Is there any method to use dotmask with D435i? about dotmask

[j20100]

I don't have a D435i at hand, but if it publish an RGB image and a depth image it should work. Do you have issues running Dotmask with the D435i?

[frankSARU]

I used the rs_rgbd launch file that comes with the realsense package to start my camera and then posted a series of topics, but there seems to be some required topics missing for dotmask, and nothing is shown accordingly in the rviz interface.
Here's my published topics:
/camera/align_to_color/parameter_descriptions /camera/align_to_color/parameter_updates /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw /camera/aligned_depth_to_color/image_raw/compressed /camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressed/parameter_updates /camera/aligned_depth_to_color/image_raw/compressedDepth /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates /camera/aligned_depth_to_color/image_raw/theora /camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions /camera/aligned_depth_to_color/image_raw/theora/parameter_updates /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/color/image_rect_color /camera/color/image_rect_color/compressed /camera/color/image_rect_color/compressed/parameter_descriptions /camera/color/image_rect_color/compressed/parameter_updates /camera/color/image_rect_color/compressedDepth /camera/color/image_rect_color/compressedDepth/parameter_descriptions /camera/color/image_rect_color/compressedDepth/parameter_updates /camera/color/image_rect_color/theora /camera/color/image_rect_color/theora/parameter_descriptions /camera/color/image_rect_color/theora/parameter_updates /camera/color_rectify_color/parameter_descriptions /camera/color_rectify_color/parameter_updates /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/image_rect_raw/compressed /camera/depth/image_rect_raw/compressed/parameter_descriptions /camera/depth/image_rect_raw/compressed/parameter_updates /camera/depth/image_rect_raw/compressedDepth /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions /camera/depth/image_rect_raw/compressedDepth/parameter_updates /camera/depth/image_rect_raw/theora /camera/depth/image_rect_raw/theora/parameter_descriptions /camera/depth/image_rect_raw/theora/parameter_updates /camera/depth_registered/dynamic_masked_image_raw /camera/depth_registered/image_raw /camera/depth_registered/masked_image_raw /camera/depth_registered/points /camera/extrinsics/depth_to_color /camera/motion_module/parameter_descriptions /camera/motion_module/parameter_updates /camera/realsense2_camera_manager/bond /camera/rgb/image_rect_color /camera/rgb_camera/auto_exposure_roi/parameter_descriptions /camera/rgb_camera/auto_exposure_roi/parameter_updates /camera/rgb_camera/parameter_descriptions /camera/rgb_camera/parameter_updates /camera/stereo_module/auto_exposure_roi/parameter_descriptions /camera/stereo_module/auto_exposure_roi/parameter_updates /camera/stereo_module/parameter_descriptions /camera/stereo_module/parameter_updates /diagnostics /rosout /rosout_agg /tf /tf_static

And here's the error warnings and rviz interface.

Since the D435i doesn't publish topics like /camera/rgb/image_raw, I modified the files in dotmask that refer to this topic and changed them all to the d435i's /camera/color/image_raw format

[j20100]

It seems that DOTMASK cannot subscribe to /camera/color/image_rect_color and /camera/color/camera_info . However, the D435i seems to be able to publish those topics (you may need to remap them). Have you tried to run the rs_rtabmap.launch from the realsense-ros package?

[frankSARU]

I've tried to use rs_rtabmap.launch and it has other problems. For remap, I have remap all the topic to my topic list like this, the error still exists. By the way, I can use opensource_tracking.launch properly with my d435i.

[j20100]

Could you send me a rosbag? It would make it easier to debug.

[frankSARU]

Could you send me a rosbag? It would make it easier to debug.

Thanks for your reply! Because I don't know what are you need so I just run a rosbag record -a command to record all.
So the file is a little big, I uploaded it on my google drive.
https://drive.google.com/file/d/1Na3hsVI2o8dzE1rG2uZwyXhpvwPd5Xo0/view?usp=sharing
If you need anything else to debug, or I was doing something wrong, plz let me know.
Thanks!

[mobiiin]

Having the same error here. have you managed to sort out the issue? @frankSARU
it seems the /rtabmap/odom doesn't publish any messages. wondering what the problem is?

[j20100]

I have added the D435i (both a launch file and in dotmask). I used @frankSARU rosbag so i dont know if it will work with a real camera. Let me know if there is any issues.

To run the code for the D435i use the following steps:

1. roslaunch dotmask dotmask-D435i.launch

2. Start the camera

3. source ~/catkin_ws_py3/devel/setup.bash
   cd ~/catkin_ws_py3/src/dotmask/src
   python3 dotmask_node.py --nn=yolact --input=D435i