D435i No PointCloud2 and No Image in rviz

[ALobo1]

My environment is:

RealSense ROS 2.1.4

Librealsense 2.18

D435i firmware 5.11.1

Platform Jetson TX2

OS Ubuntu 16.04

I am not getting a point cloud or image in rviz but realsense-viewer works fine.

Command in terminal 1: roslaunch realsense2_camera rs_rgbd.launch

Command in terminal 2: rviz

For pointcloud2 in rviz I did the following:

Under "Global Options" select "camera_link" from "Fixed Frame" drop down menu

Click on the `Add` button at the left bottom of the rviz window.

Click on the `By topic` tab.

Choose `pointcloud2` under `depth_registered` -> `points` and click `OK`

Does anyone have any suggestions?

Thanks

Art

# SUMMARY

PARAMETERS

* /camera/realsense2_camera/accel_fps: 250

* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...

* /camera/realsense2_camera/align_depth: True

* /camera/realsense2_camera/aligned_depth_to_color_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: -1.0

* /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_color: True

* /camera/realsense2_camera/enable_depth: True

* /camera/realsense2_camera/enable_fisheye: True

* /camera/realsense2_camera/enable_imu: True

* /camera/realsense2_camera/enable_infra1: True

* /camera/realsense2_camera/enable_infra2: True

* /camera/realsense2_camera/enable_pointcloud: False

* /camera/realsense2_camera/enable_sync: True

* /camera/realsense2_camera/filters:

* /camera/realsense2_camera/fisheye_fps: 30

* /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_optical_frame_id: camera_gyro_optic...

* /camera/realsense2_camera/infra1_fps: 30

* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame

* /camera/realsense2_camera/infra1_height: 480

* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...

* /camera/realsense2_camera/infra1_width: 640

* /camera/realsense2_camera/infra2_fps: 30

* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame

* /camera/realsense2_camera/infra2_height: 480

* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...

* /camera/realsense2_camera/infra2_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/rosbag_filename:

* /camera/realsense2_camera/serial_no:

* /camera/realsense2_camera/unite_imu_method: none

* /rosdistro: kinetic

* /rosversion: 1.12.14

NODES

/camera/

color_rectify_color (nodelet/nodelet)

points_xyzrgb_hw_registered (nodelet/nodelet)

realsense2_camera (nodelet/nodelet)

realsense2_camera_manager (nodelet/nodelet)

auto-starting new master

process[master]: started with pid [5636]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to cccfe712-25d6-11e9-a4c0-00044b8cacff

process[rosout-1]: started with pid [5649]

started core service [/rosout]

process[camera/realsense2_camera_manager-2]: started with pid [5666]

process[camera/realsense2_camera-3]: started with pid [5667]

process[camera/color_rectify_color-4]: started with pid [5668]

process[camera/points_xyzrgb_hw_registered-5]: started with pid [5669]

[ INFO] [1548994012.497521342]: Initializing nodelet with 6 worker threads.

[ INFO] [1548994012.571744371]: RealSense ROS v2.1.4

[ INFO] [1548994012.571825300]: Running with LibRealSense v2.18.0

01/02 04:06:52,932 WARNING [547498426368] (types.cpp:57) hwmon command 0x4f failed. Error type: No data to return (-21).

[ INFO] [1548994012.978171440]: getParameters...

[ INFO] [1548994013.660937751]: setupDevice...

[ INFO] [1548994013.662004319]: JSON file is not provided

[ INFO] [1548994013.662411489]: ROS Node Namespace: camera

[ INFO] [1548994013.663289671]: Device Name: Intel RealSense D435I

[ INFO] [1548994013.663597257]: Device Serial No: 8XXXXXXXXXXX

[ INFO] [1548994013.663822283]: Device FW version: 05.11.01.00

255.255.255.255

[ INFO] [1548994013.664086125]: Device Product ID: 0x0B3A

[ INFO] [1548994013.664902098]: Enable PointCloud: Off

[ INFO] [1548994013.665148820]: Align Depth: On

[ INFO] [1548994013.665356757]: Sync Mode: On

[ INFO] [1548994013.665875961]: Device Sensors:

[ INFO] [1548994013.666223803]: Stereo Module was found.

[ INFO] [1548994013.666434268]: RGB Camera was found.

[ INFO] [1548994013.666642334]: Motion Module was found.

[ INFO] [1548994013.667101761]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1548994013.668145160]: setupPublishers...

[ INFO] [1548994013.713467674]: Expected frequency for depth = 30.00000

[ INFO] [1548994013.754716369]: Expected frequency for infra1 = 30.00000

[ INFO] [1548994013.777837582]: Expected frequency for aligned_depth_to_infra1 = 30.00000

[ INFO] [1548994013.806267182]: Expected frequency for infra2 = 30.00000

[ INFO] [1548994013.836688219]: Expected frequency for aligned_depth_to_infra2 = 30.00000

[ INFO] [1548994013.870461952]: Expected frequency for color = 30.00000

[ INFO] [1548994013.904759304]: Expected frequency for aligned_depth_to_color = 30.00000

[ INFO] [1548994014.017395553]: setupStreams...

01/02 04:06:54,021 WARNING [547498426368] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]

[ INFO] [1548994014.032656168]: depth stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1548994014.034611285]: infra1 stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1548994014.036477954]: infra2 stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1548994014.054861726]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1548994014.085546222]: starting imu...

[ INFO] [1548994014.090687633]: gyro stream is enabled - fps: 400

[ INFO] [1548994014.091510934]: accel stream is enabled - fps: 250

[ INFO] [1548994014.092948288]: num_filters: 0

[ INFO] [1548994014.094070343]: RealSense Node Is Up!

[ INFO] [1548994014.094196424]: Setting Dynamic reconfig parameters.

[ INFO] [1548994014.256143247]: Done Setting Dynamic reconfig parameters.

[MartyG]

For other readers of this case, it is also discussed on the Intel-Ros site.

https://github.com/intel-ros/realsense/issues/595

The D435i is identical to the D435 except for the added IMU. So I would expect solutions for the original D435 to be applicable to D435i. Intel support agent Alexandra has offered a method for seeing the D435 point cloud with RViz.

https://forums.intel.com/s/question/0D70P0000069FFMSA2

[ALobo1 · Accepted solution]

The issue was solved by purging ros-kinetic and reinstalling ros-kinetic and RealSense ROS 2.1.4.

[MartyG]

Thanks so much for the update. I'm very glad you found a solution. :)