camera_depth_optical_frame. You may re-send via your https://github.com/intel-ros/realsense/issues/595. Please start posting anonymously - your entry will be published after you log in or create a new account. Hi mmatthe, The problem can reproduced by ros2/demos#535 . rviz2 does not show the images published on the topic rviz2 ros2 foxy asked Sep 9 '20 macieksz 36 6 11 13 updated Sep 9 '20 I echoed the topic of senor_images/Image and I see the image matrix on the terminal containing values but when use rviz2 to display this image, rviz2 does not show the image and shows this info on terminal: For pointcloud2 in rviz I did the following: Under "Global Options" select "camera_link" from "Fixed Frame" drop down menu. For more complete information about compiler optimizations, see our Optimization Notice. sensor_msgs::CameraInfo messages published to a topic with proper frame_id information. The first item will get fixed by ros2/demos#432. The frame_id is a string "camera_id" in foxy version of image_tools https://github.com/ros2/demos/blob/foxy/image_tools/src/cam2image.cpp#L244 , but the image still cannot be displayed by rivz2, dou you have any solution @Martin-Idel ? image 19201080 278 KB. ROS2 service only sometimes present in python, ros2 osrf docker container fails to build, rviz2 does not show the images published on the topic, Creative Commons Attribution Share Alike 3.0. I echoed the topic of senor_images/Image and I see the image matrix on the terminal containing values but when use rviz2 to display this image, rviz2 does not show the image and shows this info on terminal: INFO] [1599639372.778484561] [rviz]: Message Filter dropping message: frame 'head_camera1_rgb_optical_frame' at time 1599639371.222 for reason 'Unknown'. I've struggled with this as well. If it is, then you also need to make sure that the. Well occasionally send you account related emails. 01/02 04:06:52,932 WARNING [547498426368] (types.cpp:57) hwmon command 0x4f failed. the filter messages below are all that came out of the RViz session. 'ros2 run image_tools showimage ' won't work with rviz by itself. Third Person Follower. I should be getting a rainbow image instead. : there are three frames: world, robot body, robot head and we have a transformation between word <-> body and between body <-> head, that's a tree structure). The camera maintains a constant viewing angle towards the target frame. Could you give a sample? E.g. I'm very glad you found a solution. * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt * /camera/realsense2_camera/infra1_width: 640, * /camera/realsense2_camera/infra2_fps: 30, * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame, * /camera/realsense2_camera/infra2_height: 480. Hi @yairnakai, welcome to the community! That information is contained in a tree (e.g. @Martin-Idel's comment provided the clues: You need a transformation from the fixed frame (which is called map by default in RViz) to the message frame. However, you usually wouldn't use RViz to just display an image message and if you have several displays, treating transformation equally seems more consistent and might reduce confusion. Well occasionally send you account related emails. openCV imshow not rendering image on screen (3 answers) cv2.imshow command doesn't work properly in opencv-python (20 answers) Closed 2 years ago. privacy statement. privacy statement. * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic * /camera/realsense2_camera/infra1_fps: 30, * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame, * /camera/realsense2_camera/infra1_height: 480. The D435i is identical to the D435 except for the added IMU. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de * /camera/realsense2_camera/base_frame_id: camera_link, * /camera/realsense2_camera/clip_distance: -1.0, * /camera/realsense2_camera/color_fps: 30, * /camera/realsense2_camera/color_frame_id: camera_color_frame, * /camera/realsense2_camera/color_height: 480. How to open RVIZ2 ROSDS Support eziotheking December 5, 2021, 2:39pm #1 Hello, I'm currently studying the course : ROS2 in 5 days (python), I am at the 6th unit, in the 6th unit I need to work with RVIZ2 , however I am having trouble in understanding how to connect to it. Any behavior that appears to violate End user license agreements, including providing product keys . rviz2 not showing images since update - probable QoS foxy rviz2 rviz image asked Oct 12 '21 bastianhjaeger 25 3 4 8 updated Oct 12 '21 I ran a system update of my Ubuntu 20.04 today. [ INFO] [1548994014.017395553]: setupStreams 01/02 04:06:54,021 WARNING [547498426368] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ], [ INFO] [1548994014.032656168]: depth stream is enabled - width: 640, height: 480, fps: 30, [ INFO] [1548994014.034611285]: infra1 stream is enabled - width: 640, height: 480, fps: 30, [ INFO] [1548994014.036477954]: infra2 stream is enabled - width: 640, height: 480, fps: 30, [ INFO] [1548994014.054861726]: color stream is enabled - width: 640, height: 480, fps: 30. sensor_msgs::Image messages published to a topic with proper frame_id information. the filter messages below are all that came out of the RViz session. The real fix would be to get the regression resolved. image_tools cam2image Is publishing a wrong frame_id, ROS2 Bridge Issue from Rviz after setting up TFTree, https://github.com/ros2/demos/blob/foxy/image_tools/src/cam2image.cpp#L244. Scrollwheel: Zoom the image . https://forums.intel.com/s/question/0D70P0000069FFMSA2, Thanks so much for the update. [ INFO] [1548994014.085546222]: starting imu [ INFO] [1548994014.090687633]: gyro stream is enabled - fps: 400, [ INFO] [1548994014.091510934]: accel stream is enabled - fps: 250, [ INFO] [1548994014.092948288]: num_filters: 0. Actual behavior rqt can dispaly image, but rviz2 cannot! Normally, you have some publishers publishing this information. So I would expect solutions for the original D435 to be applicable to D435i. I've forwarded the emails that don't display images to another . I am not getting a point cloud or image in rviz but realsense-viewer works fine. Normally, you have some publishers publishing this information. I got a very similar issue with my laserscan data that I can"t see anymore in rviz2 since I did the Foxy update Can you still see your laser data ? According to the specs I can not find an issue with my config. I'm suddenly unable to see images in promotional emails I receive. Sorry, you must verify to complete this action. The answer is to assign the fixed frame to camera frame! For pointcloud2 in rviz I did the following: Under "Global Options" select "camera_link" from "Fixed Frame" drop down menu Unfortunately I can not add a minimal ros2 bag and the config files here. [ INFO] [1548994014.094196424]: Setting Dynamic reconfig parameters. Sign in I see the topic on rviz2 but there is not image. In the case of the cam2image publisher, it used to change the frame id on every message, so in order to fix this, you'd have to publish a new transformation between each new frame at the time of the message. Since then I can not see image topics in rviz2 like before. In contrast to XY Orbit the camera turns if the . Thank you very much. Through a terminal on the WSL machine (not ssh, but changing the ROS_MASTER_URI) I am able to see the tf topic, export the tf_tree with graphviz, and run the rqt_tf_tree without any issues. I assume it is an QoS issue, but I can not solve it. [ INFO] [1548994012.571744371]: RealSense ROS v2.1.4, [ INFO] [1548994012.571825300]: Running with LibRealSense v2.18.0. This lets the transformation tree explode and I'm not sure it will be very performant. I am not working with laser data, so I can not comment on that. Have a question about this project? Have a question about this project? My rviz version should be This seems due to a regression in Rviz2: https://github.com/ros2/rviz/issues/782 Since then I can not see image topics in rviz2 like before. turtlebot4_desktop provides launch files and configurations for viewing the TurtleBot 4 in Rviz2. -- Skipping [ INFO] [1548994013.668145160]: setupPublishers [ INFO] [1548994013.713467674]: Expected frequency for depth = 30.00000, [ INFO] [1548994013.754716369]: Expected frequency for infra1 = 30.00000, [ INFO] [1548994013.777837582]: Expected frequency for aligned_depth_to_infra1 = 30.00000, [ INFO] [1548994013.806267182]: Expected frequency for infra2 = 30.00000, [ INFO] [1548994013.836688219]: Expected frequency for aligned_depth_to_infra2 = 30.00000, [ INFO] [1548994013.870461952]: Expected frequency for color = 30.00000, [ INFO] [1548994013.904759304]: Expected frequency for aligned_depth_to_color = 30.00000. I am not getting a point cloud or image in rviz but realsense-viewer works fine. profile. I tried turning off the windows firewall but that didn't seem to help. It provides a graphical interface for users to view their robot, sensor data, maps, and more. Are you trying . [rviz2.EXE-10] [WARN] [1648910643.574801400] [rcl.logging_rosout]: Publisher already registered for provided node name. * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/unite_imu_method: none, points_xyzrgb_hw_registered (nodelet/nodelet), realsense2_camera_manager (nodelet/nodelet), setting /run_id to cccfe712-25d6-11e9-a4c0-00044b8cacff, process[rosout-1]: started with pid [5649], process[camera/realsense2_camera_manager-2]: started with pid [5666], process[camera/realsense2_camera-3]: started with pid [5667], process[camera/color_rectify_color-4]: started with pid [5668], process[camera/points_xyzrgb_hw_registered-5]: started with pid [5669]. Already on GitHub? For other readers of this case, it is also discussed on the Intel-Ros site. * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op * /camera/realsense2_camera/fisheye_width: 640, * /camera/realsense2_camera/gyro_fps: 400. "Not a message data class", Polynomial Curve as Marker (Similar to visualization msgs) in rviz, rviz2 not showing images since update - probable QoS, Creative Commons Attribution Share Alike 3.0. To show something in RViz, RViz needs a valid transformation between the fixed frame (e.g. Purpose of visibility_control files in ros packages. Did anyone have this case before? I was trying to check on what data was actually being read in via cv2.imread () but whenever I do so I get a full grey screen. When I say check the topics that rviz is listening to, on the RVIZ GUI there should be a panel on the left with all the topics or parameters that it subscribes. See orbital camera. Right mouse button: Click and drag to zoom the image . * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti * /camera/realsense2_camera/align_depth: True. Rviz2 not showing up | ros2 navigation section I. ROSDS Support. roalgoal July 27, 2022, 1:28pm #2. The other items need to be provided by other means. :). I am able to see everything in Rviz properly while running Linux natively. First, you can try setting the environment variable OGRE_RTT_MODE to one of these three strings: Copy, PBuffer, or FBO. * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti * /camera/realsense2_camera/depth_width: 640, * /camera/realsense2_camera/enable_color: True, * /camera/realsense2_camera/enable_depth: True, * /camera/realsense2_camera/enable_fisheye: True, * /camera/realsense2_camera/enable_imu: True, * /camera/realsense2_camera/enable_infra1: True, * /camera/realsense2_camera/enable_infra2: True, * /camera/realsense2_camera/enable_pointcloud: False, * /camera/realsense2_camera/enable_sync: True, * /camera/realsense2_camera/fisheye_fps: 30, * /camera/realsense2_camera/fisheye_height: 480. Sorry, you must verify to complete this action. [ INFO] [1548994013.666434268]: RGB Camera was found. Controls. (See Section 2). Command in terminal 1: roslaunch realsense2_camera rs_rgbd.launch. To find the message frame id from /image_raw: So to generate a transformation from map (default RViz fixed frame) to camera (check frame_id above, the text 'camera' will be different depending on your camera driver and settings), you can run: You signed in with another tab or window. [ INFO] [1548994013.666642334]: Motion Module was found. 4 comments Member hershwg commented on Sep 19, 2012 Owner: hersh Reporter: jbohg Wrap rclcpp::Node with basic Lifecycle behavior? "map", configurable in the GUI) and the message - otherwise it's unclear where to render the message content. desecrating, or showing disrespect. I could get a functional Rviz again by following the suggestion and rebuilding version 8.2.3 for Foxy from sources (until the patched version got released): Pedantic, but this is a work-around of course. "map", configurable in the GUI) and the message - otherwise it's unclear where to render the message content. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. Yes, if you want to use the camera plugin you need to have a TF from the fixed frame that you give your camera ( frame_name) and the frame you have selected in RViz under Global Options. Thank you very much. RViz2 Image display does not show an image (only showing "No Image") There sometimes occurs a log message in the RViz stdout/stderr (however, these message occur sporadically and do not appear for every transmitted frame). I've cleared the cache, deleted cookies, tried another browser, etc. [ INFO] [1548994013.667101761]: (Fisheye, 0) sensor isn't supported by current device! Please click the verification link in your email. The two image topics have the frame IDs (from the realsense_ros2 node) all it says is type the line: rviz2 in the shell 1 rviz2 does not show the images published on the topic, python example of a motor hardware interface, Turtlebot forward/backward movement inverted in rviz, sensor_msgs.msg Image type value error. Only to need change the fixed frame to 'camera_frame'[value of frame_id] in rviz2 gui! This setting changes some of the internal details of how the window is rendered. Error type: No data to return (-21). The text was updated successfully, but these errors were encountered: To use the camera plugin in rviz you need a couple of things. [ INFO] [1548994014.256143247]: Done Setting Dynamic reconfig parameters. Description I just installed zed2 ros2 wrapper and zed2 examples and am unable to see the image topic in rviz2. I assume it is an QoS issue, but I can not solve it. * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01, * /camera/realsense2_camera/pointcloud_texture_index: 0, * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR. If I replay my bag the usual way with ros2 bag play -l ~/tmp/rviz_issue I do not see anything with rviz2 or with ros2 run rqt_image_view rqt_image_view. In order for resource URIs to work which start with "package://", the first directory-name needs to be a ROS package that you can "roscd" into. View Model @gonzodepedro Sorry, I'm a new user, could you explain more about "A valid transformation tree"? @gonzodepedro Sign up for a free GitHub account to open an issue and contact its maintainers and the community. There are two workarounds you can try. [ INFO] [1548994012.978171440]: getParameters [ INFO] [1548994013.660937751]: setupDevice [ INFO] [1548994013.662004319]: JSON file is not provided, [ INFO] [1548994013.662411489]: ROS Node Namespace: camera, [ INFO] [1548994013.663289671]: Device Name: Intel RealSense D435I, [ INFO] [1548994013.663597257]: Device Serial No: 8XXXXXXXXXXX, [ INFO] [1548994013.663822283]: Device FW version: 05.11.01.00, [ INFO] [1548994013.664086125]: Device Product ID: 0x0B3A, [ INFO] [1548994013.664902098]: Enable PointCloud: Off, [ INFO] [1548994013.665148820]: Align Depth: On, [ INFO] [1548994013.665356757]: Sync Mode: On. I met the same error log "dropping message for reason 'Unknown'. I ran a system update of my Ubuntu 20.04 today. Rviz2 is a port of Rviz to ROS2. The issue was solved by purging ros-kinetic and reinstalling ros-kinetic and RealSense ROS 2.1.4. @mmatthe. Please click the verification link in your email. so for example, there should be one tab/tree called Robot description, make sure the topic specified there is the same as your robot_description topic. XY Orbit. I note I can't also received maps data (map and costmaps) Could you give a sample? Already on GitHub? By clicking Sign up for GitHub, you agree to our terms of service and Have you solved this issue? It there an issue with rviz2 since the update or can I fix this by some configuration update. The new Foxy sync should contain a fix for the regression in RViz. :( By clicking Sign up for GitHub, you agree to our terms of service and It is installed by default with ROS2 and requires a desktop version of Ubuntu to use. : there are three frames: world, robot body, robot head and we have a transformation between word <-> body and between body <-> head, that's a tree structure). This issue is not a question, feature request, or anything other than a bug report directly related to this project. The problem is the following: I tried running the replay with ros2 bag play -l ~/tmp/rviz_issue --qos-profile-overrides-path ~/tmp/reliability_override.yaml then I at least get iamges with the rqt_image_view. This is a symptom of a known bug when RViz is used with certain video cards. @hahasofia The issue will be fixed with the next release but cannot really be fixed now. You may re-send via your, D435i No PointCloud2 and No Image in rviz, Intel Connectivity Research Program (Private), oneAPI Registration, Download, Licensing and Installation, Intel Trusted Execution Technology (Intel TXT), Gaming on Intel Processors with Intel Graphics. ROS 2 - Data display with Rviz2 RVIZ is a ROS graphical interface that allows you to visualize a lot of information, using plugins for many kinds of available topics. camera_infra1_optical_frame RViz has a fixed frame, that fixed frame can be set as the first option under Global Options. No more message are shown, even though the cam2image proc still ran for frame numbers larger than 7024, The Image transmission itself is verified with. @PatoInso: is there any news about a release which would include a fix? [ INFO] [1548994013.665875961]: Device Sensors: [ INFO] [1548994013.666223803]: Stereo Module was found. RVIZ2 is simply a port of RVIZ into ROS2. Sorry, I'm a new user, could you explain more about "A valid transformation tree"? That information is contained in a tree (e.g. to your account, Using latest ROS2 release on Ubuntu 18.04, RViz2 Image display does not show an image (only showing "No Image"), There sometimes occurs a log message in the RViz stdout/stderr (however, these message occur sporadically and do not appear for every transmitted frame). Choose `pointcloud2` under `depth_registered` -> `points` and click `OK`, * /camera/realsense2_camera/accel_fps: 250. No more message are shown, even though the . [ INFO] [1548994012.497521342]: Initializing nodelet with 6 worker threads. yairnakai July 27, 2022, 8:34am #1. the map doesn't showed up in rviz although the tf and laser scan are working. Command in terminal 1: roslaunch realsense2_camera rs_rgbd.launch. Same as the orbital camera, with the focus point restricted to the XY plane. Sign in [ INFO] [1548994014.094070343]: RealSense Node Is Up! Intel support agent Alexandra has offered a method for seeing the D435 point cloud with RViz. rclcpp Steps to reproduce issue change https://github.com/ros2/demos/blob/foxy/image_tools/src/cam2image.cpp#L93 to a local mp4 file colcon build ros2 run image_tools cam2image rviz2 rqt Expected behavior Both rivz2 and rqt can display image. E.g. * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti * /camera/realsense2_camera/color_width: 640, * /camera/realsense2_camera/depth_fps: 30, * /camera/realsense2_camera/depth_frame_id: camera_depth_frame, * /camera/realsense2_camera/depth_height: 480. But feel free to ask for more information. The text was updated successfully, but these errors were encountered: You signed in with another tab or window. to your account. The showimage node shows the image from the webcam attached to my PC. Command in terminal 2: rviz . Now in principle, the transformation information would not be necessary for the image display as the image display just displays an image and doesn't position it anywhere in the world. Sorry. The zed_display_rviz2 package provides three Python launch scripts, display_zed.launch.py, display_zedm.launch.py and display_zed2.launch.py. Additional information Here is rviz2's log: The problem is the following: To show something in RViz, RViz needs a valid transformation between the fixed frame (e.g. * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt * /camera/realsense2_camera/infra2_width: 640, * /camera/realsense2_camera/initial_reset: False. Please start posting anonymously - your entry will be published after you log in or create a new account. (I'm using Cyclone DDS). Click on the `Add` button at the left bottom of the rviz window. 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