depth image with turtlebot4

[IacopoFornai]

i want to use rtabmap odometry with my turtlebot4 and i have only these topics:

/turtlebot4_4/oakd/rgb/preview/camera_info
/turtlebot4_4/oakd/rgb/preview/image_raw
/turtlebot4_4/oakd/rgb/preview/image_raw/compressed
/turtlebot4_4/oakd/rgb/preview/image_raw/compressedDepth
/turtlebot4_4/oakd/rgb/preview/image_raw/theora

connecting the camera to my laptop and running camera.launch.py i can see more topic:

/diagnostics
/image_rect/ffmpeg
/joint_states
/oak/imu/data
/oak/nn/spatial_detections
/oak/rgb/camera_info
/oak/rgb/image_raw
/oak/rgb/image_raw/compressed
/oak/rgb/image_raw/compressedDepth
/oak/rgb/image_raw/ffmpeg
/oak/rgb/image_raw/theora
/oak/rgb/image_rect
/oak/rgb/image_rect/compressed
/oak/rgb/image_rect/compressedDepth
/oak/rgb/image_rect/theora
/oak/stereo/camera_info
/oak/stereo/image_raw
/oak/stereo/image_raw/compressed
/oak/stereo/image_raw/compressedDepth
/oak/stereo/image_raw/ffmpeg
/oak/stereo/image_raw/theora
/parameter_events
/robot_description
/rosout
/tf
/tf_static

but i haven't any NON compressed image for depth image topic. If i understood correctly rtabmap expects as input a NON compressed image for depth topic, how can i solve this issue?

[Serafadam]

Hi, it seems that the camera on turtlebot is using a different config file, you can edit it to match the one on host, although depending on you resource usage you might want to tweak it a little bit. Default camera config file can be found here, you can follow the documentation on what other values are available.

[orangelee89]

hi. I got same issue here , but my ros2 version is jazzy ,camera is oakd pro w
and I run rgb_stereo_node.launch.py can get all topic ,but run from turtlebot I got same topic as him
/turtlebot4_4/oakd/rgb/preview/camera_info
/turtlebot4_4/oakd/rgb/preview/image_raw
/turtlebot4_4/oakd/rgb/preview/image_raw/compressed
/turtlebot4_4/oakd/rgb/preview/image_raw/compressedDepth
/turtlebot4_4/oakd/rgb/preview/image_raw/theora

[Serafadam]

Responded here

[IacopoFornai]

changing parameter "i_pipeline_type", from RGB to RGBD i'm able to see more topics:

/turtlebot4_1/oakd/rgb/preview/camera_info
/turtlebot4_1/oakd/rgb/preview/image_raw
/turtlebot4_1/oakd/rgb/preview/image_raw/compressed
/turtlebot4_1/oakd/rgb/preview/image_raw/compressedDepth
/turtlebot4_1/oakd/rgb/preview/image_raw/theora
/turtlebot4_1/oakd/stereo/camera_info
/turtlebot4_1/oakd/stereo/image_raw
/turtlebot4_1/oakd/stereo/image_raw/compressed
/turtlebot4_1/oakd/stereo/image_raw/compressedDepth
/turtlebot4_1/oakd/stereo/image_raw/theora

is /turtlebot4_1/oakd/stereo/image_raw a ros2 topic for depth image? i'm asking because the encoding is 16UC1 but when i check the parameter:

ros2 param get /turtlebot4_1/oakd .oakd.stereo.image_raw.format
String value is: jpeg

moreover, is there a way to obtain also other type of RGB images (not preview ones), because i need images with dimensions 7201280 but i only have topic /turtlebot4_4/oakd/rgb/preview/image_raw and images are 250250

thank you in advance!

[Serafadam]

Hi,

is /turtlebot4_1/oakd/stereo/image_raw a ros2 topic for depth image? i'm asking because the encoding is 16UC1 but when i check the parameter:
ros2 param get /turtlebot4_1/oakd .oakd.stereo.image_raw.format
String value is: jpeg

For encoding type you can check the message itself, it has the field for that. I think that value that you got is for compressed message transport

moreover, is there a way to obtain also other type of RGB images (not preview ones), because i need images with dimensions 7201280 but i only have topic /turtlebot4_4/oakd/rgb/preview/image_raw and images are 250250

If you don't see rgb main topic then I guess it is disabled in params, check parameter rgb.i_publish_topic

[IacopoFornai]

hi, thank you for your help, i managed to launch without usb connection
ros2 launch depthai_examples rgb_stereo_node.launch.py
but when i try to launch
ros2 launch depthai_ros_driver camera.launch.py i have this error:
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: [json.exception.parse_error.101] parse error at line 1, column 1: syntax error while parsing value - unexpected end of input; expected '[', '{', or a literal

i put a screenshot of my launch:

[Serafadam]

Hi, could you run export DEPTHAI_DEBUG=1 before running the camera driver and post logs that are being output?

[IacopoFornai]

this is what i obtain:

[Serafadam]

Hi, it seems your device is being registered as USB2.0 device which could cause issues with larger pipeline, please verify that your port if working properly. You can also follow steps mentioned in bug report template so that we verify this isn't something hardware related

[IacopoFornai]

hi,
i checked the usb connection and you were right, the camera was connected to the wrong usb port, now doing the same procedure i can see
[component_container-2] Usb connection speed: Super - USB 3.0
so now it is connected through USB 3.0 port, but the error still persists:

there is also a weird thing happening: now that i'm connected through USB 3.0 i'm able to launch without error:
ubuntu@turtlebot4-1:~$ ros2 launch depthai_examples stereo_inertial_node.launch.py enableRviz:=False
and i see these topics:

but if i echo them, for example: ros2 topic echo ros2 topic echo /color/image
i cannot see any data, while connecting through USB 2.0 i was able to see the camera data.

[Serafadam]

Hi @IacopoFornai do you experience the same errors when connecting the camera to PC?

[IacopoFornai]

hi @Serafadam no, when i connect my camera to the pc i can launch all the drivers and see the topics.

[Serafadam]

Hi @IacopoFornai could you check which version of the driver you have? You can check how to do that for example by running

apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver

[IacopoFornai]

hi @Serafadam here they are:

[Serafadam]

Hi @IacopoFornai, I assume you got it working since there is a new separate issue here ?

[IacopoFornai]

Hi @Serafadam , unfotunately i didn't find i solution for the previous problem, i went on with one solution that was working regardless of some big delays, the other issue i wrote is regarding a further step of my work, and it is on images size, so i separated the issue to separarate also the topic.