No tracking result using D435 camera

[Alex-Beh]

Hello, can I use this package with D435 camera instead of the D435i?

I try to run the package but there is no tracking result.

I change the paramter in rs_rgbd.launch to <arg name="rgb" default="rgb" />.

I feel something wrong with the topic name from the realsense camera. I try to comment the python file and spencer launch file in realsense_people_tracking.launch. I only launched the realsense camear launch file and below is all the topics that I get when I rostopic list:

alex-beh@alexbeh-ThinkPad-T490:~$ rostopic list
/diagnostics
/rosout
/rosout_agg
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/color/camera_info
/spencer/sensors/rgbd_front_top/color/image_raw
/spencer/sensors/rgbd_front_top/color/image_raw/compressed
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/theora
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/depth/camera_info
/spencer/sensors/rgbd_front_top/depth/image_rect_raw
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/depth_registered/points
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_color
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_infra1
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_infra2
/spencer/sensors/rgbd_front_top/infra1/camera_info
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/camera_info
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/realsense2_camera_manager/bond
/spencer/sensors/rgbd_front_top/rgb/image_rect_color
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_camera/auto_exposure_roi/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_camera/auto_exposure_roi/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_camera/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_camera/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_rectify_color/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_rectify_color/parameter_updates
/spencer/sensors/rgbd_front_top/stereo_module/auto_exposure_roi/parameter_descriptions
/spencer/sensors/rgbd_front_top/stereo_module/auto_exposure_roi/parameter_updates
/spencer/sensors/rgbd_front_top/stereo_module/parameter_descriptions
/spencer/sensors/rgbd_front_top/stereo_module/parameter_updates
/tf
/tf_static

Is this normal to have both .../color/... and .../rgb/... topic? Because seem like the spencer didn't subscribe to the correct Image topic.