RealSense Camera Not Detected When Launching Visual SLAM with Isaac ROS

sakamaki · June 20, 2024, 2:42am

Hi, I’m encountering an issue while trying to launch Visual SLAM with Isaac ROS within a container. Following the tutorial from the Isaac ROS Visual SLAM Quickstart, I use the following command to start Visual SLAM:

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']"

However, the RealSense camera is not being recognized, and I see the following warnings in the logs:

[component_container_mt-1] [INFO] [1718847688.545110603] [image_format_node_left]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_rect_mono", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1718847688.545128108] [image_format_node_left]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1718847688.545470552] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718847688.566246332] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WLNRKPCRWF/WLNRKPCRWF.yaml"
[component_container_mt-1] [INFO] [1718847688.566433218] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718847688.568174558] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.552029
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1718847688.690362660] [image_format_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847688.695055332] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.695226858] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847688.745143375] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718847688.745298901] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718847688.745321558] [image_format_node_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718847688.745343862] [image_format_node_right]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_rect_mono", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1718847688.745479771] [image_format_node_right]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1718847688.745797830] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718847688.766914550] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XUABRYSTFI/XUABRYSTFI.yaml"
[component_container_mt-1] [INFO] [1718847688.767056859] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718847688.792801928] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847688.796279871] [image_format_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.796402691] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.796493222] [image_format_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847688.796543112] [image_format_node_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847689.003490040] [image_format_right]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847689.199538737] [image_format_node_right]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1718847693.093907852] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1718847699.323161911] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1718847705.547085693] [realsense2_camera]: No RealSense devices were found!

The RealSense camera is detected in the RealSense Viewer that I launched following the RealSense Sensor Setup. However, it only gets recognized after re-plugging the USB connector, and even then, it’s unstable.

I have followed the setup instructions from the following links:

My environment is as follows:

Device: Jetson Orin Nano
Camera: Intel RealSense Depth Camera D457 (connected via USB3.2)
Operating System: JetPack 6.0 (rev2)

What steps should I take to resolve this issue? Any advice or solutions would be greatly appreciated.

Thank you!

Raffaello · June 21, 2024, 11:19am

Hi @sakamaki

Thank you for your post.

Have you followed our troubleshooting?

https://nvidia-isaac-ros.github.io/troubleshooting/hardware_setup.html#realsense-camera-not-found

We are providing assistance with using the Realsense camera.

Let me know if you have any issues or need extra help.

Best,
Raffaello

Uxsapien · June 22, 2024, 7:29pm

Hey Raffaello,

I’ve had a similar problem with the real sense and Orin with the Docker dev environment setup. Specifically when trying to run the foundationpose_tracking examples. The example calls for installation of the ros-humble-issac-ros-realsense package from deb which forces an automatic install of ros-humble-librealsense2 and ros-humble-realsense2-camera. As per the instructions for sensor setup, the realsense2-camera package needs to be installed from source in the user workspace. Also there is a conflict with the source installation of librealsense 2.55.1 that is done when docker builds the realsense layer of the dev environment with the ros-humble-librealsense2 package. When I uninstalled it, the realsense itself worked fine but now I could not run the tracking example since ros-humble-issac-ros-realsense was automatically uninstalled. Seems like there might need to be some more alignment of the example instructions and the environment setup.

sakamaki · June 25, 2024, 6:05am

Hi @Raffaello

Thank you for your response.

I followed the troubleshooting guide provided at RealSense Camera Not Found. However, the camera device still wasn’t recognized. Additionally, I noticed that the RealSense ROS version in the logs is different.
It was v4.55.1 instead of v4.54.1.

Below is the console message when I run ros2 launch realsense2_camera rs_launch.py:

admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py 
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-06-24-11-06-56-890702-ubuntu-72769
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [72770]
[realsense2_camera_node-1] [INFO] [1719194817.509604280] [camera.camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1719194817.509886332] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1719194817.509938396] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [WARN] [1719194817.524877310] [camera.camera]: No RealSense devices were found!
[realsense2_camera_node-1] [WARN] [1719194823.748207337] [camera.camera]: No RealSense devices were found!

desqueda · June 27, 2024, 7:10pm

Hi @Raffaello,

I’m also experiencing the same issue. After installing ros-humble-isaac-ros-realsense package the realsense camera stops working and is no longer visible for realsense-viewer or nodes. The troubleshooting guide did not help. Any advice would be appreciated.

Thanks

Raffaello · July 11, 2024, 9:41pm

Hi @sakamaki , @desqueda and @Uxsapien

We’ve released a fix for the Realsense.
Simply run sudo apt-get update and reinstall the package to make it work.

Let me know if it’s fixed now.

Raffaello

sakamaki · July 16, 2024, 3:15am

Hi @Raffaello
Thank you for your prompt response. Unfortunately, the issue persists even after running sudo apt-get update and reinstalling the package. Here are some additional details:

When I run ros2 launch realsense2_camera rs_launch.py, I encounter the following error:

Package 'realsense2-camera' not found

I reinstalled the package using:

sudo apt install ros-humble-realsense2-*

However, the following message still appears:

No RealSense devices were found!

Raffaello · July 16, 2024, 10:56am

Hi @sakamaki

Have you followed the documentation for the realsense camera Isaac ROS RealSense Setup — isaac_ros_docs documentation ?

Best,
Raffaello

sakamaki · July 18, 2024, 6:23am

Hi @Raffaello
I followed the documentation for the realsense camera Isaac ROS RealSense Setup — isaac_ros_docs documentation as you suggested, but it still didn’t work.
However, after running source install/setup.bash, I was able to reflect the build results and run ros2 launch realsense2_camera rs_launch.py. Although I encountered some errors, the troubleshooting guide from the RealSense ros2 launch realsense2_camera rs_launch.py Error page was very helpful.

Thanks to your guidance, I was able to resolve the issue. Additionally, I was also able to get Isaac ROS Visual SLAM working successfully.