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Rtabmap Remote Mapping D415

asked 2020-11-02 20:12:26 -0500

MisticFury gravatar image

updated 2020-11-03 02:15:21 -0500

gvdhoorn gravatar image

im using the intel realsense d415 im trying to do remote mapping over the wifi and im using the remote mapping tutorial(http://wiki.ros.org/rtabmap_... as reference to do the compressiong so it would use less bandwidth. so far i got it to compress the rgb image and im getting a steady 15 fps but i can't get the Depth field to compress correctly if i use rostopic hz on the compressedDepth i get warning errors from the realsense like this:

 03/11 01:38:36,761 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 03/11 01:38:36,811 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/11 01:38:36,862 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 03/11 01:38:51,063 ERROR [281472641347968] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 03/11 01:38:55,726 ERROR [281472641347968] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 03/11 01:39:00,388 ERROR [281472641347968] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 132
 03/11 01:39:46,954 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 03/11 01:39:47,005 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 03/11 01:39:47,056 WARNING [281472940044672] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

and the fps is like 0.4 while the raw fps is 3 so for some reason the rate is worse and i don't get those errors with the raw. it also output another for the Depth which i just compressed and thats a stable 15 fps with rostopic hz but if i open it in rviz it instantly crashes everything.

this is the raw and compressedDepth the field comes out ok with both the only diffrence is the compressedDepth comes in supper delayed https://drive.google.com/file/d/1YGDv...

and this is the mess i get from the compressed it sometimes shows this other times it just insta crashes everything. https://drive.google.com/file/d/1LYjE...

please help i can't figure out what i did wrong and why my depth is so broken this is the launch file i use for my robot with the rdgd_sync that im using for the compression the initial portion is the realsense camera launch and i added the rgdb sync launch to the bottom.

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default="d415"/>
  <arg name="json_file_path"      default="/home/ubuntu/drone_files/d415_9-3-20.json"/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="camera_nodelet_manager"/>

  <arg name="fisheye_width ...
(more)
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answered 2020-11-03 10:54:48 -0500

MisticFury gravatar image

figured it just added this to my launch file and it seem to do the trick i now get a stable 11fps.

  <param name="/camera/color/image_raw/compressed/format" type="string" value="jpeg" />
  <param name="/camera/color/image_raw/compressed/jpeg_level"  type="int" value="1" />
  <param name="/camera/aligned_depth_to_color/image_raw/compressedDepth/format" type="string" value="png" />
  <param name="/camera/aligned_depth_to_color/image_raw/compressedDepth/png_level"  type="int" value="0" />
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Asked: 2020-11-02 20:12:26 -0500

Seen: 268 times

Last updated: Nov 03 '20