When configuring isaac_ros_visual_slam, I encountered an error when setting up the RealSense Camera 455 in the Run Launch File, and I couldn’t connect to the camera in rviz.
The website I referred to for guidance is isaac_ros_visual_slam — isaac_ros_docs documentation.
The result of running the terminal is shown in the following figure:
admin@nexgemo-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json base_frame:=camera_link camera_optical_frames:=“[‘camera_infra1_optical_frame’, ‘camera_infra2_optical_frame’]”
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-15-16-04-33-723171-nexgemo-desktop-955495
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [1736928273.837527838] [isaac_ros_examples]: Info: Interface spec “camera_resolution” is overridden. The value from the overriding file will be used
[INFO] [component_container_mt-1]: process started with pid [955505]
[component_container_mt-1] [ERROR] [1736928274.230068610] [isaac_ros_examples.container]: Could not find requested resource in ament index
[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
[component_container_mt-1] [INFO] [1736928274.235319692] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1736928274.291603829] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736928274.291743032] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736928274.311338337] [image_format_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736928274.311805323] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1736928274.314142330] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1736928274.320821632] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1736928274.327968239] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-01-15 16:04:34.347 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
The result of running the terminal is as follows:
admin@nexgemo-desktop:/workspaces/isaac_ros-dev$ rviz2 -d $(ros2 pkg prefix isaac_ros_visual_slam --share)/rviz/default.cfg.rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[INFO] [1736932796.328961219] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1736932796.329235786] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1736932796.454466570] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1736932796.796183986] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1736932796.938817977] [rviz2]: Stereo is NOT SUPPORTED