ROS2 Dynamic Reconfigure Image Transport

[xkaraman]

Currently only base topic parameters can be configured.

Image transport plugins like compressed, compressedDepth are not available for reconfigure from ros2 run rqt_reconfigure rqt_reconfigure

Trying to configure them manually with
ros2 param set /camera/camera .aligned_depth_to_color.image_raw.compressed.format png results to an error of

Setting parameter failed: parameter '.aligned_depth_to_color.image_raw.compressed.format' cannot be set because it was not declared

[MartyG-RealSense]

Hi @xkaraman Your ros2 param set instruction looks unusual to me in regard to how it has full-stop marks instead of / symbols.

ros2 param set /camera/camera .aligned_depth_to_color.image_raw.compressed.format png

My expectation would be that the instruction would look more like this:

ros2 param set /camera/aligned_depth_to_color/image_raw/compressed

As aligned topics would only be published if align_depth was enabled and they are listed in the rqt_reconfigure window, it seems that you have enabled align_depth in your launch but are indeed missing the compressed topics.

Are the compressed topics listed outside of the rqt_reconfigure interface if you use the command ros2 topic list to list all currently available topics?

[xkaraman]

Yeah .param it's seems unusual to me coming from ros1 but apparently that's how it's done in ros2. Also ros2 param set node_name param_name value is the way to go for setting them in ROS2.

Yes aligned_depth was set to true and topics where visible and able to visualize through rviz

[MartyG-RealSense]

@xkaraman I will highlight your issue to one of my Intel RealSense colleagues. Thanks very much for your patience!

@Nir-Az In this issue, @xkaraman has compressed topics listed in ROS2 when using ros2 topic list but cannot interact with those compressed topics in the rqt_reconfigure window during runtime after launch or configure them with ros2 param set instructions. Is that normal for ROS2 please? Thanks!

[Nir-Az]

Hi,
I am not familiar with image transport parameters, but are you sure you see the new compressed topic in the topic list?

[xkaraman]

Yes @Nir-Az, i have also confirmed through ros2 topic echo /camera/color/image_raw/compressed --once --no-arr that yields:

header:
  stamp:
    sec: 1670235648
    nanosec: 56710912
  frame_id: camera_color_optical_frame
format: rgb8; jpeg compressed bgr8
data: '<sequence type: uint8, length: 285846>'
---

I would like to also report that when i open ros2 run rqt_reconfigure rqt_reconfigure and navigate to camera/camera paremters, when i scroll down to see the pameters, colorizer.stream_format_filter is the last one i can see before rqt crashing with an expception of [ros2run]: Floating point exception.

[Nir-Az]

OK, we will need to investigate those 2 issues on our side
Thanks

[xkaraman]

I noticed that if i remove namespace argument when launching the node from ROS2 launch file rs_launch.py params do NOT have the . in from of the param that has been odd to me as well as @MartyG-RealSense. Maybe i should open a new issue for it?
Still no compressed parameters are shown though.

[MartyG-RealSense]

Hi @xkaraman Let's await the outcome of the investigation by @Nir-Az before creating another issue. Thanks!

[xkaraman]

Any news on this @MartyG-RealSense ?

[MartyG-RealSense]

Hi @xkaraman I checked with the RealSense ROS team about this issue. They advised that it's in their pipeline but not a main focus at the moment and they will investigate it once they are able to get to it. Thanks very much for your patience.

[MartyG-RealSense]

Hi @xkaraman Bearing in mind the information in the comment above, do you require further assistance with this case please? Thanks!

[xkaraman]

Ok thanks for the update @MartyG-RealSense. Personally i don't need further assistance but maybe the issue must remain open until a fix is proposed?

[MartyG-RealSense]

I put an Enhancement label on the case to signify to keep it open whilst the feature request remains active.

[SamerKhshiboun]

Hi @xkaraman

My name is Samer and I'm a developer in the RealSense SW Team.

Regarding the scroll down issue in the rqt_reconfigure and that the last parameter you see is colorizer.stream_format_filter:
The problem is that the next paramter that rqt_reconfigure trying to pull and view, is "colorizer.stream_index_filter" which defined as an INT value in a range of [-1, INT_MAX].
LibRealSense is returning this range, but somehow it overflows to be INT_MAX + 1, which rqt_reconfigure is not accepting as it limited to INT_MAX(32bit) and overflows this number to be negative number.

This is the message I get from rqt_reconfigure:
[WARN] [1679264563.906326759] [rqt_reconfigure]: Failed to retrieve parameters from node: argument 2 overflowed: value must be in the range -2147483648 to 2147483647
I see there are two problems:

1- in the rqt_reconfigure application which doesn't support big number (bigger than 32 bits) and also doesn't know to skip these errors. (Reference: ros-visualization/rqt_reconfigure#107)

2- in our ros wrapper, which we should prevent these cases in general (need to figure out why the value is increased by 1 while converting from float to double)

This answer can provide useful information: https://stackoverflow.com/questions/23420783/convert-int-max-to-float-and-then-back-to-integer

I will continue investigating this issue and will look for a proper way to define the parameter range.
Regarding the other issue, I need to look more deeper in order to understand it.

Will update asap.

[xkaraman]

Thanks @SamerKhshiboun for the update! If you have any other updates or want me to help somehow, you are more than welcome to ask! :)

[johannesWen]

Hi, @SamerKhshiboun
Do you have an update concerning the integer overflow?

[MartyG-RealSense]

Hi @SamerKhshiboun Could you kindly assist with the question of @johannesWen above, please? Thanks!

[SamerKhshiboun]

Hi @MartyG-RealSense , @johannesWen
We opened a PR on librealsense repo
IntelRealSense/librealsense#11858

When this PR will be merged, you can use the latest code of librealsense (development branch) and recompile your librealsense library, and then when using rqt_reconfigure the problem will disappear.

Also, this fix will be included in the future releases of Librealsense

Thanks,
Samer

[MartyG-RealSense]

Hi @xkaraman and @johannesWen As PR IntelRealSense/librealsense#11858 got merged into the librealsense SDK on May 31 2023, do you require further assistance with this case please? Thanks!

[MartyG-RealSense]

Case closed due to merging of a fix into the librealsense SDK.