realsense d435 camera does not produce data for scan topic
My realsense d435 camera works in ros for certain things, but it is unable to do gmapping because no data is being received in /scan topic, there fore, the depthimagetolaserscan nodelet will not activate. What could be the possible reasons for this?
Asked by distro on 2022-08-06 19:14:34 UTC
Answers
I have not used the gmapping package. However, looking at the wiki page, it seems that it requires sensor_msgs/LaserScan type of data. The Intel RealSense D435 does not produce such type of data. While looking at the depthimage_to_laserscan package, which takes a depth image and generates a 2D laser scan, we should be able to run gmapping. You need to subscribe to the following topics:
- image: /camera/depth/image_raw
- camera_info: /camera/depth/camera_info
The DepthImageToLaserScanNodelet nodelet will publish on scan topic which should be the input for gmapping package.
I do not have D435 at hand right now, therefore the image and camera_info topics may be incorrect. Please check them from terminal.
Asked by ravijoshi on 2022-08-07 01:13:02 UTC
Comments
@Ravi Joshi " depthimage_to_laserscan uses lazy subscribing and will not subscribe to image or camera_info until there is a subscriber for scan.", there is no data being recieved by scan topic, that is the main issue, the nodelet will not activate until that happens
Asked by distro on 2022-08-07 22:13:06 UTC
That totally makes sense. Why don't you make a subscriber which is listening to scan topic?
Asked by ravijoshi on 2022-08-07 22:25:01 UTC
@Ravi Joshi, I simply don't know if it's as simple as that, literally just launching a node that is a subscriber that accepts scan message types doesn't seem like the solution.
Asked by distro on 2022-08-07 22:28:33 UTC
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