Starting up realsense D435I while running tutorials?

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi, I began to work on a Jetson Orin AGX developer kit, I flashed it with Jetpack 6.0 on a 1TB nvme disk and I followed all the steps in the tutorials.
Starting with Isaac ROS RealSense Setup, I downgraded the camera firmware to version 5.13.0.50. After the setup, when I start realsense-viewer the camera is recognized and streams correctly (but I have to plug it in after the docker container starts).

Then I try with other tutorials, for example Isaac ROS Centerpose and Isaac ROS UNET.
When I run the rosbag, they all work.
When I run the realsense version, the visualizer is always grey, like if there is no output.
The camera itself doesn’t seem to be working, but the tutorial launcher senses it as connected since there are no errors. If I unplug it the launcher warns that there is not camera connected.

I tried starting the container and leaving realsense-viewer on, or just use it to check if the camera is working and then closing it before starting the other tutorials.

The same happens in my laptop with ubuntu 22.04
I tried installing the ros-humble-realsense2-* package in the laptop and it can stream the camera correctly.

Is there something I’m missing in the tutorials? Should I start some ros node or some other app before starting the tutorials?

4

Hi @marco.pastorio ,

The issue might be the realsens2_camera node was not loaded correctly.
Could you please try with below command in docker to source the built workspace and run the test again?

 cd ${ISAAC_ROS_WS}/ && source install/setup.bash

Please let us know if it helps.
If still encounter the same issue, please share your log.

Thank you,
Johnny

5

Hi @jolin ,
that worked, thank you!
I really didn’t think to source the workspace since everything else was sourced, and I start the container from the isaac ros realsense tutorial.

I noticed this error while building the realsense package which I didn’t notice before: is this something I should worry about?

admin@ubuntu:/workspaces/isaac_ros-dev$ cd ${ISAAC_ROS_WS} && \
colcon build --symlink-install --packages-up-to-regex realsense*
Starting >>> realsense2_camera_msgs
--- stderr: realsense2_camera_msgs                              
ERROR setuptools_scm._file_finders.git listing git files failed - pretending there aren't any
---
Finished <<< realsense2_camera_msgs [2.03s]
Starting >>> realsense2_camera
Starting >>> realsense2_description
Finished <<< realsense2_description [0.25s]                               
Finished <<< realsense2_camera [0.60s]                     

Summary: 3 packages finished [3.39s]
  1 package had stderr output: realsense2_camera_msgs
6

Hi @marco.pastorio ,

ERROR setuptools_scm._file_finders.git listing git files failed - pretending there aren’t any

These are build warnings and should not be blocking anything. You can ignore it.

Best,
Ahung

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7

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