how can i use this ros2 humble package?

[thslr2154]

raspberry pi "ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true depth_module.depth_profile:=640x480x15 rgb_camera.color_profile:=640x480x15"
After execution
If you run "ros2 launch costmap_depth_camera standalone_test_launch.py" in ubuntu 22.04 (humble), only the demo file runs.
I want to see the value of the camera that is connected to my actual robot at
#9
like the URL below.
The topic you see in my topic is
"/camera/color/camera_info"
/camera/camera/color/image_raw
/camera/camera/color/image_raw/compressed
/camera/camera/color/image_raw/compressedDepth
/camera/camera/color/image_raw/theora
/camera/camera/color/image_raw/zstd
/camera/camera/color/metadata
/camera/camera/depth/camera_info
/camera/camera/depth/color/points
/camera/camera/depth/image_rect_raw
/camera/camera/depth/image_rect_raw/compressed
/camera/camera/depth/image_rect_raw/compressedDepth
/camera/camera/depth/image_rect_raw/theora
/camera/camera/depth/image_rect_raw/zstd
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/camera/camera/extrinsics/depth_to_depth
" Here it is. Help me

[thslr2154]

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true depth_module.depth_profile:=640x480x15 rgb_camera.color_profile:=640x480x15

with or without the command above

"ros2 launch costmap_depth_camera standalone_test_launch.py"

This is the screen you can see when you enter.

[tsengapola]

You need to do two things:

1. comment out line 264 in launch file because it play the bag file:

   costmap_depth_camera/launch/standalone_test_launch.py

   Line 264 in a8bb126

   ld.add_action(bag_player)

2. Modify costmap_depth_camera_params.yaml:

   costmap_depth_camera/params/costmap_depth_camera_params.yaml

   Line 31 in a8bb126

   observation_sources: left_depth_cam right_depth_cam

   
   It should looks like:

    observation_sources: rs_camera
    rs_camera:
      sensor_frame: camera_link
      topic: /camera/camera/depth/color/points
      expected_update_rate: 0.3
      FOV_W: 1.3962
      FOV_V: 0.9599
      min_detect_distance: 0.15
      max_detect_distance: 4.0
      min_obstacle_height: 0.2
   

[thslr2154]

Thank you so much for your response.

After the change, it was executed, but the following error appears on the screen.

"
[planner_server-2] [ERROR] [1737622058.958027197] [global_costmap.global_costmap]: ObservationDepth size 102437 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622059.065191075] [global_costmap.global_costmap]: ObservationDepth size 102438 is larger than 5000 points. Exiting..
[planner_server-2] [WARN] [1737622059.129996284] [global_costmap.global_costmap.depth_camera]: 1465, 1184
[planner_server-2] [ERROR] [1737622059.177537256] [global_costmap.global_costmap]: ObservationDepth size 102262 is larger than 5000 points. Exiting..
[planner_server-2] [INFO] [1737622059.195252461] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1737622059.197657403] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[rviz2-11] [INFO] [1737622059.262688918] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-11] [INFO] [1737622059.262804093] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[planner_server-2] [ERROR] [1737622059.287167738] [global_costmap.global_costmap]: ObservationDepth size 102224 is larger than 5000 points. Exiting..
[lifecycle_manager-3] [INFO] [1737622059.304100352] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-3] [INFO] [1737622059.304167713] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-3] [INFO] [1737622059.304192773] [lifecycle_manager_navigation]: Creating bond timer...
[rviz2-11] [INFO] [1737622059.342894238] [rviz2]: Stereo is NOT SUPPORTED
[planner_server-2] [ERROR] [1737622059.405157074] [global_costmap.global_costmap]: ObservationDepth size 102214 is larger than 5000 points. Exiting..
[planner_server-2] [WARN] [1737622059.464335501] [global_costmap.global_costmap]: The /camera/camera/depth/color/points observation buffer has not been updated for 0.67 seconds, and it should be updated every 0.30 seconds.
[planner_server-2] [ERROR] [1737622059.514764454] [global_costmap.global_costmap]: ObservationDepth size 102651 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622059.634935969] [global_costmap.global_costmap]: ObservationDepth size 102512 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622059.750064497] [global_costmap.global_costmap]: ObservationDepth size 102708 is larger than 5000 points. Exiting..
[rviz2-11] [INFO] [1737622059.757913518] [rviz2]: Trying to create a map of size 1465 x 1184 using 1 swatches
[planner_server-2] [ERROR] [1737622059.863238912] [global_costmap.global_costmap]: ObservationDepth size 102346 is larger than 5000 points. Exiting..
[rviz2-11] [ERROR] [1737622060.459890897] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-11] active samplers with a different type refer to the same texture image unit
[planner_server-2] [ERROR] [1737622061.719849729] [global_costmap.global_costmap]: ObservationDepth size 72848 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622061.817271299] [global_costmap.global_costmap]: ObservationDepth size 74584 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622061.955876120] [global_costmap.global_costmap]: ObservationDepth size 102569 is larger than 5000 points. Exiting..
[planner_server-2] [ERROR] [1737622062.092589689] [global_costmap.global_costmap]: ObservationDepth size 102504 is larger than 5000 points. Exiting..
"

[tsengapola]

please pull the latest commit and try it again.

[thslr2154]

Thank you again for your response.

But nothing has changed from yesterday.

The error message below appears and the picture is the same.
"
[planner_server-2] [WARN] [1737678775.433654847] [global_costmap.global_costmap]: Update minimum height of markings to: 0.20, maximum height of markings to 2.00
[planner_server-2] [WARN] [1737678775.433869188] [global_costmap.global_costmap]: Creating an observation buffer for source rs_camera, topic /camera/camera/depth/color/points, frame camera_link
[planner_server-2] [WARN] [1737678775.434208221] [global_costmap.global_costmap]: Created an observation buffer for source rs_camera, topic /camera/camera/depth/color/points, global frame: map, expected update rate: 0.30, observation persistence: 0.00
[planner_server-2] [WARN] [1737678775.438061714] [global_costmap.global_costmap]: ++++++++++++++++++++++++++++++++++++++++++++++++++++
[planner_server-2] [WARN] [1737678775.438093595] [global_costmap.global_costmap]: depth_camera initialization complete!
[planner_server-2] [WARN] [1737678775.438102661] [global_costmap.global_costmap]: ++++++++++++++++++++++++++++++++++++++++++++++++++++
[rviz2-10] [ERROR] [1737678776.973950861] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :

"
I look forward to your kind cooperation.

[tsengapola]

Hi, please select the topic to visualize accordingly.
In the Rviz, you are displaying the point cloud from the left and right camera, make sure you are visualizing the correct topics.
Also, please provide your tf tree.

[thslr2154]

It's currently like this.

Please help me.

Please explain it in detail.

[tsengapola]

Hi,
pull the latest commit (de57810) and run:
ros2 launch costmap_depth_camera rs_standalone_launch.py
Please do not run your realsense camera launch file.
The rs_standalone_launch.py will launch realsense and the plugin

[thslr2154]

@tsengapola

Thank you so much for your help.

I want to ask you more questions. Is it possible?

[tsengapola]

Go ahead