Hello,
I have followed the instructions listed here and get this
I wonder what happened.
Thank you.
Hi @Peiqi_Liu, welcome to the forum! What happens when you run
roslaunch stretch_core stretch_driver.launch
Could you include the output printed to the terminal?
When I run roslaunch stretch_core stretch_driver.launch, this is what I get
... logging to /home/hello-robot/.ros/log/7db47ea0-415f-11ee-adf0-697a7bfca89f/roslaunch-stretch-re2-1091-4226.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server XXXXXXX
SUMMARY
========
PARAMETERS
* /aggregator_node/analyzers/hardware/analyzers/Arm/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Arm/path: Arm
* /aggregator_node/analyzers/hardware/analyzers/Arm/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Base/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Base/path: Base
* /aggregator_node/analyzers/hardware/analyzers/Base/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/EndOfArm/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/EndOfArm/path: EndOfArm
* /aggregator_node/analyzers/hardware/analyzers/EndOfArm/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Head/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Head/path: Head
* /aggregator_node/analyzers/hardware/analyzers/Head/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Lift/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Lift/path: Lift
* /aggregator_node/analyzers/hardware/analyzers/Lift/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Pimu/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Pimu/path: Pimu
* /aggregator_node/analyzers/hardware/analyzers/Pimu/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Wacc/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Wacc/path: Wacc
* /aggregator_node/analyzers/hardware/analyzers/Wacc/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/path: Hardware
* /aggregator_node/analyzers/hardware/type: diagnostic_aggreg...
* /aggregator_node/path: Stretch
* /aggregator_node/type: diagnostic_aggreg...
* /joint_state_publisher/rate: 15.0
* /joint_state_publisher/source_list: ['/stretch/joint_...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 15.0
* /rosdistro: noetic
* /rosversion: 1.16.0
* /stretch_driver/controller_calibration_file: /home/hello-robot...
* /stretch_driver/rate: 15.0
* /stretch_driver/timeout: 0.5
NODES
/
aggregator_node (diagnostic_aggregator/aggregator_node)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
stretch_driver (stretch_core/stretch_driver)
ROS_MASTER_URI=XXXXXX
process[joint_state_publisher-1]: started with pid [4241]
process[robot_state_publisher-2]: started with pid [4242]
process[stretch_driver-3]: started with pid [4243]
process[aggregator_node-4]: started with pid [4244]
[ WARN] [1692848724.524971369]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[INFO] [rospy.topics]: topicmanager initialized
[INFO] [1692848725.475338, 0.000000]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
[INFO] [1692848725.478457, 0.000000]: /stretch_driver started
[INFO] [1692848727.507135, 0.000000]: mode = navigation
[INFO] [1692848727.517297, 0.000000]: /stretch_driver: Changed to mode = navigation
[INFO] [1692848727.528523, 0.000000]: broadcast_odom_tf = False
[INFO] [1692848727.535960, 0.000000]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml
[INFO] [1692848727.543117, 0.000000]: controller parameters loaded = {'arm_retracted_offset': 0.00502187181603983, 'pan_angle_offset': 0.1108700352549859, 'pan_looked_left_offset': -0.01364404809975658, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': -0.007231167800139384, 'tilt_looking_up_offset': -0.04040001162555115}
[INFO] [1692848727.546465, 0.000000]: head_tilt_calibrated_offset_rad in degrees = -0.41431539589888666
[INFO] [1692848727.550228, 0.000000]: head_pan_calibrated_offset_rad in degrees = 6.352385094577336
[INFO] [1692848727.553953, 0.000000]: head_pan_calibrated_looked_left_offset_rad in degrees = -0.7817463715895429
[INFO] [1692848727.557000, 0.000000]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932
[INFO] [1692848727.560545, 0.000000]: head_tilt_calibrated_looking_up_offset_rad in degrees = -2.3147501584235415
[INFO] [1692848727.564150, 0.000000]: arm_calibrated_retracted_offset_m in meters = 0.00502187181603983
[INFO] [1692848727.633991, 0.000000]: /stretch_driver rate = 15.0 Hz
[INFO] [1692848727.637808, 0.000000]: /stretch_driver timeout = 0.5 s
[INFO] [1692848727.644970, 0.000000]: /stretch_driver use_fake_mechaduinos = False
[INFO] [1692848727.651372, 0.000000]: /stretch_driver base_frame_id = base_link
[INFO] [1692848727.656211, 0.000000]: /stretch_driver odom_frame_id = odom
When I run roslaunch stretch_core d435i_low_resolution.launch, this is what I get:
... logging to /home/hello-robot/.ros/log/7db47ea0-415f-11ee-adf0-697a7bfca89f/roslaunch-stretch-re2-1091-4790.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server XXXXXX
SUMMARY
========
PARAMETERS
* /camera/realsense2_camera/accel_fps: 63
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: True
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: True
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -2.0
* /camera/realsense2_camera/color_fps: 15
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: 240
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: 424
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: 240
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: 424
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: True
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: True
* /camera/realsense2_camera/filters: pointcloud
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: 200
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /camera/realsense2_camera/initial_reset: True
* /camera/realsense2_camera/json_file_path: /home/hello-robot...
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/ordered_pc: False
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: odom_in
* /camera/realsense2_camera/unite_imu_method:
* /camera/realsense2_camera/usb_port_id:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
d435i_accel_correction (stretch_core/d435i_accel_correction)
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=XXXXXX
process[d435i_accel_correction-1]: started with pid [4805]
process[camera/realsense2_camera_manager-2]: started with pid [4806]
process[camera/realsense2_camera-3]: started with pid [4807]
[ INFO] [1692848909.494916775]: Initializing nodelet with 8 worker threads.
[ INFO] [1692848909.649431963]: RealSense ROS v2.3.2
[ INFO] [1692848909.649469464]: Built with LibRealSense v2.54.1
[ INFO] [1692848909.649497007]: Running with LibRealSense v2.54.1
[ INFO] [1692848909.710624534]:
[ INFO] [1692848909.737970445]: Device with serial number 134322070935 was found.
[ INFO] [1692848909.738052189]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1692848909.738070965]: Device with name Intel RealSense D435I was found.
[ INFO] [1692848909.738541589]: Device with port number 2-2 was found.
[ INFO] [1692848909.738564627]: Device USB type: 3.2
[ INFO] [1692848909.738581141]: Resetting device...
[INFO] [1692848909.860174, 0.000000]: /d435i_accel_correction started
[ INFO] [1692848915.831643731]:
[ INFO] [1692848915.848332095]: Device with serial number 134322070935 was found.
[ INFO] [1692848915.848402843]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[ INFO] [1692848915.848414169]: Device with name Intel RealSense D435I was found.
[ INFO] [1692848915.848767028]: Device with port number 2-2 was found.
[ INFO] [1692848915.848805735]: Device USB type: 3.2
[ INFO] [1692848915.854542049]: getParameters...
[ INFO] [1692848916.169596297]: setupDevice...
[ INFO] [1692848916.484788332]: JSON file is loaded! (/home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/HighAccuracyPreset.json)
[ INFO] [1692848916.484831956]: ROS Node Namespace: camera
[ INFO] [1692848916.484850140]: Device Name: Intel RealSense D435I
[ INFO] [1692848916.484866243]: Device Serial No: 134322070935
[ INFO] [1692848916.484880745]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0
[ INFO] [1692848916.484906612]: Device FW version: 5.14.0
[ INFO] [1692848916.484942293]: Device Product ID: 0x0B3A
[ INFO] [1692848916.484965737]: Enable PointCloud: On
[ INFO] [1692848916.484988632]: Align Depth: On
[ INFO] [1692848916.485013203]: Sync Mode: On
[ INFO] [1692848916.485063089]: Device Sensors:
[ INFO] [1692848916.489980016]: Stereo Module was found.
[ INFO] [1692848916.499299987]: RGB Camera was found.
[ INFO] [1692848916.499519015]: Motion Module was found.
[ INFO] [1692848916.499610655]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1692848916.500044437]: Add Filter: pointcloud
[ INFO] [1692848916.500721012]: num_filters: 2
[ INFO] [1692848916.500749962]: Setting Dynamic reconfig parameters.
[ WARN] [1692848916.652383884]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1692848916.719639589]: Done Setting Dynamic reconfig parameters.
[ INFO] [1692848916.720309227]: depth stream is enabled - width: 424, height: 240, fps: 15, Format: Z16
[ INFO] [1692848916.721020722]: color stream is enabled - width: 424, height: 240, fps: 15, Format: RGB8
[ WARN] [1692848916.722091309]: No mathcing profile found for accel with fps=63
[ WARN] [1692848916.722160745]: Using default profile instead.
[ INFO] [1692848916.722222882]: accel stream is enabled - fps: 100
[ INFO] [1692848916.722305189]: setupPublishers...
[ INFO] [1692848916.732708217]: Expected frequency for depth = 15.00000
[ INFO] [1692848916.869279025]: Expected frequency for color = 15.00000
[ INFO] [1692848916.990845635]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1692848917.114116889]: setupStreams...
[ WARN] [1692848917.117045547]:
[ INFO] [1692848917.142925450]: SELECTED BASE:Depth, 0
[ INFO] [1692848917.191079543]: RealSense Node Is Up!
When I finally run rosrun rviz rviz -d /home/hello-robot/catkin_ws/src/stretch_tutorials/rviz/perception_example.rviz, this is what I get
Hi @Peiqi_Liu, it looks like your console outputs look correct. I recently tried the perception tutorial without any issue. If you’re still seeing the problem, I’d recommend homing the robot and confirming that output of a robot system check (stretch_robot_system_check.py) is all green.