Isaac_ros_detectnet can not get properly results

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,
When I try isaac_ros_detectnet(isaac_ros_detectnet — isaac_ros_docs documentation) and use RealSense camera I can not get rqt img result as quickstart. And rqt like:

rqt_scs
rqt_scs2560×1440 339 KB

And here is some key command log:
ros2 run isaac_ros_detectnet setup_model.sh --height 480 --width 640 --config-file realsense_config.pbtxt:
log.txt (134.9 KB)
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,detectnet:
log1.txt (30.0 KB)

2

Hi @lzjie ,

According to the log1.txt, the realsense node is not loaded successfully:

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'realsense2_camera' of type 'realsense2_camera::RealSenseNodeFactory' in container '/isaac_ros_examples/container': Could not find requested resource in ament index

Could you please ran “source install/setch.bash” inside the container to source the workspac and check it again?
Please let us know if it helps, thank you.

3

Hi,
Thanks for your advice.
realsense2_camera node can works now.And I had confirmed that my cam is working:

cam
cam652×569 176 KB

However, I still can not get processed img,it is still blank.
Here is log:
log2.txt (56.3 KB)

4

Hi @lzjie ,

Are you using JP6.0(+Isaac ROS 3.1) or JP6.2(+Isaac ROS 3.2)?
Did you run the command “ros2 run rqt_image_view rqt_image_view /detectnet_processed_image” to visualize the output?
( Please refer to isaac_ros_detectnet — isaac_ros_docs documentation )

According to your attached picture, looks it’s using the wrong image view.
Please help to change the upper left corner box from “/color/image_raw/compressed” to “/detectnet_processed_image” to see if it works.
Thank you.

5

Hi,
I am using JP6.0(+Isaac ROS 3.1).
I just want to use that pic indicate that my cam can normally captured images.
When I change to /detectnet_processed_image,it is still blank like before.

6

Hi @lzjie ,

Thanks for your quick update.
I took a moment to verify this sample on my end and everything works fine.
Could you please help to check the Realsense firmware version is matched to the requirement( v.5.13.0.50) and try it again?

It is required to use RealSense firmware version 5.13.0.50, librealsense version 2.55.1 and RealSense camera ROS driver version 4.51.1. Any deviation from these versions will break Isaac ROS examples.

Thank you.

7

Hi,
OK.I will check my all steps again.
Thank you so much.