Solved: roslaunch realsense2_camera rs_camera.launch Error with stream configuration is not supported and Frame metadata isn't available!? how do i fix this. ...

iipin · ‎02-21-2019

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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/base_frame_id: camera_link

* /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/enable_accel: True

* /camera/realsense2_camera/enable_color: True

* /camera/realsense2_camera/enable_depth: 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/enable_tm2: False

* /camera/realsense2_camera/filters:

* /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/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/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/rosbag_filename:

* /camera/realsense2_camera/serial_no:

* /camera/realsense2_camera/spatial_frame_id: camera_spatial

* /camera/realsense2_camera/unite_imu_method:

* /rosdistro: kinetic

* /rosversion: 1.12.14

NODES

/camera/

realsense2_camera (nodelet/nodelet)

realsense2_camera_manager (nodelet/nodelet)

auto-starting new master

process[master]: started with pid [9026]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3c1fd1ba-3589-11e9-aea2-d0577bb9ee43

process[rosout-1]: started with pid [9039]

started core service [/rosout]

process[camera/realsense2_camera_manager-2]: started with pid [9056]

process[camera/realsense2_camera-3]: started with pid [9057]

[ INFO] [1550719918.030149597]: Initializing nodelet with 4 worker threads.

[ INFO] [1550719918.069489315]: RealSense ROS v2.2.0

[ INFO] [1550719918.069525269]: Running with LibRealSense v2.18.1

[ INFO] [1550719918.265862060]: getParameters...

[ INFO] [1550719918.482211289]: setupDevice...

[ INFO] [1550719918.482241098]: JSON file is not provided

[ INFO] [1550719918.482256206]: ROS Node Namespace: camera

[ INFO] [1550719918.482270335]: Device Name: Intel RealSense USB2

[ INFO] [1550719918.482278856]: Device Serial No: 843212070257

[ INFO] [1550719918.482293928]: Device FW version: 05.11.01.00

[ INFO] [1550719918.482305186]: Device Product ID: 0x0AD6

[ INFO] [1550719918.482317374]: Enable PointCloud: Off

[ INFO] [1550719918.482328008]: Align Depth: Off

[ INFO] [1550719918.482339097]: Sync Mode: Off

[ INFO] [1550719918.482375880]: Device Sensors:

[ INFO] [1550719918.482416083]: Stereo Module was found.

[ INFO] [1550719918.482453613]: (Color, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482468262]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482480179]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482491018]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482507238]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482521212]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.482533344]: (Pose, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1550719918.484648619]: setupPublishers...

[ INFO] [1550719918.510724281]: Expected frequency for depth = 30.00000

[ INFO] [1550719918.594656655]: Expected frequency for infra1 = 30.00000

[ INFO] [1550719918.698251031]: Expected frequency for infra2 = 30.00000

[ INFO] [1550719918.756914231]: setupStreams...

21/02 10:31:58,757 WARNING [140205696694144] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]

[ INFO] [1550719918.757716779]: depth stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1550719918.757879357]: infra1 stream is enabled - width: 640, height: 480, fps: 30

[ WARN] [1550719918.757914778]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Width: 640, Height: 480, FPS: 30

[ INFO] [1550719918.758486684]: insert Depth to Stereo Module

[ INFO] [1550719918.758523308]: insert Infrared to Stereo Module

[ INFO] [1550719918.761623802]: num_filters: 0

[ INFO] [1550719918.761664725]: SELECTED BASE:Depth, 0

[ INFO] [1550719918.761809417]: RealSense Node Is Up!

[ INFO] [1550719918.761836830]: Setting Dynamic reconfig parameters.

[ INFO] [1550719918.820571182]: Done Setting Dynamic reconfig parameters.

21/02 10:32:03,513 WARNING [140204865046272] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

[ WARN] [1550719923.513655714]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)

MartyG · ‎02-21-2019

If you are making use of the IMU in the D435i, you should calibrate it first if you have not done so already, as IMU calibration is apparently not done in the factory in the same way that calibration for the rest of the camera (the standard D435 part of it) is done.

Intel have released a guidance paper on calibrating the D435i's IMU.

https://www.intel.co.uk/content/www/uk/en/support/articles/000032303/emerging-technologies/intel-realsense-technology.html

In regard to alternative SLAM software ... though Rviz and rtabmap are recommended in Intel's SLAM guide:

https://github.com/intel-ros/realsense/wiki/SLAM-with-D435i?language=en_US

you can certainly use a different SLAM package. I would recommend looking at ORB-SLAM2.

https://github.com/raulmur/ORB_SLAM2

If you are a Python user, there is also RGBD_PTAM.

https://github.com/uoip/rgbd_ptam?language=en_US

View solution in original post

MartyG · ‎02-21-2019

Do you still get the errors if you unplug the camera and then plug it back in (which resets the camera) before running the roslaunch instruction, please?

iipin · ‎02-21-2019

Thanks, Its working after i plug into USB 3.0

Thank you for your answer.

anyway i have a question and i hope its still appropriate to ask it here.

what is the best slam software/source/module for Realsense D435i?

i couldnt find one

i had used rgbdrviz and rtabmap

but both disappoint me.

im having a hard time slaming my room.

is the camera need to be calibrate again first or is there any setting that i could setup first?

MartyG · ‎02-21-2019