RealSense Camera Appears in Gazebo but not in Rviz

asked 2021-11-21 17:42:12 -0600

ehiga gravatar image

I am following https://github.com/SyrianSpock/realse... and am able to see the real sense camera in Gazebo when running "roslaunch realsense_gazebo_plugin realsense.launch # in terminal 1" and able to run "roslaunch realsense_gazebo_plugin depth_proc.launch # in terminal 2". However, when I run Rviz I am not able to see the camera nor the /realsense topics. It seems like the nodes are being published:

root@a47b0335487b:/realsense_gazebo_plugin# roslaunch launch/depth_proc.launch
... logging to /root/.ros/log/147230a6-4b23-11ec-bd04-0242ac110002/roslaunch-a47b0335487b-5065.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://a47b0335487b:40265/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /use_sim_time: True

NODES
  /
    convert_metric (nodelet/nodelet)
    points_xyzrgb (nodelet/nodelet)
    standalone_nodelet (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[standalone_nodelet-1]: started with pid [5079]
process[convert_metric-2]: started with pid [5080]
process[points_xyzrgb-3]: started with pid [5081]
[ INFO] [1637537468.665110200]: Initializing nodelet with 8 worker threads.

Is there a way to make my rviz connect to these nodes? Thank you

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Comments

Are the Gazebo nodes running when you start up Rviz? Did you add the Displays in Rviz that should show the camera and image/pointcloud? It's not clear to me what you mean by "making Rviz connect to these nodes". Rviz displays typically consume information published to topics. They don't connect to other nodes directly.

felixvd gravatar imagefelixvd ( 2021-11-23 18:49:18 -0600 )edit

The Gazebo nodes are not running when Rviz is started up, however I am pretty sure the Gazebo topics are being published through its plugin. How do we add a Display in Rviz? Also, sorry I misunderstood Rviz and from what you said I think that Rviz is not connecting to the topics correctly.

ehiga gravatar imageehiga ( 2021-12-04 17:08:29 -0600 )edit

Actually, found out that pressing "Add" on the bottom left corner adds the camera topics. However, after adding "/realsense/camera/depth_registered/points" nothing is displayed still. And am pretty sure it is due to the error "Fixed Frame No TF data." Therefore, I was wondering if you could help me to fix that error?

ehiga gravatar imageehiga ( 2021-12-05 16:20:25 -0600 )edit

Alright followed this post here: https://stackoverflow.com/questions/5... and that solved the fixed frame issue. However when I added the point cloud nothing is displaying still.

ehiga gravatar imageehiga ( 2021-12-05 16:48:52 -0600 )edit