D435I cannot show pointcloud on ros2 galactic

[sunil-gitcode]

the warning log:
Could not set param: pointcloud.stream_index_filter with -1 Range: [-1, -2147483648]: parameter 'pointcloud.stream_index_filter' could not be set: Parameter {} doesn't comply with integer range.
[realsense2_camera_node-1] [INFO] [1652153992.874715809] [camera.camera]: Start Sensor: Stereo Module

use the cmd = ros2 launch realsense2_camera rs_launch.py align_depth:=true filters:=pointcloud

[MartyG-RealSense]

Hi @sunil-gitcode Are you using the ros2_beta wrapper, such as version 4.0.4 please? If you are then some of the parameters have changed from those in the previous version 3 ROS2 wrappers. To enable the pointcloud in the version 4 wrappers, pointcloud.enable:=true is used instead of filters:=pointcloud and align_depth.enable:=true instead of align_depth:=true. For example:

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true pointcloud.enable:=true

[sunil-gitcode]

Hi @sunil-gitcode Are you using the ros2_beta wrapper, such as version 4.0.4 please? If you are then some of the parameters have changed from those in the previous version 3 ROS2 wrappers. To enable the pointcloud in the version 4 wrappers, pointcloud.enable:=true is used instead of filters:=pointcloud and align_depth.enable:=true instead of align_depth:=true. For example:

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true pointcloud.enable:=true

log is:
[realsense2_camera_node-1] [INFO] [1652161008.305298013] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1652161010.880925665] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1652161011.397687954] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1652161011.398902525] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1652161011.399142809] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-1] [WARN] [1652161011.445761961] [camera.camera]: Could not set param: pointcloud.stream_index_filter with -1 Range: [-1, -2147483648]: parameter 'pointcloud.stream_index_filter' could not be set: Parameter {} doesn't comply with integer range.
[realsense2_camera_node-1] [INFO] [1652161011.448645878] [camera.camera]: Start Sensor: Stereo Module
[realsense2_camera_node-1] 09/05 22:36:51,750 WARNING [140628889425664] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

The ending is the same.

[sunil-gitcode]

realsense2_camera 4.0.4 RealSense camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras LibRealSense ROS Team Apache License 2.0

http://www.ros.org/wiki/RealSense
https://github.com/intel-ros/realsense/issues
version is 4.04

[MartyG-RealSense]

A RealSense ROS user who was using wrapper 4.0.4 and experienced the same error Could not set param: pointcloud.stream_index_filter found that RViz2 was responsible for the error in their particular case and provided their solution at #2295 (comment)

[sunil-gitcode]

A RealSense ROS user who was using wrapper 4.0.4 and experienced the same error Could not set param: pointcloud.stream_index_filter found that RViz2 was responsible for the error in their particular case and provided their solution at #2295 (comment)

Sorry, I'm already using power. I cloned realsense's ROS2 branch from git and recompiled it to fix this problem. It seems that using Method 1 to install will cause this error

[MartyG-RealSense]

It's excellent news that you achieved a solution, @sunil-gitcode - thanks very much for the update and for sharing your solution with the RealSense ROS community!

[MartyG-RealSense]

Hi @sunil-gitcode Do you require further assistance with this case, please? Thanks!

[sunil-gitcode]

Hi @sunil-gitcode Do you require further assistance with this case, please? Thanks

No,please close this issue,Thanks

[MartyG-RealSense]

Thanks very much for the update!

[youngday]

i build and run source code ,but D455 did not run properly on galactic ros2.
same problem:
Could not set param: pointcloud.stream_index_filter with -1 Range: [-1, -2147483648]: parameter 'pointcloud.stream_index_filter' could not be set: Parameter {} doesn't comply with integer range.

[MartyG-RealSense]

Hi @youngday Have you tried the solution that worked for @sunil-gitcode in this discussion at #2347 (comment) please?

[youngday]

I compiled librealsensense with version 2.51 and librealsensense-ros with version 4.04,point cloud and image could get from rviz2, but the warn still print out ,I can use it first,waiting for the reason of this warn ,thanks .

[MartyG-RealSense]

If you receive a warning message but the performance of what you are doing does not appear to be negatively affected then the warning can likely be safely ignored.

I do not have a meaning available for the Could not set param: pointcloud.stream_index_filter with -1 range message though

Does the warning go away if you set pointcloud.index_stream_filter to '0' in your launch instruction?

ros2 launch realsense2_camera rs_launch.py pointcloud.stream_index_filter:=0