Hi devs,
i try to capture frames with an Intel Realsense D435 with my Jetson TX2 developer kit JetPack-L4T-3.2 (28.2).
Modifications:
- Installed ROS (with JetsonHacks instructions)
- Patched Kernel (with JetsonHacks instructions)
- Installed Librealsense (with JetsonHacks instructions)
- Installed realsense2_camera for ROS (with JetsonHacks instructions)
- Installed latest firmware to Realsense D435
The camera is working fine. Depth stream seems to be good, IR1 and IR2 streams seems to be good and control comand can be applied via ROS-node or realsense-viewer.
My problem:
My color stream in HD or FHD is only capturing with 15 fps while i set up 30 fps. The specifications say, that HD or FHD 30 fps is available.I checked the fps with rqt. What can i do?
This is the output of a new launched realsense2_camera nodelet:
nvidia@tegra-ubuntu:~/ros_catkin_ws$ roslaunch launcher realsense_d435.launch
... logging to /home/nvidia/.ros/log/681c40d2-747d-11e8-a4c9-00044b8d1193/roslaunch-tegra-ubuntu-9348.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARNING: ignoring defunct <master /> tag
started roslaunch server http://localhost:38379/
SUMMARY
========
PARAMETERS
* /d435/realsense2_camera/accel_fps: 1000
* /d435/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /d435/realsense2_camera/align_depth: False
* /d435/realsense2_camera/camera_aligned_depth_to_color_frame_id: camera_aligned_de...
* /d435/realsense2_camera/camera_aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /d435/realsense2_camera/camera_aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /d435/realsense2_camera/camera_aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /d435/realsense2_camera/color_fps: 30
* /d435/realsense2_camera/color_height: 1080
* /d435/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /d435/realsense2_camera/color_width: 1920
* /d435/realsense2_camera/depth_fps: 6
* /d435/realsense2_camera/depth_height: 480
* /d435/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /d435/realsense2_camera/depth_width: 640
* /d435/realsense2_camera/enable_color: True
* /d435/realsense2_camera/enable_depth: True
* /d435/realsense2_camera/enable_fisheye: False
* /d435/realsense2_camera/enable_imu: True
* /d435/realsense2_camera/enable_infra1: False
* /d435/realsense2_camera/enable_infra2: False
* /d435/realsense2_camera/enable_pointcloud: False
* /d435/realsense2_camera/enable_sync: True
* /d435/realsense2_camera/fisheye_fps: 30
* /d435/realsense2_camera/fisheye_height: 1080
* /d435/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /d435/realsense2_camera/fisheye_width: 1920
* /d435/realsense2_camera/gyro_fps: 1000
* /d435/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /d435/realsense2_camera/infra1_fps: 6
* /d435/realsense2_camera/infra1_height: 480
* /d435/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /d435/realsense2_camera/infra1_width: 640
* /d435/realsense2_camera/infra2_fps: 6
* /d435/realsense2_camera/infra2_height: 480
* /d435/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /d435/realsense2_camera/infra2_width: 640
* /d435/realsense2_camera/json_file_path:
* /d435/realsense2_camera/serial_no:
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/d435/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [9358]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 681c40d2-747d-11e8-a4c9-00044b8d1193
process[rosout-1]: started with pid [9371]
started core service [//rosout]
process[d435/realsense2_camera_manager-2]: started with pid [9388]
process[d435/realsense2_camera-3]: started with pid [9389]
[ INFO] [1529494261.587218125]: Initializing nodelet with 6 worker threads.
[ INFO] [1529494261.709804001]: RealSense ROS v2.0.3
[ INFO] [1529494261.709915744]: Running with LibRealSense v2.10.4
[ INFO] [1529494261.898911216]: getParameters...
[ INFO] [1529494262.331291437]: setupDevice...
[ INFO] [1529494262.331432365]: JSON file is not provided
[ INFO] [1529494262.331518733]: ROS Node Namespace: d435
[ INFO] [1529494262.331627052]: Device Name: Intel RealSense D435
[ INFO] [1529494262.331671404]: Device Serial No: 817512071398
[ INFO] [1529494262.331714956]: Device FW version: 05.09.11.00
[ INFO] [1529494262.331769836]: Device Product ID: 0x0B07
[ INFO] [1529494262.331804780]: Enable PointCloud: Off
[ INFO] [1529494262.331835244]: Align Depth: Off
[ INFO] [1529494262.331869932]: Sync Mode: On
[ INFO] [1529494262.332827881]: Device Sensors:
[ INFO] [1529494262.333756614]: Stereo Module was found.
[ INFO] [1529494262.334108965]: RGB Camera was found.
[ INFO] [1529494262.335530561]: (Gyro, 0) sensor isnt supported by current device! -- Skipping...
[ INFO] [1529494262.335657152]: (Accel, 0) sensor isnt supported by current device! -- Skipping...
[ INFO] [1529494262.335854336]: setupPublishers...
[ INFO] [1529494262.354970375]: Expected frequency for depth = 6.00000
[ INFO] [1529494262.386906697]: Expected frequency for color = 30.00000
[ INFO] [1529494262.413189467]: setupStreams...
20/06 11:31:03,402 WARNING [548398092288] (sensor.cpp:315) Unregistered Media formats : [ UYVY ]; Supported: [ ]
[ INFO] [1529494263.409226226]: depth stream is enabled - width: 640, height: 480, fps: 6
20/06 11:31:03,609 WARNING [548398092288] (backend-v4l2.cpp:1158) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
20/06 11:31:03,612 WARNING [548398092288] (sensor.cpp:315) Unregistered Media formats : [ RW16 ]; Supported: [ ]
[ INFO] [1529494263.634823094]: color stream is enabled - width: 1920, height: 1080, fps: 30
[ INFO] [1529494264.677144936]: publishStaticTransforms...
20/06 11:31:04,677 WARNING [548023628176] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
[ INFO] [1529494264.679750848]: RealSense Node Is Up!
[ WARN] [1529494264.688789477]: Frame metadata isnt available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
20/06 11:31:05,124 WARNING [547851469200] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
20/06 11:31:05,506 ERROR [548398092288] (types.h:179) xioctl(VIDIOC_S_CTRL) failed Last Error: Numerical result out of range
[ WARN] [1529494265.508154573]: Reconfigure callback failed with exception xioctl(VIDIOC_S_CTRL) failed Last Error: Numerical result out of range:
Does anybody has an idea what to do? I stick in the mud with this fault…
Thanks to everybody!