Hi ROS Gurus,

Adding to question above from my colleague:

1. The point cloud topic described above was added by running the command: $ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud When this command is run the depth image topic /camera/depth/image_rect_raw stops working on rviz and the new topic /camera/depth/color/points starts working OK in rviz.

2. If we remove the pointcloud instruction and add the aligh_depth as shown in the following command: $ roslaunch realsense2_camera rs_camera.launch align_depth:=true We get an additional topic /camera/depth/align_depth and the topic /camera/depth/image_rect_raw does NOT freeze and continues to work normally.

Does anyone know why, the addition of the pointcloud topic appear to "disable" the default /camera/depth/image_rect_raw topic?

Many thanks.

Hi ROS Gurus,

Below is the rs_camera.launch file we are using:

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="true"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra1_width"        default="640"/>
  <arg name="infra1_height"       default="480"/>
  <arg name="enable_infra1"       default="true"/>

  <arg name="infra2_width"        default="640"/>
  <arg name="infra2_height"       default="480"/>
  <arg name="enable_infra2"       default="true"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra1_fps"          default="30"/>
  <arg name="infra2_fps"          default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="1000"/>
  <arg name="accel_fps"           default="1000"/>
  <arg name="enable_imu"          default="true"/>

  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>

  <arg name="enable_sync"         default="false"/>
  <arg name="align_depth"         default="false"/>

  <arg name="filters"             default=""/>

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra1_width"             value="$(arg infra1_width)"/>
      <arg name="infra1_height"            value="$(arg infra1_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>

      <arg name="infra2_width"             value="$(arg infra2_width)"/>
      <arg name="infra2_height"            value="$(arg infra2_height)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra1_fps"               value="$(arg infra1_fps)"/>
      <arg name="infra2_fps"               value="$(arg infra2_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_imu"               value="$(arg enable_imu)"/>

      <arg name="filters"                  value="$(arg filters)"/>
    </include>
  </group>
</launch>

We also updated to RealSense SDK 2.0 (v2.41) with no luck.

A clarification on my Jan 15 2021 comment:

I did talso try to run our D415 Realsense camera with both the point cloud filter and the align depth option, with the following command with no success either.

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud align_depth:=true

This reads like either a bug in the code, or a limitation due to bandwidth requirements to have all those streams active at the same time on the USB bus (so not on the ROS side).

In both cases, I would suggest to take this up with the Intel maintainers of the driver. They should know.

@gvdhoorn how would we establish that it was definitely not a ROS issue? Or that it was definitely a USB issue? A diagnostic approach that narrows down the possibilities would be appreciated.

It doesn't really matter. Intel supports ROS with their realsense drivers. They also support their realsense devices without ROS.

In either case: I'd suggest to post this on their issue tracker. And seeing you're encountering this while using ROS, my suggestion would be to post it on IntelRealSense/realsense-ros/issues.