knorth55 / eus_vive Goto Github PK

[http://baxter:11311][10.0.0.3] shmpwk@baxter-c4:~/ros/vive_ws/src/knorth55/eus_vive$ roslaunch eus_vive realsense_l515.launch 
... logging to /home/shmpwk/.ros/log/f63b0786-41fd-11eb-ac79-000af716d1cb/roslaunch-baxter-c4-27682.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.3:46397/

SUMMARY
========

PARAMETERS
 * /realsense/realsense2_camera/accel_fps: 250
 * /realsense/realsense2_camera/accel_frame_id: realsense_accel_f...
 * /realsense/realsense2_camera/accel_optical_frame_id: realsense_accel_o...
 * /realsense/realsense2_camera/align_depth: True
 * /realsense/realsense2_camera/aligned_depth_to_color_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/aligned_depth_to_fisheye1_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/aligned_depth_to_fisheye2_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/aligned_depth_to_fisheye_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/aligned_depth_to_infra1_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/aligned_depth_to_infra2_frame_id: realsense_aligned...
 * /realsense/realsense2_camera/allow_no_texture_points: False
 * /realsense/realsense2_camera/base_frame_id: realsense_link
 * /realsense/realsense2_camera/calib_odom_file: 
 * /realsense/realsense2_camera/clip_distance: -1.0
 * /realsense/realsense2_camera/color_fps: 30
 * /realsense/realsense2_camera/color_frame_id: realsense_color_f...
 * /realsense/realsense2_camera/color_height: 540
 * /realsense/realsense2_camera/color_optical_frame_id: realsense_color_o...
 * /realsense/realsense2_camera/color_width: 960
 * /realsense/realsense2_camera/confidence_fps: 30
 * /realsense/realsense2_camera/confidence_height: 480
 * /realsense/realsense2_camera/confidence_width: 640
 * /realsense/realsense2_camera/depth_fps: 30
 * /realsense/realsense2_camera/depth_frame_id: realsense_depth_f...
 * /realsense/realsense2_camera/depth_height: 480
 * /realsense/realsense2_camera/depth_optical_frame_id: realsense_depth_o...
 * /realsense/realsense2_camera/depth_width: 640
 * /realsense/realsense2_camera/device_type: 
 * /realsense/realsense2_camera/enable_accel: False
 * /realsense/realsense2_camera/enable_color: True
 * /realsense/realsense2_camera/enable_confidence: True
 * /realsense/realsense2_camera/enable_depth: True
 * /realsense/realsense2_camera/enable_fisheye1: False
 * /realsense/realsense2_camera/enable_fisheye2: False
 * /realsense/realsense2_camera/enable_fisheye: False
 * /realsense/realsense2_camera/enable_gyro: False
 * /realsense/realsense2_camera/enable_infra1: False
 * /realsense/realsense2_camera/enable_infra2: False
 * /realsense/realsense2_camera/enable_infra: False
 * /realsense/realsense2_camera/enable_pointcloud: False
 * /realsense/realsense2_camera/enable_pose: False
 * /realsense/realsense2_camera/enable_sync: True
 * /realsense/realsense2_camera/filters: 
 * /realsense/realsense2_camera/fisheye1_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye1_optical_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye2_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye2_optical_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye_fps: 30
 * /realsense/realsense2_camera/fisheye_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye_height: 480
 * /realsense/realsense2_camera/fisheye_optical_frame_id: realsense_fisheye...
 * /realsense/realsense2_camera/fisheye_width: 640
 * /realsense/realsense2_camera/gyro_fps: 400
 * /realsense/realsense2_camera/gyro_frame_id: realsense_gyro_frame
 * /realsense/realsense2_camera/gyro_optical_frame_id: realsense_gyro_op...
 * /realsense/realsense2_camera/imu_optical_frame_id: realsense_imu_opt...
 * /realsense/realsense2_camera/infra1_frame_id: realsense_infra1_...
 * /realsense/realsense2_camera/infra1_optical_frame_id: realsense_infra1_...
 * /realsense/realsense2_camera/infra2_frame_id: realsense_infra2_...
 * /realsense/realsense2_camera/infra2_optical_frame_id: realsense_infra2_...
 * /realsense/realsense2_camera/infra_fps: 30
 * /realsense/realsense2_camera/infra_height: 480
 * /realsense/realsense2_camera/infra_rgb: False
 * /realsense/realsense2_camera/infra_width: 640
 * /realsense/realsense2_camera/initial_reset: False
 * /realsense/realsense2_camera/json_file_path: 
 * /realsense/realsense2_camera/linear_accel_cov: 0.01
 * /realsense/realsense2_camera/odom_frame_id: realsense_odom_frame
 * /realsense/realsense2_camera/pointcloud_texture_index: 0
 * /realsense/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /realsense/realsense2_camera/pose_frame_id: realsense_pose_frame
 * /realsense/realsense2_camera/pose_optical_frame_id: realsense_pose_op...
 * /realsense/realsense2_camera/publish_odom_tf: True
 * /realsense/realsense2_camera/publish_tf: False
 * /realsense/realsense2_camera/rosbag_filename: 
 * /realsense/realsense2_camera/serial_no: 
 * /realsense/realsense2_camera/tf_publish_rate: 0.0
 * /realsense/realsense2_camera/topic_odom_in: realsense/odom_in
 * /realsense/realsense2_camera/unite_imu_method: none
 * /realsense/realsense2_camera/usb_port_id: 
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /realsense/
    color_rectify_color (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense_camera_manager (nodelet/nodelet)
  /
    aligned_depth_to_color_camera_info_relay (topic_tools/relay)
    aligned_depth_to_color_compress_republish (image_transport/republish)
    depth_camera_info_relay (topic_tools/relay)
    depth_compress_republish (image_transport/republish)

ROS_MASTER_URI=http://baxter:11311

process[realsense/realsense_camera_manager-1]: started with pid [27691]
process[realsense/realsense2_camera-2]: started with pid [27692]
process[realsense/color_rectify_color-3]: started with pid [27693]
process[realsense/points_xyzrgb_hw_registered-4]: started with pid [27698]
process[depth_compress_republish-5]: started with pid [27702]
process[depth_camera_info_relay-6]: started with pid [27710]
[ INFO] [1614744975.873599126]: Initializing nodelet with 48 worker threads.
process[aligned_depth_to_color_compress_republish-7]: started with pid [27769]
process[aligned_depth_to_color_camera_info_relay-8]: started with pid [27772]
[ INFO] [1614744976.145016508]: RealSense ROS v2.2.21
[ INFO] [1614744976.145058298]: Built with LibRealSense v2.41.0
[ INFO] [1614744976.145074624]: Running with LibRealSense v2.41.0
[ INFO] [1614744976.187361410]:  
[ INFO] [1614744976.795889199]: Device with serial number f0270643 was found.

[ INFO] [1614744976.795932642]: Device with physical ID 3-3-2 was found.
[ INFO] [1614744976.795950898]: Device with name Intel RealSense L515 was found.
[ INFO] [1614744976.796630281]: Device with port number 3-3 was found.
[ INFO] [1614744976.796674780]: Device USB type: 2.1
[ WARN] [1614744976.796697855]: Device f0270643 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1614744976.802284114]: getParameters...
[ INFO] [1614744977.044526874]: setupDevice...
[ INFO] [1614744977.044591666]: JSON file is not provided
[ INFO] [1614744977.044626854]: ROS Node Namespace: realsense
[ INFO] [1614744977.044658530]: Device Name: Intel RealSense L515
[ INFO] [1614744977.044692108]: Device Serial No: f0270643
[ INFO] [1614744977.044719511]: Device physical port: 3-3-2
[ INFO] [1614744977.044746349]: Device FW version: 01.05.03.00
[ INFO] [1614744977.044779696]: Device Product ID: 0x0B64
[ INFO] [1614744977.044807240]: Enable PointCloud: Off
[ INFO] [1614744977.044841003]: Align Depth: On
[ INFO] [1614744977.044872917]: Sync Mode: On
[ INFO] [1614744977.045015866]: Device Sensors: 
[ INFO] [1614744977.067359286]: L500 Depth Sensor was found.
[ INFO] [1614744977.076059491]: RGB Camera was found.
[ INFO] [1614744977.076264643]: Motion Module was found.
[ INFO] [1614744977.076327875]: num_filters: 0
[ INFO] [1614744977.076355191]: Setting Dynamic reconfig parameters.
[ INFO] [1614744977.399978472]: Done Setting Dynamic reconfig parameters.
[ WARN] [1614744977.400247080]: Given stream configuration is not supported by the device!  Stream: Depth, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: Z16
[ WARN] [1614744977.400328735]: Given stream configuration is not supported by the device!  Stream: Color, Stream Index: 0, Width: 960, Height: 540, FPS: 30, Format: None
[ WARN] [1614744977.400378994]: Given stream configuration is not supported by the device!  Stream: Confidence, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: None
[ INFO] [1614744977.400433303]: setupPublishers...
[ INFO] [1614744977.403557917]: setupStreams...
[ INFO] [1614744977.403656640]: SELECTED BASE:Depth, 0
[ INFO] [1614744977.408766311]: RealSense Node Is Up!