* **melodic:** _Documentation generated on March 01, 2022 at 07:25 AM_ ( [ doc job ](https://build.ros.org/view/Mdoc/job/Mdoc__ros_comm__ubuntu_bionic_amd64) ).


** Dependencies  (3) **


Setting an entire namespace of parameters using a YAML dictionary:


rosparam contains the rosparam command-line tool for getting and setting ROS
Parameters on the [ Parameter Server
](http://www.ros.org/wiki/Parameter%20Server) using YAML-encoded files. It
also contains an experimental library for using YAML with the Parameter
Server. This library is intended for internal use only.


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remembering your preferences and repeat visits. By clicking “Accept All”, you
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` -v `


[ ![ROS For Beginners - A Step By Step Course](https://roboticsbackend.com/wp-
content/uploads/2019/07/ROS_For_Beginners_A_Step_by_Step_Course.jpg)
](https://rbcknd.com/ros-for-beginners)


  * Maintainer status: maintained
  * Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
  * Author: Ken Conley
  * License: BSD
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: groovy-devel)


* Substitute the value of an environment variable if it is set. If ` default_value ` is provided, it will be used if the environment variable is not set. If ` default_value ` is not provided, an empty string will be used. ` default_value ` can be multiple words separated by spaces.


or,


    * For example:

                <param name="circumference" value="$(eval 2.* 3.1415 * arg('radius'))"/>


    XmlRpc::XmlRpcValue v;
        nh_.param("subscribed_to_nodes", v, v);
        for(int i =0; i < v.size(); i++)
        {
          node_names_.push_back(v[i]);
          std::cerr << "node_names: " << node_names_[i] << std::endl;
        }


#  Package Summary


    $ rosparam get /my_float
    3.14
    $ rosparam set /my_float 5.06
    $ rosparam get /my_float
    5.06


roslaunch beginner_tutorials launch_file.launch a:=1 b:=5


` -b <binary_file>, --binfile <binary_file> ` New in Diamondback


def print_params(params, ns):
    """
    Print contents of param dictionary to screen
    """
    if type(params) == dict:
        for k, v in params.iteritems():
            if type(v) == dict:
                print_params(v, ns_join(ns, k))
            else:
                print "%s=%s"%(ns_join(ns, k), v)
    else:
        print params

# yaml processing


Toggle


#  Page


Roslaunch tag attributes can make use of _substitution args_ , which roslaunch
will resolve prior to launching nodes. The currently supported substitution
args are:


* Show verbose output.


And again, don’t forget the power of ` grep ` :


  * **[ Code API ](http://docs.ros.org/en/diamondback/api/rosparam/html/) **
  * [ Tutorials ](/rosparam/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosparam/page:1/)
  * [ Reviews ](/rosparam/Reviews)


    $ rosparam list | grep 'my_'
    /my_float
    /my_integer
    /my_string


` $(eval <expression>) ` New in Kinetic


##  Evaluation order


##  Get a parameter’s value (rosparam get)


**Package Links**


Command-line arguments to rosparam obey the ` ROS_NAMESPACE ` environment
variable (see [ Environment Variables ](/ROS/EnvironmentVariables) ).
Parameter names that are not globally specified are resolved with respect to `
ROS_NAMESPACE ` .


    string: 'foo'
    integer: 1234
    float: 1234.5
    boolean: true
    list: [1.0, mixed list]
    dictionary: {a: b, c: d}


Performance


**If yes, this course is for you:**


Except where otherwise noted, the ROS wiki is licensed under the
[ Creative Commons Attribution 3.0
](http://creativecommons.org/licenses/by/3.0/)


from optparse import OptionParser


def yamlmain(argv=None):
    """
    Command-line main routine. Loads in one or more input files

    @param argv: command-line arguments or None to use sys.argv
    @type  argv: [str]
    """
    if argv is None:
        argv = sys.argv
    if len(argv) == 1:
        _fullusage()
    try:
        command = argv[1]
        if command in ['get', 'dump']:
            _rosparam_cmd_get_dump(command, argv)
        elif command in ['set', 'load']:
            _rosparam_cmd_set_load(command, argv)
        elif command in ['delete']:
            _rosparam_cmd_delete(argv)
        elif command == 'list':
            _rosparam_cmd_list(argv)
        else:
            _fullusage()
    except ROSParamException, e:
        print >> sys.stderr, "ERROR: "+str(e)
        sys.exit(1)


* Name of parameter.


  * [ catkin ](/catkin?distro=noetic)
  * [ rosgraph ](/rosgraph?distro=noetic)


##  if and unless attributes


The ROS Wiki is for ROS 1. Are you using ROS 2 ( [ Humble
](http://docs.ros.org/en/humble/) , [ Iron ](http://docs.ros.org/en/iron/) ,
or [ Rolling ](http://docs.ros.org/en/rolling/) )?
[ Check out the ROS 2 Project Documentation ](http://docs.ros.org)
Package specific documentation can be found on [ index.ros.org
](https://index.ros.org)


* ` $(eval <expression>) ` allows to evaluate arbitrary complex python expressions.


def _succeed(args):
    """
    Utility routine for checking ROS XMLRPC API call
    @return: value field from ROS xmlrpc call
    @rtype: XmlRpcLegalValue
    @raise ROSParamException: if call to ROS xmlrpc API did not succeed
    """
    code, msg, val = args
    if code != 1:
        raise ROSParamException(msg)
    return val


[ The Robotics Back-End ](https://roboticsbackend.com/)


##  YAML Format


Always Enabled


  * [ pr2_controller_manag... ](/pr2_controller_manager?distro=diamondback)
  * [ rosh ](/rosh?distro=diamondback)
  * [ roslaunch ](/roslaunch?distro=diamondback)
  * [ test_roslaunch ](/test_roslaunch?distro=diamondback)
  * [ test_rosparam ](/test_rosparam?distro=diamondback)


"$(eval arg('foo') + env('PATH') + 'bar' + find('pkg')"


* [ roscpp parameter syntax ](/roscpp/Overview/Parameter%20Server)


Continuous Integration


    $ rosparam delete /new_param_str
    $ rosparam get /new_param_str
    ERROR: Parameter [/new_param_str] is not set


rosparam can be invoked within a [ roslaunch
](http://www.ros.org/wiki/roslaunch) file.


##  substitution args


##  Want to learn ROS?


* [ <arg> ](/roslaunch/XML/arg)


  * **[ Code API ](http://docs.ros.org/en/kinetic/api/rosparam/html) **
  * [ Tutorials ](/rosparam/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosparam/page:1/)
  * [ Changelog ](http://docs.ros.org/en/kinetic/changelogs/rosparam/changelog.html)
  * [ Change List ](/ros_comm/ChangeList)
  * [ Reviews ](/rosparam/Reviews)


    if cmd == 'set':
        name = script_resolve_name(NAME, arg)
        # #2647
        if options.text_file:
            if not os.path.isfile(options.text_file):
                parser.error("file '%s' does not exist"%(options.text_file))
            with open(options.text_file) as f:
                arg2 = f.read()
            set_param_raw(name, arg2, verbose=options.verbose)
        elif options.bin_file:
            import xmlrpclib
            with open(options.bin_file, 'rb') as f:
                arg2 = xmlrpclib.Binary(f.read())
            set_param_raw(name, arg2, verbose=options.verbose)
        else:
            # #2237: the empty string is really hard to specify on the
            # command-line due to bash quoting rules. We cheat here and
            # let an empty Python string be an empty YAML string (instead
            # of YAML null, which has no meaning to the Parameter Server
            # anyway).
            if arg2 == '':
                arg2 = '!!str'
            set_param(name, arg2, verbose=options.verbose)
    else:
        paramlist = load_file(arg, default_namespace=script_resolve_name(NAME, arg2), verbose=options.verbose)
        for params,ns in paramlist:
            upload_params(ns, params, verbose=options.verbose)


  1. Evaluation order
  2. substitution args
  3. if and unless attributes
    1. Example
  4. Tag Reference
  5. Example .launch XML Config Files
    1. Minimal Example
    2. A More Complicated Example
    3. Setting parameters


  * Maintainer status: maintained
  * Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
  * Author: Ken Conley
  * License: BSD
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: indigo-devel)


Do you want to learn how to program with ROS?


  * Author: unknown
  * License: unknown
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: fuerte-devel)


Released


  * [ pr2_controller_manag... ](/pr2_controller_manager?distro=kinetic)
  * [ rocon_gateway ](/rocon_gateway?distro=kinetic)
  * [ ros_comm ](/ros_comm?distro=kinetic)
  * [ roslaunch ](/roslaunch?distro=kinetic)
  * [ sr_moveit_hand_confi... ](/sr_moveit_hand_config?distro=kinetic)


**[ >> ROS For Beginners - A Step By Step Course << ](https://rbcknd.com/ros-
for-beginners) **


Documented


Menu


    * For example:

                  <param name="foo" value="$(arg my_foo)" />


# YAML configuration. Doxygen does not like these being higher up in the code


##  Example .launch XML Config Files


* [ Login ](/action/login/rosparam?action=login)


  * Author: Ken Conley/kwc@willowgarage.com
  * License: BSD
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: ros_comm-1.6)


Note: with ` rosparam list ` you only see the parameters’ name, not their
value (we’ll get to that just below).


` $(optenv ENVIRONMENT_VARIABLE) ` ` $(optenv ENVIRONMENT_VARIABLE
default_value) `


Continuous Integration:  1426 / 1427


#  Package Summary


rosparam contains the rosparam command-line tool for getting and setting ROS
Parameters on the [ Parameter Server
](http://www.ros.org/wiki/Parameter%20Server) using YAML-encoded files. It
also contains an experimental library for using YAML with the Parameter
Server. This library is intended for internal use only. rosparam can be
invoked within a [ roslaunch ](http://www.ros.org/wiki/roslaunch) file.


  * Launch file for this example
  * Find all the params (rosparam list)
  * Get a parameter’s value (rosparam get)
  * Set a parameter’s value (rosparam set)
  * Delete a parameter (rosparam delete)
  * Using namespaces with rosparam
  * Going further with rosparam command line tool


* [ rospy parameter syntax ](/rospy/Overview/Parameter%20Server)


  * Immutable Page
  * Comments
  * [ Info ](/action/info/roslaunch/XML?action=info)
  * [ Attachments ](/action/AttachFile/roslaunch/XML?action=AttachFile)
  * More Actions:  Raw Text  Print View  Render as Docbook  Delete Cache  \------------------------  Check Spelling  Like Pages  Local Site Map  \------------------------  Rename Page  Copy Page  Delete Page  \------------------------  My Pages  Subscribe User  \------------------------  Remove Spam  Revert to this revision  Package Pages  Sync Pages  \------------------------  CreatePdfDocument  Load  RawFile  Save  SlideShow


###  rosparam load


Necessary


##  rosparam command-line tool


_**[ ros_comm ](/ros_comm?distro=hydro) ** : [ message_filters
](/message_filters?distro=hydro) | [ ros ](/ros?distro=hydro) | [ rosbag
](/rosbag?distro=hydro) | [ rosconsole ](/rosconsole?distro=hydro) | [ roscpp
](/roscpp?distro=hydro) | [ rosgraph ](/rosgraph?distro=hydro) | [
rosgraph_msgs ](/rosgraph_msgs?distro=hydro) | [ roslaunch
](/roslaunch?distro=hydro) | [ roslisp ](/roslisp?distro=hydro) | [ rosmaster
](/rosmaster?distro=hydro) | [ rosmsg ](/rosmsg?distro=hydro) | [ rosnode
](/rosnode?distro=hydro) | [ rosout ](/rosout?distro=hydro) | rosparam | [
rospy ](/rospy?distro=hydro) | [ rosservice ](/rosservice?distro=hydro) | [
rostest ](/rostest?distro=hydro) | [ rostopic ](/rostopic?distro=hydro) | [
roswtf ](/roswtf?distro=hydro) | [ std_srvs ](/std_srvs?distro=hydro) | [
topic_tools ](/topic_tools?distro=hydro) | [ xmlrpcpp
](/xmlrpcpp?distro=hydro) _


Wiki: roslaunch/XML (last edited 2017-07-21 01:19:06 by  [ MikePurvis
](/MikePurvis "MikePurvis @ 23-233-6-110.cpe.pppoe.ca\[23.233.6.110\]") )


rosparam contains the rosparam command-line tool for getting and setting ROS
Parameters on the [ Parameter Server ](http://wiki.ros.org/Parameter%20Server)
using YAML-encoded files. It also contains an experimental library for using
YAML with the Parameter Server. This library is intended for internal use
only. rosparam can be invoked within a [ roslaunch
](http://wiki.ros.org/roslaunch) file.


Did you find this tutorial useful?


                        $ rosparam set /gains "p: 1.0
            i: 1.0
            d: 1.0"


    <launch>
      <!-- local machine already has a definition by default.
           This tag overrides the default definition with
           specific ROS_ROOT and ROS_PACKAGE_PATH values -->
      <machine name="local_alt" address="localhost" default="true" ros-root="/u/user/ros/ros/" ros-package-path="/u/user/ros/ros-pkg" />
      <!-- a basic listener node -->
      <node name="listener-1" pkg="rospy_tutorials" type="listener" />
      <!-- pass args to the listener node -->
      <node name="listener-2" pkg="rospy_tutorials" type="listener" args="-foo arg2" />
      <!-- a respawn-able listener node -->
      <node name="listener-3" pkg="rospy_tutorials" type="listener" respawn="true" />
      <!-- start listener node in the 'wg1' namespace -->
      <node ns="wg1" name="listener-wg1" pkg="rospy_tutorials" type="listener" respawn="true" />
      <!-- start a group of nodes in the 'wg2' namespace -->
      <group ns="wg2">
        <!-- remap applies to all future statements in this scope. -->
        <remap from="chatter" to="hello"/>
        <node pkg="rospy_tutorials" type="listener" name="listener" args="--test" respawn="true" />
        <node pkg="rospy_tutorials" type="talker" name="talker">
          <!-- set a private parameter for the node -->
          <param name="talker_1_param" value="a value" />
          <!-- nodes can have their own remap args -->
          <remap from="chatter" to="hello-1"/>
          <!-- you can set environment variables for a node -->
          <env name="ENV_EXAMPLE" value="some value" />
        </node>
      </group>
    </launch>


  * [ catkin ](/catkin?distro=lunar)
  * [ rosgraph ](/rosgraph?distro=lunar)


  * ` load <yaml-file> [namespace] `
    * Load parameters from a YAML file into the specified ` [namespace] ` (defaults to ` / ` ). NOTE: this will _add_ to the currently set values.

                $ rosparam load dump.yaml


There are also special converters for angle radian/degree representations. Any
Python-legal mathematical expression can be used  with the radian value, with
` pi ` used to represent pi.


** Dependencies  (2) **


The following example shows a minimal launch configuration script. It launches
a single 'talker' node, which is part of the 'rospy_tutorials' package. This
node will launch on the local machine using the currently configured ROS
environment (i.e. ROS_ROOT, etc...).


  * [ source ubuntu bionic ](https://build.ros.org/view/Msrc_uB/job/Msrc_uB__rosparam__ubuntu_bionic__source)
  * [ binary ubuntu bionic amd64 ](https://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__rosparam__ubuntu_bionic_amd64__binary)
  * [ binary ubuntu bionic armhf ](https://build.ros.org/view/Mbin_ubhf_uBhf/job/Mbin_ubhf_uBhf__rosparam__ubuntu_bionic_armhf__binary)
  * [ binary ubuntu bionic arm64 ](https://build.ros.org/view/Mbin_ubv8_uBv8/job/Mbin_ubv8_uBv8__rosparam__ubuntu_bionic_arm64__binary)
  * [ devel ubuntu bionic amd64 ](https://build.ros.org/view/Mdev/job/Mdev__ros_comm__ubuntu_bionic_amd64)
  * [ doc ](https://build.ros.org/view/Mdoc/job/Mdoc__ros_comm__ubuntu_bionic_amd64)


def set_param_raw(param, value, verbose=False):
    """
    Set param on the Parameter Server. Unlike L{set_param()}, this
    takes in a Python value to set instead of YAML.

    @param param: parameter name
    @type  param: str
    @param value XmlRpcLegalValue: value to upload
    @type  value: XmlRpcLegalValue
    """
    if type(value) == dict:
        # #1098 changing dictionary behavior to be an update, rather
        # than replace behavior.
        for k, v in value.iteritems():
            # dictionary keys must be non-unicode strings
            if isinstance(k, str):
                set_param_raw(ns_join(param, k), v, verbose=verbose)
            else:
                raise ROSParamException("YAML dictionaries must have string keys. Invalid dictionary is:\n%s"%value)
    else:
        if type(value) == long:
            if value > sys.maxint:
                raise ROSParamException("Overflow: Parameter Server integers must be 32-bit signed integers:\n\t-%s <= value <= %s"%(sys.maxint-1, sys.maxint))

        try:
            _succeed(get_param_server().setParam(_get_caller_id(), param, value))
        except socket.error:
            raise ROSParamIOException("Unable to communicate with master!")
        if verbose:
            print "set parameter [%s] to [%s]"%(param, value)


_You are learning ROS?_


* Set parameter to contents of text file.


You can omit the ` type ` attribute if value is unambiguous. Supported types
are ` str ` , ` int ` , ` double ` , ` bool ` . You can also specify the
contents of a file instead using the ` textfile ` or ` binfile ` attributes.


def construct_angle_radians(loader, node):
    """
    python-yaml utility for converting rad(num) into float value
    """
    value = loader.construct_scalar(node).strip()
    exprvalue = value.replace('pi', 'math.pi')
    if exprvalue.startswith("rad("):
        exprvalue = exprvalue[4:-1]
    try:
        return float(eval(exprvalue))
    except SyntaxError, e:
        raise ROSParamException("invalid radian expression: %s"%value)


[ ![ros.org](/custom/images/ros_org.png) ](/) |  [ About
](http://www.ros.org/about-ros) | [ Support ](/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)
---|---
![](/custom/images/menu_left.png) [
![Documentation](/custom/images/menu_documentation.png) ](/)
![](/custom/images/menu_spacer.png) [ ![Browse
Software](/custom/images/menu_browse_software.png)
](https://index.ros.org/packages) ![](/custom/images/menu_spacer.png) [
![News](/custom/images/menu_news.png) ](https://discourse.ros.org/c/general)
![](/custom/images/menu_spacer.png) [
![Download](/custom/images/menu_download.png) ](/ROS/Installation)
![](/custom/images/menu_right.png)

  * [ roslaunch ](/roslaunch)
  * [ XML ](/roslaunch/XML)
  * [ rosparam ](/roslaunch/XML/rosparam)


© 2024 The Robotics Back-End | [ Courses
](https://roboticsbackend.com/courses) | [ Privacy Policy
](https://roboticsbackend.com/privacy-policy/) | [ Contact
](https://roboticsbackend.com/contact/)


  * [ Distributions ](/Distributions)
  * [ ROS/Installation ](/ROS/Installation)
  * [ ROS/Tutorials ](/ROS/Tutorials)
  * [ RecentChanges ](/RecentChanges)
  * [ rosparam ](/rosparam)


#  Page


  * ` $(env ENVIRONMENT_VARIABLE) `
    * Substitute the value of a variable from the current environment. The launch will fail if environment variable is not set. This value cannot be overridden by ` <env> ` tags.


melodic  noetic  _Show EOL distros:_


_**[ ros_comm ](/ros_comm?distro=electric) ** : [ cpp_common
](/cpp_common?distro=electric) | [ message_filters
](/message_filters?distro=electric) | [ perf_roscpp
](/perf_roscpp?distro=electric) | [ rosbag ](/rosbag?distro=electric) | [
rosbagmigration ](/rosbagmigration?distro=electric) | [ rosconsole
](/rosconsole?distro=electric) | [ roscore_migration_rules
](/roscore_migration_rules?distro=electric) | [ roscpp
](/roscpp?distro=electric) | [ roscpp_serialization
](/roscpp_serialization?distro=electric) | [ roscpp_traits
](/roscpp_traits?distro=electric) | [ rosgraph ](/rosgraph?distro=electric) |
[ rosgraph_msgs ](/rosgraph_msgs?distro=electric) | [ roslaunch
](/roslaunch?distro=electric) | [ roslisp ](/roslisp?distro=electric) | [
rosmaster ](/rosmaster?distro=electric) | [ rosmsg ](/rosmsg?distro=electric)
| [ rosnode ](/rosnode?distro=electric) | [ rosout ](/rosout?distro=electric)
| rosparam | [ rospy ](/rospy?distro=electric) | [ rosservice
](/rosservice?distro=electric) | [ rostest ](/rostest?distro=electric) | [
rostime ](/rostime?distro=electric) | [ rostopic ](/rostopic?distro=electric)
| [ roswtf ](/roswtf?distro=electric) | [ std_msgs
](/std_msgs?distro=electric) | [ std_srvs ](/std_srvs?distro=electric) | [
topic_tools ](/topic_tools?distro=electric) | [ xmlrpcpp
](/xmlrpcpp?distro=electric) _


    * **Note** : As a limitation, ` $(eval) ` expressions need to span the whole attribute string. A mixture of other substitution args with ` eval ` within a single string is **not** possible:

                <param name="foo" value="$(arg foo)$(eval 6*7)bar"/>


##  <rosparam> tag


**Package Links**


  * [ ros_comm ](/ros_comm?distro=jade)
  * [ rosh ](/rosh?distro=jade)
  * [ roslaunch ](/roslaunch?distro=jade)


  * [ pr2_controller_manag... ](/pr2_controller_manager?distro=lunar)
  * [ ros_comm ](/ros_comm?distro=lunar)
  * [ roslaunch ](/roslaunch?distro=lunar)


rosparam can be invoked within a [ roslaunch
](http://www.ros.org/wiki/roslaunch) file.


` list <namespace> `


Released


* Will expect to find ` other.launch ` in the same directory as the launch file which it appears in.


Documented


#  ROS Param Command Line Tool – Practical Example (rosparam)


No API documentation


  * Maintainer status: maintained
  * Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
  * Author: Ken Conley
  * License: BSD
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: indigo-devel)


* [ <remap> ](/roslaunch/XML/remap)


Also, as you can guess, as your application grows, so do the number of
parameters. It’s not uncommon to have hundreds of parameters, and in this case
it becomes quite hard to find what you want. Pro tip: use ` grep ` to list
only the params that match a specific string:


ROS params are really useful to launch your ROS application with different
setup settings, without having to re-write and re-compile any part of your
code. With the rosparam command line tool, you’ll be able to test your
programs even faster when developing.


#  Package Summary


  * [ pr2_controller_manag... ](/pr2_controller_manager?distro=indigo)
  * [ ros_comm ](/ros_comm?distro=indigo)
  * [ rosh ](/rosh?distro=indigo)
  * [ roslaunch ](/roslaunch?distro=indigo)


  * First make sure that you have run ` catkin_make ` so your environment knows that your package exists.
  * Execute ` roslaunch my_robot_tutorials example_rosparam.launch ` .


* **hydro:** _Documentation generated on August 28, 2015 at 12:33 PM_ ( [ doc job ](http://jenkins.ros.org/job/doc-hydro-ros_comm/) ).


##  Going further with rosparam command line tool


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


How did you flash it?
Lack of ROS2 Humble apt packages also points to Ubuntu 20.04, which needs you to compile it by sources. On the other hand, ROS2 Foxy packages are available.


Hello , i send it for now in a co-worker , i will come back for details.


    debix@DEBIX26:~/librealsense-2.54.1/build$ cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
    cmake: /usr/lib/libcurl.so.4: no version information available (required by cmake)
    -- The CXX compiler identification is unknown
    -- The C compiler identification is GNU 11.3.0
    -- Detecting CXX compiler ABI info
    -- Detecting CXX compiler ABI info - failed
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Check for working C compiler: /usr/bin/cc - skipped
    -- Detecting C compile features
    -- Detecting C compile features - done
    -- Checking internet connection...
    -- Internet connection identified
    -- Info: REALSENSE_VERSION_STRING=2.54.1
    -- Setting Unix configurations
    -- Building libcurl enabled
    -- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.2")
    -- Performing Test SUPPORTS_CXX14
    -- Performing Test SUPPORTS_CXX14 - Failed
    CMake Error at CMake/lrs_macros.cmake:17 (message):
      Project 'realsense2' requires C++14 or higher
    Call Stack (most recent call first):
      CMakeLists.txt:53 (config_cxx_flags)

    -- Configuring incomplete, errors occurred!
    See also "/home/debix/librealsense-2.54.1/build/CMakeFiles/CMakeOutput.log".
    See also "/home/debix/librealsense-2.54.1/build/CMakeFiles/CMakeError.log".

---

All reactions


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 25, 2023


Additional navigation options


##  Footer


    ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=false -p spatial_filter.enable:=true -p temporal_filter.enable:=true
    Illegal instruction (core dumped)

---

All reactions


Would it be possible for your project to use Pi 4 instead of Debix or is Debix
a compulsory project requirement?

---

All reactions


      * For example: ` depth_module.depth_profile:=640x480x30 depth_module.infra_profile:=640x480x30 rgb_camera.color_profile:=1280x720x30 `
      * Note: The param **depth_module.infra_profile** is common for all infra streams. i.e., infra 0, 1 & 2\.
      * If the specified combination of parameters is not available by the device, the default or previously set configuration will be used.
        * Run ` ros2 param describe <your_node_name> <param_name> ` to get the list of supported profiles.
      * Note: Should re-enable the stream for the change to take effect.
    * **_ <stream_name> _ _format **
      * This parameter is a string used to select the stream format.
      * <stream_name> can be any of _infra, infra1, infra2, color, depth_ .
      * For example: ` depth_module.depth_format:=Z16 depth_module.infra1_format:=y8 rgb_camera.color_format:=RGB8 `
      * This parameter supports both lower case and upper case letters.
      * If the specified parameter is not available by the stream, the default or previously set configuration will be used.
        * Run ` ros2 param describe <your_node_name> <param_name> ` to get the list of supported formats.
      * Note: Should re-enable the stream for the change to take effect.
    * If the stream doesn't support the user selected profile <width>X<height>X<fps> \+ <format>, it will not be opened and a warning message will be shown.
      * Should update the profile settings and re-enable the stream for the change to take effect.
      * Run ` rs-enumerate-devices ` command to know the list of profiles supported by the connected sensors.
  * **enable_ _ <stream_name> _ ** :
    * Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams.
    * <stream_name> can be any of _infra, infra1, infra2, color, depth, gyro, accel_ .
    * For example: ` enable_infra1:=true enable_color:=false `
  * **enable_sync** :
    * gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag.
    * This happens automatically when such filters as pointcloud are enabled.
  * **_ <stream_type> _ _qos ** :
    * Sets the QoS by which the topic is published.
    * <stream_type> can be any of _infra, infra1, infra2, color, depth, gyro, accel_ .
    * Available values are the following strings: ` SYSTEM_DEFAULT ` , ` DEFAULT ` , ` PARAMETER_EVENTS ` , ` SERVICES_DEFAULT ` , ` PARAMETERS ` , ` SENSOR_DATA ` .
    * For example: ` depth_qos:=SENSOR_DATA `
    * Pointcloud QoS is controlled with the ` pointcloud.pointcloud_qos ` parameter in the pointcloud filter, refer to the Post-Processing Filters section for details.
    * Reference: [ ROS2 QoS profiles formal documentation ](https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-profiles)
  * **Notice:** **_ <stream_type> _ _info_qos ** refers to both camera_info topics and metadata topics.
  * **tf_publish_rate** :
    * double, rate (in Hz) at which dynamic transforms are published
    * Default value is 0.0 Hz _(means no dynamic TF)_
    * This param also depends on **publish_tf** param
      * If **publish_tf:=false** , then no TFs will be published, even if **tf_publish_rate** is >0.0 Hz
      * If **publish_tf:=true** and **tf_publish_rate** set to >0.0 Hz, then dynamic TFs will be published at the specified rate
  * **unite_imu_method** :
    * For the D400 cameras with built in IMU components, below 2 unrelated streams (each with it's own frequency) will be created:
      * _gyro_ \- which shows angular velocity


2nd question:
The same occurs if I launch with ros2 launch instead of ros2 run

---

All reactions


  * **reconnect_timeout** :
    * When the driver cannot connect to the device try to reconnect after this timeout (in seconds).
    * For Example: ` reconnect_timeout:=10 `
  * **wait_for_device_timeout** :
    * If the specified device is not found, will wait _wait_for_device_timeout_ seconds before exits.
    * Defualt, _wait_for_device_timeout < 0 _ , will wait indefinitely.
    * For example: ` wait_for_device_timeout:=60 `
  * **rosbag_filename** :
    * Publish topics from rosbag file. There are two ways for loading rosbag file:
    * Command line - ` ros2 run realsense2_camera realsense2_camera_node -p rosbag_filename:="/full/path/to/rosbag.bag" `
    * Launch file - set ` rosbag_filename ` parameter with rosbag full path (see ` realsense2_camera/launch/rs_launch.py ` as reference)
  * **initial_reset** :
    * On occasions the device was not closed properly and due to firmware issues needs to reset.
    * If set to true, the device will reset prior to usage.
    * For example: ` initial_reset:=true `
  * **base_frame_id** : defines the frame_id all static transformations refers to.
  * **clip_distance** :
    * Remove from the depth image all values above a given value (meters). Disable by giving negative value (default)
    * For example: ` clip_distance:=1.5 `
  * **linear_accel_cov** , **angular_velocity_cov** : sets the variance given to the Imu readings.
  * **hold_back_imu_for_frames** : Images processing takes time. Therefor there is a time gap between the moment the image arrives at the wrapper and the moment the image is published to the ROS environment. During this time, Imu messages keep on arriving and a situation is created where an image with earlier timestamp is published after Imu message with later timestamp. If that is a problem, setting _hold_back_imu_for_frames_ to _true_ will hold the Imu messages back while processing the images and then publish them all in a burst, thus keeping the order of publication as the order of arrival. Note that in either case, the timestamp in each message's header reflects the time of it's origin.
  * **publish_tf** :
    * boolean, enable/disable publishing static and dynamic TFs
    * Defaults to True
      * So, static TFs will be published by default
      * If dynamic TFs are needed, user should set the param **tf_publish_rate** to >0.0 Hz
    * If set to false, both static and dynamic TFs won't be published, even if the param **tf_publish_rate** is set to >0.0 Hz
  * **diagnostics_period** :
    * double, positive values set the period between diagnostics updates on the ` /diagnostics ` topic.
    * 0 or negative values mean no diagnostics topic is published. Defaults to 0.
The ` /diagnostics ` topic includes information regarding the device
temperatures and actual frequency of the enabled streams.
* * *
##  ROS2(Robot) vs Optical(Camera) Coordination Systems:
  * Point Of View:
    * Imagine we are standing behind of the camera, and looking forward.
    * Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
[ ![image](https://user-
images.githubusercontent.com/99127997/230150735-bc31fedf-d715-4e35-b462-fe2c338832c3.png)
](https://user-


You said that you edited the CMakeLists.txt file to add
**set(CMAKE_CXX_STANDARD 14)** and it did not make a difference. Have you also
tried entering it into the CMake command-line interface instead before
inputting the CMake build instruction?

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edited


[
![GitHubcontributors](https://camo.githubusercontent.com/8cda178d512904af9d7d536dd40cfe7bd8daf5f1e149354e9b167e96f71afd6a/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f636f6e7472696275746f72732f496e74656c5265616c53656e73652f7265616c73656e73652d726f733f7374796c653d666c61742d737175617265)
](/IntelRealSense/realsense-ros/blob/ros2-development/CONTRIBUTING.md) [
![License](https://camo.githubusercontent.com/0bc6ca540d9868929a3f16ea382142a82cbf7b181488edf8e97f7eb85ef280fa/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f6c6963656e73652f496e74656c5265616c53656e73652f7265616c73656e73652d726f733f7374796c653d666c61742d737175617265)
](/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE)
* * *
##  Table of contents
  * ROS1 and ROS2 legacy
  * Installation on Ubuntu
  * Installation on Windows
  * Usage
    * Starting the camera node
    * Camera name and namespace
    * Parameters
    * ROS2-vs-Optical Coordination Systems
    * TF from coordinate A to coordinate B
    * Extrinsics from sensor A to sensor B
    * Topics
    * RGBD Topic
    * Metadata Topic
    * Post-Processing Filters
    * Available Services
    * Efficient intra-process communication
  * [ Contributing ](/IntelRealSense/realsense-ros/blob/ros2-development/CONTRIBUTING.md)
  * [ License ](/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE)
* * *


Collaborator


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=40&v=4)
](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) closed this as [
completed ](/IntelRealSense/realsense-
ros/issues?q=is%3Aissue+is%3Aclosed+archived%3Afalse+reason%3Acompleted) Aug
9, 2023


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 19, 2023  •


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023


* [ The ReadME Project  GitHub community articles  ](/readme)


Instructions for using the **CMake** tool to build the SDK from source code
with the RSUSB backend method can be found at [
IntelRealSense/librealsense#9931 (comment)
](https://github.com/IntelRealSense/librealsense/issues/9931#issuecomment-964289692)

---

❤  1  jesusramondovale reacted with heart emoji


Author


<filter_name>.enable ` parameter to enable/disable it.
* * *
##  Available services
  * device_info : retrieve information about the device - serial_number, firmware_version etc. Type ` ros2 interface show realsense2_camera_msgs/srv/DeviceInfo ` for the full list. Call example: ` ros2 service call /camera/camera/device_info realsense2_camera_msgs/srv/DeviceInfo `
* * *
##  Efficient intra-process communication:
Our ROS2 Wrapper node supports zero-copy communications if loaded in the same
process as a subscriber node. This can reduce copy times on image/pointcloud
topics, especially with big frame resolutions and high FPS.
You will need to launch a component container and launch our node as a
component together with other component nodes. Further details on "Composing
multiple nodes in a single process" can be found [ here
](https://docs.ros.org/en/rolling/Tutorials/Composition.html) .
Further details on efficient intra-process communication can be found [ here
](https://docs.ros.org/en/humble/Tutorials/Intra-Process-
Communication.html#efficient-intra-process-communication) .
###  Example
####  Manually loading multiple components into the same process
  * Start the component:

        ros2 run rclcpp_components component_container
  * Add the wrapper:

        ros2 component load /ComponentManager realsense2_camera realsense2_camera::RealSenseNodeFactory -e use_intra_process_comms:=true
Load other component nodes (consumers of the wrapper topics) in the same way.
###  Limitations
  * Node components are currently not supported on RCLPY
  * Compressed images using ` image_transport ` will be disabled as this isn't supported with intra-process communication
###  Latency test tool and launch file
For getting a sense of the latency reduction, a frame latency reporter tool is
available via a launch file. The launch file loads the wrapper and a frame
latency reporter tool component into a single container (so the same process).
The tool prints out the frame latency ( ` now - frame.timestamp ` ) per frame.
The tool is not built unless asked for. Turn on ` BUILD_TOOLS ` during build
to have it available:

    colcon build --cmake-args '-DBUILD_TOOLS=ON'
The launch file accepts a parameter, ` intra_process_comms ` , controlling
whether zero-copy is turned on or not. Default is on:


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 21, 2023


` export OPENBLAS_CORETYPE=ARMV8 `

---

All reactions


[
https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q%26A#q-how-
do-i-enable-librealsense-logs
](https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q%26A#q-how-
do-i-enable-librealsense-logs)


git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense/
sudo apt install libudev-dev pkg-config libgtk-2-dev
sudo apt install libudev-dev pkg-config libgtk-3-dev
sudo apt install libusb-1.0-0-dev pkg-config
sudo apt install libglfw3-dev
sudo apt instlal libssl-dev
sudo apt install libssl-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa
sudo apt install cmake
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/.
sudo udevadm control --reload-rules && udevadm trigger
mkdir build
cd build/
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
cd tools/realsense-viewer
./realsense-viewer


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


Running librealsense(2) and ROS realsense camera on JetPack 5.x Ubuntu 20.04 - is Docker an option with CUDA working?
Autonomous Machines
Jetson & Embedded Systems
Jetson Nano
docker
ros
Home
Jun 2022
Jun 23 '22


github.com/IntelRealSense/librealsense
Jetpack 5.0 support? 105
opened  Apr 19, 2022
closed  Apr 29, 2022
bblumberg bblumberg
D400 Series python jetson
--------------------------------------------------------------------------------…
The jetson containers that were released prior to JetPack 5.0 / L4T R34.1 would not work on JetPack 5.0, because those previous containers (the r32.x ones) relied on mounting in CUDA/cuDNN/ect from the device, whereas the JetPack 5.0 containers have CUDA/ect installed directly into the container.


Sorry, something went wrong.


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[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


` dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge `


I'm getting the output error:


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
    * [ Copilot  Write better code with AI  ](/features/copilot)
    * [ Code review  Manage code changes  ](/features/code-review)
    * [ Issues  Plan and track work  ](/features/issues)
    * [ Discussions  Collaborate outside of code  ](/features/discussions)


Collaborator


    /robot1/D455_1/extrinsics/depth_to_color
    /robot1/D455_1/imu

    > ros2 service list
    /robot1/D455_1/device_info

###  Default behavior if non of these parameters are given:
  * camera_namespace:=camera
  * camera_name:=camera

    > ros2 node list
    /camera/camera

    > ros2 topic list
    /camera/camera/color/camera_info
    /camera/camera/color/image_raw
    /camera/camera/color/metadata
    /camera/camera/depth/camera_info
    /camera/camera/depth/image_rect_raw
    /camera/camera/depth/metadata
    /camera/camera/extrinsics/depth_to_color
    /camera/camera/imu

    > ros2 service list
    /camera/camera/device_info

* * *
##  Parameters
###  Available Parameters:
  * For the entire list of parameters type ` ros2 param list ` .
  * For reading a parameter value use ` ros2 param get <node> <parameter_name> `
    * For example: ` ros2 param get /camera/camera depth_module.emitter_enabled `
  * For setting a new value for a parameter use ` ros2 param set <node> <parameter_name> <value> `
    * For example: ` ros2 param set /camera/camera depth_module.emitter_enabled 1 `
####  Parameters that can be modified during runtime:
  * All of the filters and sensors inner parameters.
  * Video Sensor Parameters: ( ` depth_module ` and ` rgb_camera ` )
    * They have, at least, the ** <stream_type>_profile ** parameter.
      * The profile parameter is a string of the following format: <width>X<height>X<fps> (The dividing character can be X, x or ",". Spaces are ignored.)


Author


As a swapfile is virtual memory created from setting aside drive storage
space, it will be slower than real memory and only as fast as the access speed
of the storage device. Swapfile memory will start being used once the real
memory is consumed.


Include my email address so I can be contacted


    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [ 18%] No test step for 'libcurl'
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [ 19%] Completed 'libcurl'
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [ 19%] Built target libcurl
    make: *** [Makefile:136: all] Error 2


[ https://debix.io/Document/manual.html
](https://debix.io/Document/manual.html)

---

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GitHub


###
[ Intel Copyright ](/IntelRealSense/realsense-
ros/blob/ros2-development/Intel%20Copyright "Intel Copyright")
|
###
[ Intel Copyright ](/IntelRealSense/realsense-
ros/blob/ros2-development/Intel%20Copyright "Intel Copyright")
|
|

###
[ LICENSE ](/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE
"LICENSE")
|
###
[ LICENSE ](/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE
"LICENSE")
|
|

###
[ NOTICE.md ](/IntelRealSense/realsense-ros/blob/ros2-development/NOTICE.md
"NOTICE.md")
|
###
[ NOTICE.md ](/IntelRealSense/realsense-ros/blob/ros2-development/NOTICE.md
"NOTICE.md")
|
|

###
[ README.md ](/IntelRealSense/realsense-ros/blob/ros2-development/README.md
"README.md")
|
###
[ README.md ](/IntelRealSense/realsense-ros/blob/ros2-development/README.md
"README.md")
|
|


edited


#  [ROS2] Realsense Camera Node Error  #2816


created
 Jan 04 '23
last reply
 Mar 29 '23
6
replies
1.5k
views
3
users
3
3


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


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ROS Wrapper for Intel(R) RealSense(TM) Cameras
[ wiki.ros.org/realsense ](http://wiki.ros.org/RealSense
"http://wiki.ros.org/RealSense")


hemals
Moderator


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023  •


    [100%] Linking C static library libcurl.a
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [100%] Built target libcurl
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [ 17%] Performing install step for 'libcurl'
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    Consolidate compiler generated dependencies of target libcurl
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    [100%] Built target libcurl
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    Install the project...
    /usr/bin/cmake: /usr/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
    -- Install configuration: "release"
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/libcurl.a
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/bin/curl-config
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/pkgconfig/libcurl.pc
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/easy.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/options.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/typecheck-gcc.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/system.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/multi.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/stdcheaders.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/urlapi.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/curlver.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/curl.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/include/curl/mprintf.h
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/cmake/CURL/CURLTargets.cmake
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/cmake/CURL/CURLTargets-release.cmake
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/cmake/CURL/CURLConfigVersion.cmake
    -- Installing: /home/debix/Desktop/librealsense-2.54.1/build/libcurl/libcurl_install/lib/cmake/CURL/CURLConfig.cmake


3)Also my version of jetpack is 35.0 so again i cant install it from there and i cant install sdk from nvidia official website! System errors …


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=40&v=4)
](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) mentioned this
issue  Jul 27, 2023


    cd ~/ros2_ws/src/
  * Clone the latest ROS2 Intel® RealSense™ wrapper from [ here ](https://github.com/IntelRealSense/realsense-ros.git) into '~/ros2_ws/src/'

        git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
    cd ~/ros2_ws

  * Install dependencies

    sudo apt-get install python3-rosdep -y
    sudo rosdep init # "sudo rosdep init --include-eol-distros" for Foxy and earlier
    rosdep update # "sudo rosdep update --include-eol-distros" for Foxy and earlier
    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
  * Build

    colcon build
  * Source environment

    ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble, foxy
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ~/ros2_ws
    . install/local_setup.bash
* * *
#  Installation on Windows
**PLEASE PAY ATTENTION: RealSense ROS2 Wrapper is not meant to be supported on
Windows by our team, since ROS2 and its packages are still not fully supported
over Windows. We added these installation steps below in order to try and make
it easier for users who already started working with ROS2 on Windows and want
to take advantage of the capabilities of our RealSense cameras**
Step 1: Install the ROS2 distribution
  * ####  Windows 10/11
**Please choose only one option from the two options below (in order to
prevent multiple versions installation and workspace conflicts)**
    * Manual install from ROS2 formal documentation:
      * [ ROS2 Iron ](https://docs.ros.org/en/iron/Installation/Windows-Install-Binary.html)
      * [ ROS2 Humble ](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html)
      * [ ROS2 Foxy ](https://docs.ros.org/en/foxy/Installation/Windows-Install-Binary.html)
    * Microsoft IOT binary installation:


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


` source /opt/ros/humble/setup.bash `


👍  1  Achllle reacted with thumbs up emoji


In the first terminal:
source /workspaces/isaac_ros-dev/install/setup.bash &&
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py
Screenshot from 2023-01-10 08-38-19
Screenshot from 2023-01-10 08-38-19
1360×922 218 KB
In the second terminal:
source /workspaces/isaac_ros-dev/install/setup.bash &&
rviz2 -d src/isaac_ros_visual_slam/isaac_ros_visual_slam/rviz/default.cfg.rviz
2nd term
2nd term
1359×373 62.6 KB
And the RVIZ is like:
Screenshot from 2023-01-10 08-44-26
Screenshot from 2023-01-10 08-44-26
1389×881 97 KB
It’s still not working, what should I do with “[INFO] [1673336257.087291902] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1673336257.109646233] [rviz2]: Stereo is NOT SUPPORTED”?


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Running librealsense(2) and ROS realsense camera on JetPack 5.x Ubuntu 20.04 - is Docker an option with CUDA working?
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Some have suggested inputting the command below to see whether it makes a
difference.


Author


Assignees


Thank you very much it worked !!


The Debix Model A has an i.MX 8M Plus quad-core ARM Cortex-A53 processor.
There have been past problems with installing librealsense on IMX8 boards. But
use of ` -DFORCE_RSUSB_BACKEND = true ` usually fixed them.


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


librealsense installation method **1\. Built with packages using apt-get
install** does not need to have the kernel patched as the kernel patch is
already included in the packages. So if you have previously installed
librealsense from packages and also applied a patch script to the kernel then
this could be a potential cause of problems.


No, you would not need to execute it from an exact folder. ROS commands such
as this should be input into the ROS terminal window and not an Ubuntu
terminal window.

---

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Sorry, something went wrong.


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[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=52&v=4)
](/MartyG-RealSense) [
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=52&v=4)
](/jesusramondovale)


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023


Collaborator


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023  •


Could you please tell me exactly what must I do to build from source with "the
RSUSB backend installation method", or where can I find some information about
that? Thank you so much!

---

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Sign Up
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no thanks


edited


The camera is correctly plugged via USB, as it shows the **lsusb** command:


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It seems that you should enter the command below to enable ROS2 Humble.


A suggested solution to the **no version information available** error
regarding libcurl is to input the command below.


I can use the rs-enumerate-devices command, and much more (rs-*), but the
error given is the same as first. Where can I find the SDK logs?


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


Copy link


Sorry, something went wrong.


Last commit message
|
Last commit date

---|---|---|---

##  Latest commit
##  History
[ 1,577 Commits  ](/IntelRealSense/realsense-ros/commits/ros2-development/)
[ ](/IntelRealSense/realsense-ros/commits/ros2-development/)

###
[ .github ](/IntelRealSense/realsense-ros/tree/ros2-development/.github
".github")
|
###
[ .github ](/IntelRealSense/realsense-ros/tree/ros2-development/.github
".github")
|
|

###
[ realsense2_camera ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_camera "realsense2_camera")
|
###
[ realsense2_camera ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_camera "realsense2_camera")
|
|

###
[ realsense2_camera_msgs ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_camera_msgs "realsense2_camera_msgs")
|
###
[ realsense2_camera_msgs ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_camera_msgs "realsense2_camera_msgs")
|
|


Error TensorRT : Error Code 10: Internal Error (Could not find any implementation for node StatefulPartitionedCall/ArgMax.)
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](/jesusramondovale)


Instead of a source code installation with CMake, let's try installing
librealsense and the RealSense ROS wrapper from packages on Ubuntu 22.04 and
kernel 5.15 using the wrapper's Humble install instructions.


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**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023  •


**[ jesusramondovale ](/jesusramondovale) ** commented  Sep 27, 2023


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023  •


#  ROS1 and ROS2 Legacy
Intel RealSense ROS1 Wrapper  Intel Realsense ROS1 Wrapper is not supported
anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to [ ros1-legacy
](https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy) branch
Moving from [ ros2-legacy ](https://github.com/IntelRealSense/realsense-
ros/tree/ros2-legacy) to ros2-development
  * Changed Parameters:
    * **"stereo_module"** , **"l500_depth_sensor"** are replaced by **"depth_module"**
    * For video streams: ** <module>.profile ** replaces ** <stream>_width ** , ** <stream>_height ** , ** <stream>_fps **
      * **ROS2-legacy (Old)** :
        * ros2 launch realsense2_camera rs_launch.py depth_width:=640 depth_height:=480 depth_fps:=30.0 infra1_width:=640 infra1_height:=480 infra1_fps:=30.0
      * **ROS2-development (New)** :
        * ros2 launch realsense2_camera rs_launch.py depth_module.profile:=640x480x30
    * Removed paramets ** <stream>_frame_id ** , ** <stream>_optical_frame_id ** . frame_ids are now defined by camera_name
    * **"filters"** is removed. All filters (or post-processing blocks) are enabled/disabled using **" <filter>.enable" **
    * **"align_depth"** is now a regular processing block and as such the parameter for enabling it is replaced with **"align_depth.enable"**
    * **"allow_no_texture_points"** , **"ordered_pc"** are now belong to the pointcloud filter and as such are replaced by **"pointcloud.allow_no_texture_points"** , **"pointcloud.ordered_pc"**
    * **"pointcloud_texture_stream"** , **"pointcloud_texture_index"** belong now to the pointcloud filter and were renamed to match their librealsense' names: **"pointcloud.stream_filter"** , **"pointcloud.stream_index_filter"**
  * Allow enable/disable of sensors in runtime (parameters ** <stream>.enable ** )
  * Allow enable/disable of filters in runtime (parameters ** <filter_name>.enable ** )
  * **unite_imu_method** parameter is now changeable in runtime.
  * **enable_sync** parameter is now changeable in runtime.
#  Installation on Ubuntu
Step 1: Install the ROS2 distribution
  * ####  Ubuntu 22.04:
    * [ ROS2 Iron ](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html)
    * [ ROS2 Humble ](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
####  Ubuntu 20.04
    * [ ROS2 Foxy ](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
Step 2: Install latest Intel® RealSense™ SDK 2.0
**Please choose only one option from the 3 options below (in order to prevent
multiple versions installation and workspace conflicts)**
  * ####  Option 1: Install librealsense2 debian package from Intel servers
    * Jetson users - use the [ Jetson Installation Guide ](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md)
    * Otherwise, install from [ Linux Debian Installation Guide ](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
      * In this case treat yourself as a developer: make sure to follow the instructions to also install librealsense2-dev and librealsense2-dkms packages
  * ####  Option 2: Install librealsense2 (without graphical tools and examples) debian package from ROS servers (Foxy EOL distro is not supported by this option):
    * [ Configure ](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories
    * Install all realsense ROS packages by ` sudo apt install ros-<ROS_DISTRO>-librealsense2* `
      * For example, for Humble distro: ` sudo apt install ros-humble-librealsense2* `
  * ####  Option 3: Build from source
    * Download the latest [ Intel® RealSense™ SDK 2.0 ](https://github.com/IntelRealSense/librealsense/releases/tag/v2.53.1)
    * Follow the instructions under [ Linux Installation ](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
Step 3: Install Intel® RealSense™ ROS2 wrapper
####  Option 1: Install debian package from ROS servers (Foxy EOL distro is
not supported by this option):
  * [ Configure ](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories
  * Install all realsense ROS packages by ` sudo apt install ros-<ROS_DISTRO>-realsense2-* `
  * For example, for Humble distro: ` sudo apt install ros-humble-realsense2-* `
####  Option 2: Install from source
  * Create a ROS2 workspace

        mkdir -p ~/ros2_ws/src


There's no Realsense Logs in there. Does the Realsense SDK even write to logs?

---

All reactions


3.22 is newer than 3.8, so it should be fine.

---

😕  1  jesusramondovale reacted with confused emoji


dusty_nv
Moderator
Jun 23 '22
Hi @brianlmerritt, it would appear that this user was able to compile librealsense 2.50 from source for JetPack 5.0:


The directory that Linux stores logs in is **/var/log**

---

All reactions


What should I do with it?
Screenshot from 2023-01-10 14-17-05
Screenshot from 2023-01-10 14-17-05
733×529 80.4 KB
The RVIZ windows says, is it of any concern?


Sorry, something went wrong.


4)CMake cant do it either i have missing files that in intel github described that there must have been


Toggle navigation


      * _accel_ \- which shows linear acceleration.
    * Both streams will publish data to its corresponding topics:
      * '/camera/camera/gyro/sample' & '/camera/camera/accel/sample'
      * Though both topics are of same message type 'sensor_msgs::Imu', only their relevant fields are filled out.
    * A new topic called **imu** will be created, when both _accel_ and _gyro_ streams are enabled and the param _unite_imu_method_ set to > 0\.
      * Data from both accel and gyro are combined and published to this topic
      * All the fields of the Imu message are filled out.
      * It will be published at the rate of the gyro.
    * ` unite_imu_method ` param supports below values:
      * 0 -> **none** : no imu topic
      * 1 -> **copy** : Every gyro message will be attached by the last accel message.
      * 2 -> **linear_interpolation** : Every gyro message will be attached by an accel message which is interpolated to gyro's timestamp.
    * Note: When the param _unite_imu_method_ is dynamically updated, re-enable either gyro or accel stream for the change to take effect.
  * **accelerate_gpu_with_glsl** :
    * Boolean: GPU accelerated with GLSL for processing PointCloud and Colorizer filters.
    * Note:
      * To have smooth transition between the processing blocks when this parameter is updated dynamically, the node will:
        * Stop the video sensors
        * Do necessary GLSL configuration
        * And then, start the video sensors
      * To enable GPU acceleration, turn ON ` BUILD_ACCELERATE_GPU_WITH_GLSL ` during build:

                colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'
####  Parameters that cannot be changed in runtime:
  * **serial_no** :
    * will attach to the device with the given serial number ( _serial_no_ ) number.
    * Default, attach to the first (in an inner list) RealSense device.
    * Note: serial number should be defined with "_" prefix.
      * That is a workaround until a better method will be found to ROS2's auto conversion of strings containing only digits into integers.
    * Example: serial number 831612073525 can be set in command line as ` serial_no:=_831612073525 ` .
  * **usb_port_id** :
    * will attach to the device with the given USB port ( _usb_port_id_ ).
    * For example: ` usb_port_id:=4-1 ` or ` usb_port_id:=4-2 `
    * Default, ignore USB port when choosing a device.
  * **device_type** :
    * will attach to a device whose name includes the given _device_type_ regular expression pattern.
    * Default, ignore device type.
    * For example:
      * ` device_type:=d435 ` will match d435 and d435i.
      * ` device_type=d435(?!i) ` will match d435 but not d435i.


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Do you know how to run the Isaac ROS VIO/VSLAM on a real Intel Realsense D435 camera?


Collaborator


2
Jan 23 '23
From the logs, it appears you’re running on a D415 with a rolling shutter. We have not tested on this configuration yet. The stereo camera image pair may not be time synchronized correctly or they may be significant motion blurring perhaps. If you could send us a small rosbag recording of your sensor we may be able to diagnose better. Could you also try with a D435 if you have one available?


Author


[ IntelRealSense ](/IntelRealSense) /  **[ realsense-ros
](/IntelRealSense/realsense-ros) ** Public


I need help as soon as possible, please.

---

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images.githubusercontent.com/99127997/230150735-bc31fedf-d715-4e35-b462-fe2c338832c3.png)
  * ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
  * Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
  * References: [ REP-0103 ](https://www.ros.org/reps/rep-0103.html#coordinate-frame-conventions) , [ REP-0105 ](https://www.ros.org/reps/rep-0105.html#coordinate-frames)
  * All data published in our wrapper topics is optical data taken directly from our camera sensors.
  * static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
* * *
##  TF from coordinate A to coordinate B:
  * TF msg expresses a transform from coordinate frame "header.frame_id" (source) to the coordinate frame child_frame_id (destination) [ Reference ](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Transform.html)
  * In RealSense cameras, the origin point (0,0,0) is taken from the left IR (infra1) position and named as "camera_link" frame
  * Depth, left IR and "camera_link" coordinates converge together.
  * Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
  * Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
  * Example of static TFs of RGB sensor and Infra2 (right infra) sensor of D435i module as it shown in rviz2: [ ![example](https://user-images.githubusercontent.com/99127997/230148106-0f79cbdb-c401-4d09-b386-a366af18e5f7.png) ](https://user-images.githubusercontent.com/99127997/230148106-0f79cbdb-c401-4d09-b386-a366af18e5f7.png)
* * *
##  Extrinsics from sensor A to sensor B:
  * Extrinsic from sensor A to sensor B means the position and orientation of sensor A relative to sensor B.
  * Imagine that B is the origin (0,0,0), then the Extrensics(A->B) describes where is sensor A relative to sensor B.
  * For example, depth_to_color, in D435i:
    * If we look from behind of the D435i, extrinsic from depth to color, means, where is the depth in relative to the color.
    * If we just look at the X coordinates, in the optical coordiantes (again, from behind) and assume that COLOR(RGB) sensor is (0,0,0), we can say that DEPTH sensor is on the right of RGB by 0.0148m (1.48cm).
[ ![d435i](https://user-
images.githubusercontent.com/99127997/230220297-e392f0fc-63bf-4bab-8001-af1ddf0ed00e.png)
](https://user-
images.githubusercontent.com/99127997/230220297-e392f0fc-63bf-4bab-8001-af1ddf0ed00e.png)

    administrator@perclnx466 ~/ros2_humble $ ros2 topic echo /camera/camera/extrinsics/depth_to_color
    rotation:
    - 0.9999583959579468
    - 0.008895332925021648
    - -0.0020127370953559875
    - -0.008895229548215866
    - 0.9999604225158691
    - 6.045500049367547e-05
    - 0.0020131953060626984
    - -4.254872692399658e-05
    - 0.9999979734420776
    translation:
    - 0.01485931035131216


Also, it shows the error message “Tracker is lost” the moment the program start up. I have increased the frame rate but it’s still the same even if the camera is holding static.


If method 2 is used then a kernel patch script called **patch-realsense-
ubuntu-lts-hwe.sh** should be run before librealsense is built in order to
patch kernel 5.15.


* 👍  1 reaction


We verify the D435 is working on Orin-NX + r35.3.1.
Please reference below steps:


###
[ realsense2_description ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_description "realsense2_description")
|
###
[ realsense2_description ](/IntelRealSense/realsense-
ros/tree/ros2-development/realsense2_description "realsense2_description")
|
|

###
[ scripts ](/IntelRealSense/realsense-ros/tree/ros2-development/scripts
"scripts")
|
###
[ scripts ](/IntelRealSense/realsense-ros/tree/ros2-development/scripts
"scripts")
|
|

###
[ .gitignore ](/IntelRealSense/realsense-ros/blob/ros2-development/.gitignore
".gitignore")
|
###
[ .gitignore ](/IntelRealSense/realsense-ros/blob/ros2-development/.gitignore
".gitignore")
|
|

###
[ CONTRIBUTING.md ](/IntelRealSense/realsense-
ros/blob/ros2-development/CONTRIBUTING.md "CONTRIBUTING.md")
|
###
[ CONTRIBUTING.md ](/IntelRealSense/realsense-
ros/blob/ros2-development/CONTRIBUTING.md "CONTRIBUTING.md")
|
|


If you earlier installed the SDK from packages then I recommend removing it
from the computer by inputting the uninstall instruction below into the Ubuntu
terminal.


I feel there should be a way to make it work in Docker once I let the container access the camera ports.


2
Jun 23 '22
I have yet to find a reliable way to install librealsense and ROS2 realsense camera on Ubuntu 20.04 on my Xavier NX and ROS2 Foxy or Galactic. For example Jetpack 5.0 support? · Issue #10416 · IntelRealSense/librealsense · GitHub 36 says no current plans to make it work ARM64 on Ubuntu 20.04


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Sep 27, 2023  •


As this error has occurred on both source code and package installations, it
does not seem as though it is librealsense or the ROS wrapper causing the
problem. It is more likely to be the board's ARM processor.


Yes, the SDK can write log files.


10 days later


    debix@DEBIX26:~$ rs-enumerate-devices
     25/07 09:26:26,587 ERROR [281473799996512] (librealsense-exception.h:52) xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument
    Could not create device - xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument . Check SDK logs for details
    Segmentation fault (core dumped)


· Succesfully setted the Ubuntu Respositories :


#  Provide feedback


We read every piece of feedback, and take your input very seriously.


Email Address


Even though installing librealsense and the wrapper from packages does not
include graphical librealsense tools in the installation, are you able to run
text-based tools such as **rs-enumerate-devices** and **rs-hello-realsense**
on the Debix?


Copy link


I've installed "succesfully" (no problems appeared) both the SDK and RealSense
libs (and dependencies).


Also when i try to change kernels and boot from another one i cant configure grubs because guess what,there is none!


Sorry, something went wrong.


2)Also i tried with ros2 and i cant install humble ros2! Still cant find packages !


Collaborator


EDIT: this is the new error that is appearing now :


This installation method does not include librealsense graphical examples and
tools such as RealSense Viewer but may enable you to get the ROS wrapper for
Humble up and running.

---

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**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 19, 2023  •


mr.lintse


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 26, 2023  •


` [INFO] [launch]: All log files can be found below
/home/debix/.ros/log/2023-09-27-06-45-57-373454-DEBIX25-14668 [INFO] [launch]:
Default logging verbosity is set to INFO [INFO] [realsense2_camera_node-1]:
process started with pid [14682] [realsense2_camera_node-1] [INFO]
[1695797158.404652736] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-1] [INFO] [1695797158.404968999] [camera.camera]:
Built with LibRealSense v2.54.1 [realsense2_camera_node-1] [INFO]
[1695797158.405047252] [camera.camera]: Running with LibRealSense v2.54.1
[realsense2_camera_node-1] 27/09 06:45:58,435 WARNING [281472476768480]
(d400-factory.cpp:1195) DS5 group_devices is empty. [realsense2_camera_node-1]
27/09 06:45:58,830 ERROR [281472476768480] (librealsense-exception.h:52)
xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument
[realsense2_camera_node-1] 27/09 06:45:58,837 WARNING [281472476768480]
(rs.cpp:312) null pointer passed for argument "device"
[realsense2_camera_node-1] [WARN] [1695797158.837362369] [camera.camera]:
Device 1/3 failed with exception: xioctl(VIDIOC_S_EXT_CTRLS) failed Last
Error: Invalid argument [ERROR] [realsense2_camera_node-1]: process has died
[pid 14682, exit code -11, cmd
'/home/debix/ros2_ws/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node
--ros-args --log-level info --ros-args -r __node:=camera -r __ns:=/camera
--params-file /tmp/launch_params_j9ko_vrh --params-file
/tmp/launch_params_w3fbxgpj']. `


System :
Linux nvidia-orin-nx 5.10.104-tegra aarch64 Ubuntu 22.04


brianlmerritt


After that, use the RSUSB installation method at [
IntelRealSense/librealsense#9931 (comment)
](https://github.com/IntelRealSense/librealsense/issues/9931#issuecomment-964289692)
again and ensure that you do **not** run a kernel patch script before or after
performing the RSUSB installation.

---

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mr.lintse
Jan 04 '23
Dear NVIDIA Team:


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Sorry, something went wrong.


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023  •


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


I've got the ROS2 distro sourced every time I start a Linux session since I've
written it in the ~./bashrc file, so... nothing changed.


edited


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


Collaborator


thanosrom95
May 13
Yiep , i copy paste the response from the terminal.Its 100% ubuntu 22.04 .
It cant find the package , it has so many restrections in packages with arm64 i guess … maybe i need to use something like cmake again.


Mine (Raspi Pi) has a 4GB RAM, while Debix has only 2GB.


    [INFO] [1689686546.852992327] [camera]: RealSense ROS v4.54.1
    [INFO] [1689686546.853310713] [camera]: Built with LibRealSense v2.54.1
    [INFO] [1689686546.853378966] [camera]: Running with LibRealSense v2.54.1
     18/07 15:22:26,882 WARNING [281472727836896] (d400-factory.cpp:1195) DS5 group_devices is empty.
     18/07 15:22:27,259 ERROR [281472727836896] (librealsense-exception.h:52) xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument
     18/07 15:22:27,283 WARNING [281472727836896] (rs.cpp:312) null pointer passed for argument "device"
    [WARN] [1689686547.284061376] [camera]: Device 1/3 failed with exception: xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument


I achieved to get rs-enumerate-devices work correctly (only doing **sudo rs-
enumerate-devices** ) : it gives me a large list of video properties (output
OK) but the same error persists when I try to run ROS2 camera node.......


Copy link


There are still some device files and drivers that get mounted into the JetPack 5.0 containers by the NVIDIA Container Runtime when --runtime nvidia is used (you can see these mounted devices/files in /etc/nvidia-container-runtime/host-files-for-container.d/l4t.csv) These are meant to be used against l4t-base:r34.x or a container derived from l4t-base:r34.x - which use 20.04. Hence it is untested if you can get GPU working from a totally different base like ubuntu:18.04


I get this error ouput:


Closed


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Aug 9, 2023


Author


Hi [ @jesusramondovale ](https://github.com/jesusramondovale) This type of
warning is typically related to a conflict with the kernel. Which method did
you use to install the librealsense SDK, please?


· Succesfully installed the librealsense2 via apt install:


The output while trying to execute


Hi!


* ❤  1 reaction


Sorry, something went wrong.


By Solution


I have installed Isaac ROS on my laptop with the followinf specs:


None yet


    - 0.0010161789832636714
    - 0.0005317096947692335
    ---

  * Extrinsic msg is made up of two parts:
    * float64[9] rotation (Column - major 3x3 rotation matrix)
    * float64[3] translation (Three-element translation vector, in meters)
* * *
##  Published Topics
The published topics differ according to the device and parameters. After
running the above command with D435i attached, the following list of topics
will be available (This is a partial list. For full one type ` ros2 topic list
` ):
  * /camera/camera/aligned_depth_to_color/camera_info
  * /camera/camera/aligned_depth_to_color/image_raw
  * /camera/camera/color/camera_info
  * /camera/camera/color/image_raw
  * /camera/camera/color/metadata
  * /camera/camera/depth/camera_info
  * /camera/camera/depth/color/points
  * /camera/camera/depth/image_rect_raw
  * /camera/camera/depth/metadata
  * /camera/camera/extrinsics/depth_to_color
  * /camera/camera/imu
  * /diagnostics
  * /parameter_events
  * /rosout
  * /tf_static
This will stream relevant camera sensors and publish on the appropriate ROS
topics.
Enabling accel and gyro is achieved either by adding the following parameters
to the command line:
` ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true
enable_gyro:=true enable_accel:=true `
or in runtime using the following commands:

    ros2 param set /camera/camera enable_accel true
    ros2 param set /camera/camera enable_gyro true


Copy link


In regards to libcurl, a CMake flag that depends on it can be set to false.


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So, should it compile correctly with CMake 3.22? I don't know what can I try
next :(

---

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[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


EDIT: I reinstalled the ROS Wrapper and I could use again the commands, but it
did exactly the same as mentioned in message 1
EDIT 2: trying some commands in /usr/local/bin as rs-enumerate devices:


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


What is the **ROS terminal** ??

---

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**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023


Do you know what can I try? If not, you can close the issue if you want..

---

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**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023  •


Repositories


` unlink /usr/local/lib/libcurl.so.4 `

---

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Hi [ @jesusramondovale ](https://github.com/jesusramondovale) I will reply to
your question at the new issue that you have created. Thanks!

---

All reactions


1. Open a new Terminal Window (Ctrl + Alt + T).


Name


Projects


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


Copy link


[ IntelRealSense/librealsense#5851 (comment)
](https://github.com/IntelRealSense/librealsense/issues/5851#issuecomment-586573985)
explains how logging can also be enabled in the RealSense Viewer tool and the
path is displayed, though this method could not be used if you do not have the
Viewer installed on your librealsense build.


I note that on the Debix official website they list support for Ubuntu 20.04
but not 22.04 and the documentation site also does not have 22.04 information,
suggesting the possibility that the Model A has not been validated for use
with 22.04 yet.


edited


[ question  ](/IntelRealSense/realsense-ros/labels/question)


Author


Do you have an Ubuntu PC computer that you can test installation on? If it
works on that but not on the Debix then it would likely confirm that the
problem is with compatibility with Debix.

---

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Sorry, something went wrong.


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    debix@DEBIX26:~$ ros2 run realsense2_camera realsense2_camera_node
    [INFO] [1690469333.859057130] [camera]: RealSense ROS v4.54.1
    [INFO] [1690469333.859422552] [camera]: Built with LibRealSense v2.54.1
    [INFO] [1690469333.859521736] [camera]: Running with LibRealSense v2.54.1
     27/07 16:48:53,888 WARNING [281472518645984] (d400-factory.cpp:1195) DS5 group_devices is empty.
     27/07 16:48:54,267 ERROR [281472518645984] (librealsense-exception.h:52) xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument
     27/07 16:48:54,291 WARNING [281472518645984] (rs.cpp:312) null pointer passed for argument "device"
    [WARN] [1690469334.291689435] [camera]: Device 1/3 failed with exception: xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument
    [ros2run]: Segmentation fault


I would rather trust real memory capacity for running an application than
swapfile memory. But there is not enough information about the use of IMX8
boards with RealSense to draw a firm conclusion about whether the low amount
of real memory is responsible for the ROS wrapper error.


I can run an image in Docker of Ubuntu 18.04, but jetson-containers suggests I have to match release versions in order for CUDA etc to work. Correct me if I am wrong but the release ties in tightly with the operating system.


Collaborator


Did the export and nothing changed :(


  1. Built with packages using apt-get install
  2. Built from source code with CMake
  3. Built from source code with CMake and with the build flag **-DFORCE_RSUSB_BACKEND=TRUE** included in the CMake build instruction


Tried it and gave the exact same error (Illegal instruction: core dumped)

---

All reactions


Hi! I've made a clean installation from zero, and first I've re-installed the
RSUSB using method you mention at [ IntelRealSense/librealsense#9931 (comment)
](https://github.com/IntelRealSense/librealsense/issues/9931#issuecomment-964289692)
, but when I execute
` cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release
-DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true `


GitHub - NVIDIA-ISAAC-ROS/isaac_ros_visual_slam: Visual odometry package... 17
Visual odometry package based on hardware-accelerated NVIDIA Elbrus library with world class quality and performance. - GitHub - NVIDIA-ISAAC-ROS/isaac_ros_visual_slam: Visual odometry package base...


on my SBC **Debix Model A (2GB RAM** ) with **Ubuntu 22.04 LTS (Kernel:
5.15.71) and ROS2 Humble Hawksbill** installed on it.


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


Copy link


JerryChang
May 15
Hello , i send it for now in a co-worker , i will come back for details.


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 18, 2023  •


You can’t perform that action at this time.


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


* Product


    debix@DEBIX26:~$ export OPENBLAS_CORETYPE=ARMV8
    debix@DEBIX26:~$ ros2 launch realsense2_camera rs_launch.py enable_color:=false spatial_filter.enable:=true temporal_filter.enable:=true
    Illegal instruction (core dumped)

---

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carolyuu
Moderator
May 11
Hi thanosrom95,


Summarize: I can't build the librealsense from source, neither can I execute a
single command as "rs-enumerate-devices" after installing librealsense with
sudo apt-get... it says "command not found" ... this is now becoming
embarrasing.


13 days later


Hi again! The librealsense was succesfully installed using the method you
mentioned, but now I can't execute any command, what must I do?


1
Jan 10 '23
Ok, I found the problem, the error was casued by the USB 2.0 cable. I managed to get it running after replacing it with a USB 3.0 cable. However, the software does not produce recognizable trajectory, I just walked arounf my table and the trajectory is like this:
Screenshot from 2023-01-10 14-16-39


Collaborator


How much memory capacity has your Pi 4 got compared to the 2 GB memory that is
usually on Debix Model A?

---

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Author


Clear


Sorry, something went wrong.


Exactly the same (Illegal instruction: core dumped)
Must I execute it from an exact folder? I removed the librealsense source used
in the RSUSB installation method.

---

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They have been recently working on a Ubuntu 22.04 Image, they have released it
a month ago aproximately, as you can see in their downloads webpage: [
https://debix.io/Software/download.html
](https://debix.io/Software/download.html)

---

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What is happening ?!


[ jesusramondovale ](/jesusramondovale) opened this issue  Jul 18, 2023  · 50
comments


hemals
Moderator
Mar 29 '23
We have not tried the RealSense D457 yet. No reason we know of though why it would not work if you disable the IR emitter properly first as listed in the Isaac ROS Visual SLAM docs.


Then try entering the ROS2 launch command.

---

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Hi [ @jesusramondovale ](https://github.com/jesusramondovale) Do you require
further assistance with this case, please? Thanks!

---

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` debix@DEBIX25:~/librealsense$ ros2 launch realsense2_camera rs_launch.py `


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023  •


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 27, 2023


Obviously it is a Debix SBC-related problem. It worked fine on a Raspberry Pi
4 with Ubuntu 22 and ROS2-Humble.

---

All reactions


ERROR [281473482933344] (librealsense-exception.h:52)
xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


Collaborator


No branches or pull requests


Gorgo90
May 12
Are you sure you’re running Ubuntu 22.04 and not 20.04?


Copy link


` sudo apt install ros-humble-librealsense2* `


Hi! Thank you for your response!


thanosrom95
May 14
I asked because, as far as I know, Ubuntu 22.04 will be available with Jetpack 6 at the end of the year for ORIN platforms. You said you’re using Jetpack 35.0 but apparently it’s not in the Jetpack list (JetPack Archive | NVIDIA Developer 3). Did you mean either 35.2.1 or 35.3.1 (that are the only ones that support ORIN NX)? Those come with Ubuntu 20.04 though.


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 24, 2023


[
![@jesusramondovale](https://avatars.githubusercontent.com/u/71335809?s=80&u=685a941db48e06cf9755dda201d84325d3088551&v=4)
](/jesusramondovale)


Added 99-realsense-libsub.rules to /etc/udev/rules.d directory

---

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Sorry, something went wrong.


Problem installing Intel d435 camera
Autonomous Machines
Jetson & Embedded Systems
Jetson Orin NX
camera
Home
May 2023
Jun 13


5)I’ve tried again to boot and pass again ubuntu 18.04 and my usb-stick cant rezognize !


Do you know any way to improve it?


I remind you that Intel Realsense Camera is correctly plugged and recognised
by the Debix board as you can see:


Search or jump to...


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 26, 2023


` ros2 launch realsense2_camera rs_launch.py enable_color:=false
spatial_filter.enable:=true temporal_filter.enable:=true `

---

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Search


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023


We have pushed some hotfix changes to the isaac_ros_visual_slam.realsense.launch.py file with updated settings to work with the latest version of librealsense which may also help sort out what’s happening here. Could you give it a try with this new launch file here 13?


Sincerely,
Tse Lin


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#  Search code, repositories, users, issues, pull requests...


Already on GitHub? [ Sign in ](/login?return_to=%2FIntelRealSense%2Frealsense-
ros%2Fissues%2Fnew%2Fchoose) to your account


JerryChang
Moderator


Author


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 20, 2023


hemals
Moderator
Jan 09 '23
Yes! There is a launch file to bring up Realsense and Isaac ROS Visual SLAM here 13. Also, there is a tutorial for running Isaac ROS Visual SLAM with Isaac ROS Nvblox on a Realsense camera as well here 19.


Sorry, something went wrong.


If methods 1 and 3 are used then there is no need to apply a kernel patch
script to patch the kernel.


edited


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 25, 2023


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 25, 2023  •


I don't know what you mean, if you're asking if I added the SET command before
executing cmake.. yes, I did.

---

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###  Footer navigation


Collaborator


On Ubuntu, if they have been installed then they should be located in the
**usr/local/bin** folder. If librealsense programs can run successfully then
it would make it more likely that the problem is with ROS2 Humble or the
RealSense ROS wrapper instead of librealsense.

---

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**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jul 26, 2023  •


Labels


Copy link


**set(CMAKE_CXX_STANDARD 14)**

---

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](/jesusramondovale)


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 18, 2023  •


Is the ROS wrapper able to launch without this warning if instead of using
ros2 run, you use ros2 launch?


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 24, 2023  •


Sorry, something went wrong.


[ http://wiki.ros.org/Installation/Ubuntu/Sources
](http://wiki.ros.org/Installation/Ubuntu/Sources)


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Closed on Jun 13, 2023


* 😕  1 reaction


Please try resetting the camera at launch with **initial_reset** as it has not
been mentioned yet in this case that it has been tried yet.


INFO] [1673357375.581338723] [rviz]: Message Filter dropping message: frame ‘camera_infra1_frame’ at time 1673357375.209 for reason ‘discarding message because the queue is full’


**[ jesusramondovale ](/jesusramondovale) ** commented  Jul 27, 2023  •


Hi @brianlmerritt, it would appear that this user was able to compile librealsense 2.50 from source for JetPack 5.0: The jetson containers that were released prior to JetPack 5.0 / L4T R34.1 would not work on JetPack 5.0, because those previous containers (the r32.x ones) relied on mounting in CU…


Re-installed all dependencies, Realsense SDK and ROS Wrapper. Everything
worked fine during installation. No errors


thanosrom95
May 12
libssl


    debix@DEBIX26:~$ sudo apt install ros-humble-librealsense2*
    Reading package lists... Done
    Building dependency tree... Done
    Reading state information... Done
    Note, selecting 'ros-humble-librealsense2' for glob 'ros-humble-librealsense2*'
    Note, selecting 'ros-humble-librealsense2-dbgsym' for glob 'ros-humble-librealsense2*'
    The following NEW packages will be installed:
      ros-humble-librealsense2 ros-humble-librealsense2-dbgsym
    0 upgraded, 2 newly installed, 0 to remove and 2 not upgraded.
    Need to get 69.1 MB of archives.
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    Get:1 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-librealsense2 arm64 2.54.1-1jammy.20230624.065425 [3307 kB]
    Get:2 http://packages.ros.org/ros2/ubuntu jammy/main arm64 ros-humble-librealsense2-dbgsym arm64 2.54.1-1jammy.20230624.065425 [65.7 MB]
    Fetched 69.1 MB in 34s (2011 kB/s)
    Selecting previously unselected package ros-humble-librealsense2.
    (Reading database ... 158886 files and directories currently installed.)
    Preparing to unpack .../ros-humble-librealsense2_2.54.1-1jammy.20230624.065425_arm64.deb ...
    Unpacking ros-humble-librealsense2 (2.54.1-1jammy.20230624.065425) ...
    Selecting previously unselected package ros-humble-librealsense2-dbgsym.
    Preparing to unpack .../ros-humble-librealsense2-dbgsym_2.54.1-1jammy.20230624.065425_arm64.deb ...
    Unpacking ros-humble-librealsense2-dbgsym (2.54.1-1jammy.20230624.065425) ...
    Setting up ros-humble-librealsense2 (2.54.1-1jammy.20230624.065425) ...
    Setting up ros-humble-librealsense2-dbgsym (2.54.1-1jammy.20230624.065425) ...
    Processing triggers for libc-bin (2.35-0ubuntu3.1) ...


Collaborator


    debix@DEBIX26:~$ lsusb | grep "Intel"
    Bus 002 Device 005: ID 8086:0b5c Intel Corp. Intel(R) RealSense(TM) Depth Camera 455

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All reactions


1
Jan 09 '23
Dear Mr. Hemals:


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Aug 2, 2023


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