Realsense-ros: Realsense ros don't run with realsense LiDar L515

[duclinhfetel]

Hi everyone,

Im using realsense L515 for my project. I use realsense-ros package to run with realsense L515 is got the error below:

Could anyone help me this problem?

cmd: roslaunch realsense2_camera rs_camera.launch align_depth:=true
CPU: Intel core i7 x64
OS: Ubuntu 18.04 
ROS: melodic
librealsense version: v2.38.1
realsense-ros: 2.2.16

[diogo-sr]

I have the exact same problem

CPU: Intel® Core™ i7-8565U CPU @ 1.80GHz × 8 
OS: Ubuntu 16.04 
ROS: kinetic
librealsense version: v2.38.1
realsense-ros: 2.2.16

However, I have no problems with viewing the depth on the realsense-viewer

[RealSenseSupport]

Hi,

We are able to reproduce this and are investigating. Do you see any functional issues per chance? The error is indeed being output but all streams appear to be operating as expected. Are you also experiencing this?

Thanks for catching.

[diogo-sr]

Hi,

I do not have any information being published on the depth topics.

[doronhi]

Found the error in librealsense. When requesting "depth" callback also receives "infrared" frames.
While waiting for a fix in librealsense, it can be bypassed, for now, if infrared is actually enabled.
Use the following flag:
enable_infra=true

or in the command line: roslaunch realsense2_camera rs_camera.launch enable_infra:=true

[uncleleer]

Hi,

We are able to reproduce this and are investigating. Do you see any _functional_ issues per chance? The error is indeed being output but all streams appear to be operating as expected. Are you also experiencing this?

Thanks for catching.

hello, I have met the same problem while launching rs_rgbd.launch, I have found that neither _hardware align_ nor _software align_ works, rostopic _/camera/depth_registered/points_ has no data. And this is one of the _functional_ problem I think.

[doronhi]

Hi,
We are able to reproduce this and are investigating. Do you see any _functional_ issues per chance? The error is indeed being output but all streams appear to be operating as expected. Are you also experiencing this?
Thanks for catching.

hello, I have met the same problem while launching rs_rgbd.launch, I have found that neither _hardware align_ nor _software align_ works, rostopic _/camera/depth_registered/points_ has no data. And this is one of the _functional_ problem I think.

Did you try it out using my suggestion: add the flag enable_infra:=true

[jinbae9875]

I have found that setting filters argument to pointcloud fixes this issue. It's going to output the same erroe but aligned depth to color topic will start publishing.

roslaunch rs_camera.launch filters:=pointcloud

[Si-lhouette]

add the flag enable_infra:=true didn't work for me.
I used:
roslaunch realsense2_camera rs_rgbd.launch enable_infra:=true

It also has error:
An error has occurred during frame callback: map::at

My Realsense SDK version is 2.39.0, and realsense-ros version is 2.2.17

I use Ubuntu16.04 with kinetic.

Appreciate any help.

[doronhi]

I thought the problem was fixed in librealsense2 version 2.39.0 but I could be mistaken, I didn't check yet.
However, my example used "rs_camera.launch". rs_rgbd.lauch is missing the enable_infra option. You could add it to the file (in 2 places - copy from the rs_camera.launch file)

[Si-lhouette]

Thanks！！
I fixed it by adding the following in 'rs_rgbd.launch':
Add above <arg name="enable_infra1" default="false"/>:
<arg name="enable_infra" default="true"/>

Add above <arg name="enable_infra1" value="$(arg enable_infra1)"/>:
<arg name="enable_infra" value="$(arg enable_infra)"/>

[RealSenseSupport]

Glad that solved the issue @Si-lhouette.

@duclinhfetel ...will you be needing further help with this?

Thanks