View source for Turtlebot3 Waffle NUC RealSense2 Use 20210518 Notes and Logs

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May 18, 2021
realsenseUse20210518.txt

eepp@hood:notes21$ cat realsenseUse20210518.txt 
T1

source image_ws/install/local_setup.bash 

eepp@hood:~$ ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/d435.yaml __ns:=/d435
[WARN] [1621355937.145968099] [rcl]: Found remap rule '__ns:=/d435'. This syntax is deprecated. Use '--ros-args --remap __ns:=/d435' instead.
[INFO] [1621355937.188334996] [d435.camera]: Device's serial number is not set, enabling the default device!
[INFO] [1621355937.410437834] [d435.camera]: Device with serial number 935322071334 was found.
[INFO] [1621355937.410527690] [d435.camera]: Create a node for D4X5 Camera



T2

eepp@hood:~$ ros2 topic list
/d435/camera/aligned_depth_to_color/camera_info
/d435/camera/aligned_depth_to_color/image_raw
/d435/camera/color/camera_info
/d435/camera/color/image_raw
/d435/camera/depth/camera_info
/d435/camera/depth/image_rect_raw
/d435/camera/infra1/camera_info
/d435/camera/infra1/image_rect_raw
/d435/camera/infra2/camera_info
/d435/camera/infra2/image_rect_raw
/d435/camera/pointcloud
/parameter_events
/rosout
/tf_static
e




T4
eepp@hood:~$ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=image_rect_raw
^C[INFO] [1621356498.659755484] [rclcpp]: signal_handler(signal_value=2)
eepp@hood:~$ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/color/image_raw
^C[INFO] [1621356701.346278623] [rclcpp]: signal_handler(signal_value=2)
eepp@hood:~$ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/color/image_raw
^C[INFO] [1621356720.889545172] [rclcpp]: signal_handler(signal_value=2)




ls -t Pictures/
0518colorraw.png
..






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from
https://github.com/intel/ros2_intel_realsense


tried rviz

T1

ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz
[INFO] [1621357538.041390271] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1621357538.041532205] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[INFO] [1621357538.082608329] [rviz2]: Stereo is NOT SUPPORTED


Fixed Frame
Frame [map] does not exist



T2

doesn't help if I do this first


eepp@hood:~$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-05-18-13-02-39-051141-hood-4713
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
/opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarni
eepp@hood:notes21$ 

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