D405 how to turn auto exposure on while using ros2 launch realsense2_camera rs_launch.py

[EkamBehl]

HI,
I've got a d405 camera .I subscribed to /camera/color/image_rect_raw and couldn't do detection(was trying to detect chessboard corners .I opened the image feed on realsense-viewer and it is all white due to lighting condition..The code works on the screenshot of the image after i turn auto exposure on in realsense-viewer.
Is the auto exposure on while running the launch file.If not,how do i turn it on?
i am running ros2 humble .
Thanks for any help

[MartyG-RealSense]

Hi @EkamBehl Auto-exposure should be enabled by default in both the realsense-viewer tool and the ROS wrapper.

[EkamBehl]

Hi @MartyG-RealSense ,
For some reason the auto exposure is not on by default.
Is there a way to turn it on?
I've attached a few images one from rviz on the topic camera/colour/image_rect_raw
And one on real sense with auto exposure on:

[MartyG-RealSense]

Please try enabling the auto-exposure after launch during runtime with the ROS2 command below.

ros2 param set /camera/camera depth_module.enable_auto_exposure true

[EkamBehl]

@MartyG-RealSense thanks it worked!!

[MartyG-RealSense]

That's excellent to hear, @EkamBehl - thanks very much for the update!

[MartyG-RealSense]

Case closed due to solution achieved and no further comments received.

[Adum888]

How is this a sufficient solution?
a parameter not working when set during launch
Has to be set after launch (or depending on the initial configuration firstly turned false and then true again)
This is a mediocre workaround at best and not documented at all.
Edit: @EkamBehl thank you for your tipp. It works and has to do until there is an actual fix

[MartyG-RealSense]

@Adum888 I will re-open the issue and keep it open so that other RealSense ROS users who may be experiencing a similar problem can add comments about it to this case.

[Adum888]

Thank you

[SamerKhshiboun]

See my comments in #2507 for more information.
The camera control of auto_exposure was turned off due other parameters in the launch file (e.g. depth_module.exposure.1)

[SamerKhshiboun]

#2612

[MartyG-RealSense]

Hi @EkamBehl and @Adum888 Do you require further assistance after the fix implemented by @SamerKhshiboun at
#2612 and merged into the ros2_development ROS2 wrapper? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.

[daichang01]

According to my attempts, commenting out the following can achieve automatic exposure
{'name': 'depth_module.exposure.1', 'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.1', 'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
{'name': 'depth_module.exposure.2', 'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.2', 'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},