Rotation Filter

[myselfbasil]

Bug Description for realsense-ros Wrapper

Overview

The bug occurred in the realsense-ros wrapper (ROS2, ros2-development branch) during the build of the realsense2_camera package in a ROS2 Humble Docker container, preventing successful compilation when used with the latest versions of Realsense SDK and affecting integration with an Intel RealSense D435i for ORB-SLAM3.

Primary Issue

• File: base_realsense_node.cpp
• Location: Line 232, within the setupFilters() function
• Error:

  error: 'rotation_filter' is not a member of 'rs2'; did you mean 'spatial_filter'?
  

  error: no matching function for call to 'make_shared<<expression error> >(std::vector<rs2_stream>)'
  

• Description: The code attempted to use rs2::rotation_filter, which does not exist in the RealSense SDK (librealsense2). The SDK supports filters like spatial_filter, temporal_filter, and decimation_filter. The invalid filter reference caused a template error in std::make_shared.

Secondary Issue

• File: rs_processing.hpp (from librealsense2)
• Location: Line 128, within the frame_processor_callback template
• Error:

  error: no match for call to '(std::vector<rs2_stream>) (std::remove_reference<rs2::frame&>::type, rs2::frame_source&)'
  

• Description: After modifying the primary issue, a secondary error emerged where a std::vector<rs2_stream> was incorrectly treated as a callable function in a frame processor callback, indicating a deeper issue in the filter setup or SDK compatibility.

Additional Observations

• A subsequent runtime issue produced Unknown IMU stream type errors when enabling IMU streams (enable_gyro:=true, enable_accel:=true), suggesting improper handling of RS2_STREAM_GYRO and RS2_STREAM_ACCEL in the wrapper.
• A version mismatch warning was noted: the wrapper was compiled with librealsense2 v2.56.2 but ran with v2.56.3, potentially contributing to instability.

Resolution

• Primary Fix: Commented out the problematic line in base_realsense_node.cpp:

  // _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(std::vector< rs2_stream >{ RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED }), _parameters, _logger));
  

  This allowed the package to build successfully.
• IMU Workaround: Disabled IMU streams (enable_gyro:=false, enable_accel:=false) to avoid IMU errors, as they were not critical for RGB-D ORB-SLAM3.
• Version Alignment: Rebuilt librealsense2 v2.56.2 to match the wrapper’s expected version, reducing potential issues.

Impact

The bug prevented the realsense2_camera package from building, halting the setup of ORB-SLAM3 with the D435i. The fix enabled RGB-D data publication, but IMU support remained unresolved, requiring further investigation or a stable branch (e.g., 4.54.1).

[sysrsbuild]

Can one of the admins verify this patch?

[Nir-Az]

@noacoohen, can you try and help @myselfbasil?

[noacoohen]

Hi @myselfbasil, our latest SDK release version is v2.56.3, can you please make sure you are aligned to the latest version?

[myselfbasil]

@noacoohen I will check on that again.

[myselfbasil]

@noacoohen Sorry for the late reply, I'm getting the same problem for the latest version as well.

[Nir-Az]

Hi @myselfbasil Can you share the ROS camera log?

[Nir-Az]

Any updates? IS this still an issue? if so please reopen with logs