<launch>
<arg name="serial_no" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="
device_type" default=""/>
<arg name="json_file_path" default=""/>
<arg name="
camera" default="
camera"/>
<arg name="tf_prefix" default="$(arg
camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="
realsense2_
camera_manager"/>
<arg name="output" default="screen"/>
<arg name="respawn" default="false"/>
<arg name="f
isheye_width" default="-1"/>
<arg name="f
isheye_height" default="-1"/>
<arg name="enable_f
isheye" default="false"/>
<arg name="depth_width" default="-1"/>
<arg name="depth_height" default="-1"/>
<arg name="enable_depth" default="true"/>
<arg name="confidence_width" default="-1"/>
<arg name="confidence_height" default="-1"/>
<arg name="enable_confidence" default="true"/>
<arg name="confidence_fps" default="-1"/>
<arg name="infra_width" default="848"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra" default="true"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra
2" default="true"/>
<arg name="infra_rgb" default="true"/>
<arg name="color_width" default="-1"/>
<arg name="color_height" default="-1"/>
<arg name="enable_color" default="true"/>
<arg name="f
isheye_fps" default="-1"/>
<arg name="depth_fps" default="-1"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="-1"/>
<arg name="gyro_fps" default="-1"/>
<arg name="accel_fps" default="-1"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="false"/>
<arg name="enable_pointcloud" default="true"/>
<arg name="pointcloud_texture_stream" default="RS
2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="allow_no_texture_points" default="false"/>
<arg name="ordered_pc" default="false"/>
<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="true"/>
<arg name="publ
ish_tf" default="true"/>
<arg name="tf_publ
ish_rate" default="0"/>
<arg name="filters" default=""/>
<arg name="clip_d
istance" default="-
2"/>
<arg name="linear_accel_cov" default="0
.01"/>
<arg name="initial_reset" default="false"/>
<arg name="reconnect_timeout" default="6
.0"/>
<arg name="wait_for_
device_timeout" default="-1
.0"/>
<arg name="unite_imu_method" default=""/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publ
ish_odom_tf" default="true"/>
<arg name="stereo_module/exposure/1" default="7500"/>
<arg name="stereo_module/gain/1" default="16"/>
<arg name="stereo_module/exposure/
2" default="1"/>
<arg name="stereo_module/gain/
2" default="16"/>
<group ns="$(arg
camera)">
<include file="$(find
realsense2_
camera)/launch/includes/nodelet
.launch
.xml">
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="output" value="$(arg output)"/>
<arg name="respawn" value="$(arg respawn)"/>
<arg name="serial_no" value="$(arg serial_no)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="
device_type" value="$(arg
device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="f
isheye_width" value="$(arg f
isheye_width)"/>
<arg name="f
isheye_height" value="$(arg f
isheye_height)"/>
<arg name="enable_f
isheye" value="$(arg enable_f
isheye)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="confidence_width" value="$(arg confidence_width)"/>
<arg name="confidence_height" value="$(arg confidence_height)"/>
<arg name="enable_confidence" value="$(arg enable_confidence)"/>
<arg name="confidence_fps" value="$(arg confidence_fps)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra" value="$(arg enable_infra)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra
2" value="$(arg enable_infra
2)"/>
<arg name="infra_rgb" value="$(arg infra_rgb)"/>
<arg name="f
isheye_fps" value="$(arg f
isheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>
<arg name="publ
ish_tf" value="$(arg publ
ish_tf)"/>
<arg name="tf_publ
ish_rate" value="$(arg tf_publ
ish_rate)"/>
<arg name="filters" value="$(arg filters)"/>
<arg name="clip_d
istance" value="$(arg clip_d
istance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/>
<arg name="wait_for_
device_timeout" value="$(arg wait_for_
device_timeout)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publ
ish_odom_tf" value="$(arg publ
ish_odom_tf)"/>
<arg name="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/>
<arg name="stereo_module/gain/1" value="$(arg stereo_module/gain/1)"/>
<arg name="stereo_module/exposure/
2" value="$(arg stereo_module/exposure/
2)"/>
<arg name="stereo_module/gain/
2" value="$(arg stereo_module/gain/
2)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
<arg name="ordered_pc" value="$(arg ordered_pc)"/>
</include>
</group>
</launch>
[WARN] [17611881
22.4
28
278675]:
Device 1/1 failed
with exception: failed to set power state
[ERROR] [17611881
22.4
28
291635]:
The requested device with is NOT found. Will Try again.
23/10 10:55:
22,4
28 ERROR [13077
2373640960] (handle-libusb
.h:51) failed to open usb interface: 0, error: RS
2_USB_STATUS_NO_
DEVICE
23/10 10:55:
22,4
28 ERROR [13077
23904
26368] (sensor
.cpp:57
2) acquire_power failed: failed to set power state
23/10 10:55:
22,4
28 WARNING [13077
23904
26368] (rs
.cpp:310) null pointer passed for argument "
device"
^C[
camera/
realsense2_
camera-3] killing on exit
[
camera/
realsense2_
camera_manager-
2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor
...
... shutting down processing monitor complete
done
root@541a3ff4fa7f:~/orb_slam3/catkin_ws#
本文介绍如何通过在系统中添加特定配置文件来设置Intel Realsense相机，并确保其与ROS2环境正确配合工作。主要内容包括在指定目录下创建配置文件及重启相机连接。
扫一扫
5922
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
