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How to see the smooth camera image from OKA-D camera? #470
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Hello @codingBigBird In terms of the issue described, it appears that topic you have selected (compressedDepth) is a depth image topic, but there appears to be no RGBD topics present. This may explain why the image feed is very choppy as you reported. To mitigate this you can either: Enable RGBD to generate Depth Images - This comment (#277 (comment)) has some details on how to enable stereo for the Oak-D camera. You can also refer to the depthAI examples for additional node (https://turtlebot.github.io/turtlebot4-user-manual/software/sensors.html#oak-d https://github.com/luxonis/depthai-ros) Use the standard RGB Image - Rather than echoing /oakd/rgb/preview/image_raw/compressedDepth echo /oakd/rgb/preview/image_raw/compressed Let me know how these recommendations work for you. Looking forward to hearing from you soon. |
Hi @smatarCPR, |
And why sometimes my laptop has the topics of the TB4, but I can't see any content of the topic by using ros2 topic echo /topic in Discovery Server. |
Hello,
With regards to the topics being available but no data being published there could be a number of reasons:
Let me know how these recommendations work for you. Looking forward to hearing from you soon. |
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Simple Discovery
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
git clone https://github.com/turtlebot/turtlebot4.git -b humble
Type of issue
Camera
Expected behaviour
The image from the camera seen in RVIZ is very smooth.
I can see image from the topic: /oakd/rgb/preview/image_raw/compressedDepth
How can I improve this?
Actual behaviour
There is 10 seconds delay from the camera when the TB4 runs nothing. And when the robot is navigating, I can hardly see the image from camera. Is this because of the limitation of Raspberry pi?
And Why I can't see any message from /oakd/rgb/preview/image_raw/compressedDepth this topic?
Error messages
No response
To Reproduce
ros2 topic echo /oakd/rgb/preview/image_raw/compressedDepth
(get nothing from the topic)
ros2 launch turtlebot4_viz view_robot.launch.py
(have a look at the camer topic: /oakd/rgb/preview/image_raw)
Other notes
No response
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