We are having some trouble with the RealSense downgrade on Ubuntu 20 + ROS Noetic. We recently installed Ubuntu 20 + Noetic on this Stretch (includes the ROS 2 items in .bashrc, for example). We were experiencing issues with the ArUco detector for tags that are far away from the robot. This code worked previously on another Stretch with an older install of Ubuntu 20 + Noetic.
During operation, we receive the error:
WARNING: There are too few points from the depth image for plane fitting, so only using the RGB ArUco estimate. number of points = 0
Our launch file includes:
<!-- REALSENSE D435i -->
<include file="$(find stretch_core)/launch/d435i_high_resolution.launch"></include>
<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
<param name="initial_mode" type="string" value="High Accuracy"/>
</node>
<!-- -->
...
<!-- ARUCO MARKER DETECTOR -->
<include file="$(find stretch_core)/launch/stretch_aruco.launch"></include>
<!-- -->
When we run ./realsense_downgrade_patch.sh as suggested in the patch announcement, the output is shown below. It seems like there’s an issue with the librealsense binaries. Additionally, running realsense-viewer in the terminal yields realsense-viewer: command not found.
Update latest apt indices
Hit:1 http://us.archive.ubuntu.com/ubuntu focal InRelease
Hit:2 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease
Hit:3 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease
Hit:4 http://security.ubuntu.com/ubuntu focal-security InRelease
Hit:5 http://packages.ros.org/ros/ubuntu focal InRelease
Hit:6 http://packages.ros.org/ros2/ubuntu focal InRelease
Hit:7 https://librealsense.intel.com/Debian/apt-repo focal InRelease
Reading package lists... Done
Building dependency tree
Reading state information... Done
315 packages can be upgraded. Run 'apt list --upgradable' to see them.
Remove newest librealsense2 binaries
Reading package lists... Done
Building dependency tree
Reading state information... Done
Package 'librealsense2-dkms' is not installed, so not removed
Package 'librealsense2-gl' is not installed, so not removed
Package 'librealsense2-gl-dev' is not installed, so not removed
Package 'librealsense2' is not installed, so not removed
Package 'librealsense2-dbg' is not installed, so not removed
Package 'librealsense2-udev-rules' is not installed, so not removed
Package 'librealsense2-gl-dbg' is not installed, so not removed
Package 'librealsense2-net-dbg' is not installed, so not removed
Package 'librealsense2-utils' is not installed, so not removed
Package 'librealsense2-net' is not installed, so not removed
Package 'librealsense2-net-dev' is not installed, so not removed
Package 'librealsense2-dev' is not installed, so not removed
The following packages were automatically installed and are no longer required:
at dctrl-tools dkms libatk-bridge2.0-dev libatspi2.0-dev libepoxy-dev libfl2 libglfw3 libgtk-3-dev libxtst-dev
linux-headers-5.11.0-27-generic linux-hwe-5.11-headers-5.11.0-27 linux-image-5.11.0-27-generic linux-modules-5.11.0-27-generic
linux-modules-extra-5.11.0-27-generic wayland-protocols x11proto-record-dev
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 315 not upgraded.
Install 2.45 librealsense2 binaries
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-utils' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-dev' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-dbg' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-gl' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-net' was not found
E: Version '2.45.0-0~realsense0.4551' for 'librealsense2-udev-rules' was not found
Remove realsense-ros binaries
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-melodic-realsense2-camera
E: Unable to locate package ros-melodic-realsense2-description
E: Unable to locate package ros-melodic-librealsense2
Building realsense-ros 2.3.0 from source
fatal: destination path 'realsense-ros' already exists and is not an empty directory.
Base path: /home/hello-robot/catkin_ws
Source space: /home/hello-robot/catkin_ws/src
Build space: /home/hello-robot/catkin_ws/build
Devel space: /home/hello-robot/catkin_ws/devel
Install space: /home/hello-robot/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/hello-robot/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/hello-robot/catkin_ws/build"
####
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In file included from /opt/ros/noetic/include/librealsense2/hpp/rs_sensor.hpp:8,
from /opt/ros/noetic/include/librealsense2/hpp/rs_device.hpp:8,
from /opt/ros/noetic/include/librealsense2/hpp/rs_record_playback.hpp:8,
from /opt/ros/noetic/include/librealsense2/hpp/rs_context.hpp:8,
from /opt/ros/noetic/include/librealsense2/rs.hpp:9,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/../include/realsense_node_factory.h:12,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:6,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1:
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp: In lambda function:
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp:1047:58: warning: comparison of integer expressions of different signedness: ‘int’ and ‘const size_t’ {aka ‘const long unsigned int’} [-Wsign-compare]
1047 | frm.get_profile().stream_index() == index) f = frm;
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp: In lambda function:
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp:1069:58: warning: comparison of integer expressions of different signedness: ‘int’ and ‘const size_t’ {aka ‘const long unsigned int’} [-Wsign-compare]
1069 | frm.get_profile().stream_index() == index) f = frm;
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp: In lambda function:
/opt/ros/noetic/include/librealsense2/hpp/rs_frame.hpp:1091:58: warning: comparison of integer expressions of different signedness: ‘int’ and ‘const size_t’ {aka ‘const long unsigned int’} [-Wsign-compare]
1091 | frm.get_profile().stream_index() == index) f = frm;
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::publishPointCloud(rs2::points, const ros::Time&, const rs2::frameset&)’:
/home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:2165:29: error: ‘find_if’ was not declared in this scope
2165 | texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f)
| ^~~~~~~
/home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:2165:29: note: suggested alternatives:
In file included from /usr/include/c++/9/algorithm:62,
from /usr/include/boost/smart_ptr/shared_ptr.hpp:39,
from /usr/include/boost/shared_ptr.hpp:17,
from /opt/ros/noetic/include/class_loader/class_loader.hpp:36,
from /opt/ros/noetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/noetic/include/pluginlib/class_list_macros.h:35,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/../include/realsense_node_factory.h:6,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:6,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1:
/usr/include/c++/9/bits/stl_algo.h:3954:5: note: ‘std::find_if’
3954 | find_if(_InputIterator __first, _InputIterator __last,
| ^~~~~~~
In file included from /usr/include/boost/mpl/find.hpp:17,
from /usr/include/boost/mpl/aux_/contains_impl.hpp:20,
from /usr/include/boost/mpl/contains.hpp:20,
from /usr/include/boost/math/policies/policy.hpp:10,
from /usr/include/boost/math/policies/error_handling.hpp:21,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/noetic/include/ros/time.h:58,
from /opt/ros/noetic/include/ros/console.h:39,
from /opt/ros/noetic/include/nodelet/nodelet.h:40,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/../include/realsense_node_factory.h:7,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:6,
from /home/hello-robot/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1:
/usr/include/boost/mpl/find_if.hpp:32:8: note: ‘boost::mpl::find_if’
32 | struct find_if
| ^~~~~~~
make[2]: *** [realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/build.make:76: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:4771: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed
Full tree crawl took 0.021477 seconds.
Directories marked with (*) contain no manifest. You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only
-------------------------------------------------------------
0.018527 /opt/ros/noetic/share
0.002142 /home/hello-robot/catkin_ws/src
0.001015 /home/hello-robot/catkin_ws/src/stretch_ros
0.000478 /home/hello-robot/catkin_ws/src/scan_tools
0.000159 /home/hello-robot/catkin_ws/src/realsense-ros
0.000095 * /opt/ros/noetic/share/ament_index
0.000060 * /opt/ros/noetic/share/ament_index/resource_index
0.000054 * /opt/ros/noetic/share/apriltag
0.000046 * /opt/ros/noetic/share/man
0.000026 * /home/hello-robot/catkin_ws/src/stretch_ros/images
0.000015 * /opt/ros/noetic/share/apriltag/cmake
0.000014 * /opt/ros/noetic/share/ament_index/resource_index/packages
0.000011 * /opt/ros/noetic/share/man/man1
Copying apt pinning file into standard location
NOTE: Please restart the robot. Then use 'realsense-viewer' to upgrade the camera's firmware to the latest versions.
Any help would be appreciated!
Edit - the tag ID error persists on the Ubuntu 18 + Melodic partition on this machine, but the realsense-viewer is available on the Ubuntu 18 partition. I didn’t run the patch on this partition yet, just in case it breaks here, too.