🎉2 👍1

@pauldeee Thank you! That was the issue :sweat_smile:

Just to recap: The launch file should be launched with filters:=pointcloud and the color_width and color_height set to an allowed resolution (eg. 1280x720, 1920x1080)

nkhedekar picture nkhedekar on 26 Jun 2020
👍2

There seem to be a few messages at the end of the output:

25/06 16:26:45,953 WARNING [140254882772736] (backend-hid.cpp:681) HID set_power 1 failed for /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.7/0003:8086:0B64.0009/HID-SENSOR-200073.2.auto/iio:device0/buffer/enable
[ INFO] [1593127605.957366407]: SELECTED BASE:Depth, 0
 25/06 16:26:46,068 WARNING [140255123457792] (types.cpp:49) Requested extrinsics are not available!
[ WARN] [1593127606.069341075]: (Gyro, 0) -> (Depth, 0): Requested extrinsics are not available! : using unity as default.
 25/06 16:26:46,069 WARNING [140255123457792] (types.cpp:49) Requested extrinsics are not available!
[ WARN] [1593127606.069574713]: (Accel, 0) -> (Depth, 0): Requested extrinsics are not available! : using unity as default.

I'm not sure what the first one is but for the second and third, aren't these supposed to be calibrated out of the box or are the users supposed to calibrate these?

nkhedekar picture nkhedekar on 26 Jun 2020

@nkhedekar , @pauldeee ,
I'm happy that you managed to work out the color stream as well. I am a little concerned though that 640x480 resolution wasn't available. Could you check it out sung realsense-viewer? Can you check and post the available resolutions as seen in rs-enumerate-devices please?
As for the warnings, the "HID set_power 1 failed..." is still under investigation. Theoretically it could mean that the IMU is not working. Do you see anything like that? Do you still have IMU information?
As for the extrinsics for the IMU, they are expected to be available in the upcoming librealsense2 version (2.36.0).

doronhi picture doronhi on 28 Jun 2020
👍1

Here is the output of rs-enumerate-devices:

Device info: 
    Name                          :     Intel RealSense L515
    Serial Number                 :     00000000f0140727
    Firmware Version              :     01.04.01.00
    Recommended Firmware Version  :     01.04.01.00
    Physical Port                 :     /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.3/2-1.3:1.0/video4linux/video4
    Debug Op Code                 :     15
    Product Id                    :     0B64
    Camera Locked                 :     YES
    Usb Type Descriptor           :     3.2
    Product Line                  :     L500
    Asic Serial Number            :     00000003a8a873dd
    Firmware Update Id            :     00000003a8a873dd

Stream Profiles supported by L500 Depth Sensor
 Supported modes:
    stream       resolution      fps       format   
    Infrared      1024x768  @ 30Hz     Y8
    Infrared      768x1024  @ 30Hz     Y8
    Infrared      640x480   @ 30Hz     Y8
    Infrared      480x640   @ 30Hz     Y8
    Depth     1024x768  @ 30Hz     Z16
    Depth     768x1024  @ 30Hz     Z16
    Depth     640x480   @ 30Hz     Z16
    Depth     480x640   @ 30Hz     Z16

Stream Profiles supported by RGB Camera
 Supported modes:
    stream       resolution      fps       format   
    Color     1920x1080 @ 30Hz     RGB8
    Color     1920x1080 @ 30Hz     Y16
    Color     1920x1080 @ 30Hz     BGRA8
    Color     1920x1080 @ 30Hz     RGBA8
    Color     1920x1080 @ 30Hz     BGR8
    Color     1920x1080 @ 30Hz     YUYV
    Color     1920x1080 @ 15Hz     RGB8
    Color     1920x1080 @ 15Hz     Y16
    Color     1920x1080 @ 15Hz     BGRA8
    Color     1920x1080 @ 15Hz     RGBA8
    Color     1920x1080 @ 15Hz     BGR8
    Color     1920x1080 @ 15Hz     YUYV
    Color     1920x1080 @ 6Hz      RGB8
    Color     1920x1080 @ 6Hz      Y16
    Color     1920x1080 @ 6Hz      BGRA8
    Color     1920x1080 @ 6Hz      RGBA8
    Color     1920x1080 @ 6Hz      BGR8
    Color     1920x1080 @ 6Hz      YUYV
    Color     1280x720  @ 60Hz     RGB8
    Color     1280x720  @ 60Hz     Y16
    Color     1280x720  @ 60Hz     BGRA8
    Color     1280x720  @ 60Hz     RGBA8
    Color     1280x720  @ 60Hz     BGR8
    Color     1280x720  @ 60Hz     YUYV
    Color     1280x720  @ 30Hz     RGB8
    Color     1280x720  @ 30Hz     Y16
    Color     1280x720  @ 30Hz     BGRA8
    Color     1280x720  @ 30Hz     RGBA8
    Color     1280x720  @ 30Hz     BGR8
    Color     1280x720  @ 30Hz     YUYV
    Color     1280x720  @ 15Hz     RGB8
    Color     1280x720  @ 15Hz     Y16
    Color     1280x720  @ 15Hz     BGRA8
    Color     1280x720  @ 15Hz     RGBA8
    Color     1280x720  @ 15Hz     BGR8
    Color     1280x720  @ 15Hz     YUYV
    Color     1280x720  @ 6Hz      RGB8
    Color     1280x720  @ 6Hz      Y16
    Color     1280x720  @ 6Hz      BGRA8
    Color     1280x720  @ 6Hz      RGBA8
    Color     1280x720  @ 6Hz      BGR8
    Color     1280x720  @ 6Hz      YUYV

Stream Profiles supported by Motion Module
 Supported modes:
    stream       resolution      fps       format   
    Accel    N/A        @ 400Hz    MOTION_XYZ32F
    Accel    N/A        @ 200Hz    MOTION_XYZ32F
    Accel    N/A        @ 100Hz    MOTION_XYZ32F
    Gyro     N/A        @ 400Hz    MOTION_XYZ32F
    Gyro     N/A        @ 200Hz    MOTION_XYZ32F
    Gyro     N/A        @ 100Hz    MOTION_XYZ32F

The 640x480 for the camera is not an option in realsense-viewer either.

The output of rostopic list:

/camera/accel/imu_info
/camera/accel/sample
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/gyro/imu_info
/camera/gyro/sample
/camera/infra/camera_info
/camera/infra/image_raw
/camera/infra/image_raw/compressed
/camera/infra/image_raw/compressed/parameter_descriptions
/camera/infra/image_raw/compressed/parameter_updates
/camera/infra/image_raw/compressedDepth
/camera/infra/image_raw/compressedDepth/parameter_descriptions
/camera/infra/image_raw/compressedDepth/parameter_updates
/camera/infra/image_raw/theora
/camera/infra/image_raw/theora/parameter_descriptions
/camera/infra/image_raw/theora/parameter_updates
/camera/l500_depth_sensor/parameter_descriptions
/camera/l500_depth_sensor/parameter_updates
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

Both the accelerometer and gyroscope seem to be publishing normally on the topics /camera/accel/sample and /camera/gyro/sample.

Is there any particular reason for them to be published on different topics instead of one single combined message? Done through the unite_imu_method param

nkhedekar picture nkhedekar on 29 Jun 2020

With regards to the HID set_power 1 failed... message, that seems to be a bit sporadic

nkhedekar picture nkhedekar on 29 Jun 2020

@nkhedekar , thanks for the info. Looking into it and will keep you posted.

doronhi picture doronhi on 29 Jun 2020
👍1

There also seems to be another largely sporadic bug. The L515 causes the orientation of the desktop to change. I noticed this on two occasions while using the realsense-viewer and today after killing the ros node.

nkhedekar picture nkhedekar on 30 Jun 2020
👍5

@doronhi FYI we are also unable to reproduce these issues. 640x480 resolution is avail and working as well as pointclouds. We don't see the HID set_power 1 failed error nor the desktop orientation change.

I do however see the...

"No matching profile found for accel with fps=250
profiles found for accel:
fps: 400, format: MOTION_XYZ32F
fps: 200, format: MOTION_XYZ32F
fps: 100, format: MOTION_XYZ32F"

...warning and the "Requested extrinsics are not available!" warning.

Using Ubuntu 18.04 and ROS Melodic

Thanks

RealSenseSupport picture RealSenseSupport on 30 Jun 2020

@pauldeee Thank you! That was the issue

Just to recap: The launch file should be launched with filters:=pointcloud and the color_width and color_height set to an allowed resolution (eg. 1280x720, 1920x1080)

This worked for me I am able to see the output point cloud.

spgitmonish picture spgitmonish on 13 Jul 2020

Hi @caochao39

Will you be needing further help with this? Did the latest librealsense and suggestions above resolve your issue?

Thanks

RealSenseSupport picture RealSenseSupport on 14 Jul 2020

I think the major issue of not being able to see the pointcloud output is solved. There are two possible bugs that have come up in this discussion:

With regards to the HID set_power 1 failed... message, that seems to be a bit sporadic

There also seems to be another largely sporadic bug. The L515 causes the orientation of the desktop to change. I noticed this on two occasions while using the realsense-viewer and today after killing the ros node.

@RealSenseSupport I can open a new issue for each of these since this issue can be marked as solved.

nkhedekar picture nkhedekar on 14 Jul 2020

That works @nkhedekar and thank you! It's easier to track em that way too.

We'll go ahead and close this issue then.

Thanks again.

RealSenseSupport picture RealSenseSupport on 14 Jul 2020
👍2
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