Is it possible to remap /camera/color topics in realsense2_camera

asked 2018-10-22 22:40:11 -0500

jcgarciaca
67 ●23 ●27 ●29

I am working with a realsense camera (relasense2_camera package), such that I need to remap the /my_namespace/camera/color/* topics to /my_namespace/camera/rgb/*. I have tried with a launch file as below:

<launch>
  <group ns="my_namespace">
    <remap from="/my_namespace/camera/color" to="/my_namespace/camera/rgb" />
    <remap from="/my_namespace/camera/depth/image_rect_raw" to="/my_namespace/camera/depth/image_rect" />
    <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
        <arg name="namespace" value="camera"/>
        <arg name="rgb" value="rgb"/>
    </include>
  </group>

</launch>

Nevertheless, when launching the file and checking the rostopic list outuput, I noted those topic didn't change. Is it possible to remap them?

From my launch file, the second remap (from="/my_namespace/camera/depth/image_rect_raw" to="/my_namespace/camera/depth/image_rect") works well.

Thank you

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Comments

Are you sure you actually have a topic /my_namespace/camera/color when doing rostopic list ? (and without the remapping obviously).

Also this (<arg name="namespace" value="camera"/>) shouldn't work since there are no arguments namespace defined in the launch file (unless you've modified it ?)

Delb ( 2018-10-23 01:57:44 -0500 )edit

Hi, it is not actually just a topic but a set of topics. When I do rostopic list, the following topics appear (among others):

/my_namespace/camera/color/camera_info
/my_namespace/camera/color/image_raw
/my_namespace/camera/color/image_raw/compressed

jcgarciaca ( 2018-10-23 14:24:17 -0500 )edit

...

/my_namespace/camera/color/image_raw/compressed/parameter_descriptions
/my_namespace/camera/color/image_raw/compressed/parameter_updates
/my_namespace/camera/color/image_raw/compressedDepth
/my_namespace/camera/color/image_raw/compressedDepth/parameter_descriptions

...

jcgarciaca ( 2018-10-23 14:24:55 -0500 )edit

those are the topics I need to remap (color to rgb). About the namespace argument @Delb is right, it seems I used a previous version. After an update it is <arg name="camera" value="camera"/> now.

jcgarciaca ( 2018-10-23 14:27:51 -0500 )edit

You can get rid of your first remap, you have to remap a topic but you can't for a set of topics. But you did well setting the arg rgb to rgb, its default value is color so I'm not sure why it's not affected correctly.

Delb ( 2018-10-24 01:58:07 -0500 )edit

Can you try to replace <arg name="camera" value="camera"/> by something like <arg name="camera" value="other_camera"/> just to see if you will actually get a set of topics like /my_namespace/other_camera/ ?

Delb ( 2018-10-24 01:59:37 -0500 )edit

Yes, I replaced camera argument to other_camera, and all topics changed

jcgarciaca ( 2018-10-25 09:36:25 -0500 )edit

But you still have the /color/ set of topics ? It's weird that when you change the arg camera it works but not with rgb, are you sure you have <arg name="rgb" default="color" /> in your rs_rgbd.launch ? You can even change the default value directly to rgb.

Delb ( 2018-10-25 11:23:06 -0500 )edit

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Comments

Instead, you can directly use the remap statement by putting just before the node description in the launch file

kivrakh ( 2019-07-01 07:30:01 -0500 )edit

@kivrakh May I know how to remap?

I tried in command line color:=rgb and also in launch file <remap from="color" to="rgb" /> But both ways don't work for me.

BCJ ( 2020-06-23 00:59:03 -0500 )edit

put remap statement before the group namespace definition. I solved this issue like that.

kivrakh ( 2020-06-23 01:40:51 -0500 )edit

@kivrakh I tried the following setup in my launch file but still didn't manage to solve it. Btw do you test the spencer package with D435 successfully?

  <remap from="color" to="rgb"/> 

  <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
    <arg name="camera" value="/spencer/sensors/rgbd_front_top"/>
    <arg name="tf_prefix" value="rgbd_front_top"/>
  </include>

BCJ ( 2020-06-23 02:28:45 -0500 )edit

I could not find my packages to verify the exact solution. As far as I remember, try to remap in rs_rgbd.launch. If you still could not manage, use the hardcoded solution in base_realsense_node.cpp.

<remap from="color" to="rgb"/> 
<group ns="$(arg camera)">
<!-- Launch the camera device nodelet-->
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">

Yes, I test spencer package with D435, it can be somehow painfull. Upper_body_detector uses message time synchronizer applied to the depth, camera_info and ground plane topics. Make sure you synchronize all these topics. Also upper_body_detector is tied to a fixed 640x480 resolution, you may need scale your input image (1280x720) appropriately

kivrakh ( 2020-06-23 03:39:04 -0500 )edit

@kivrakh, I have remapped successfully and however only have detection result but not tracking.

I have seen what you mentioned in the issue. I have checked all three topics and all is around 30hz. The resolution is set to 640x480 when I launch the rs_rgbd.launch so I assume that I no need to rescale the input image. Do you have any rosbag file that you record from D435 before? For me do to the testing and debugging.

Thanks for your help :)

BCJ ( 2020-06-23 21:13:17 -0500 )edit

@kivrakh Can I contact you in person? I have struggled for the package using D435 for few weeks and might need your help really. My email address is chunjye088@gmail.com

BCJ ( 2020-06-24 21:21:51 -0500 )edit

@BCJ did you finally make the upper body detector work with Intel Realsense D435? I am having same issues that you related. Thanks in advance.

Alessandro Melino ( 2021-03-09 06:08:55 -0500 )edit

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