Realsense相机驱动在使用imu数据时出现Qos问题

Lusix19492024-10-28 20:55

Realsense相机驱动在使用imu数据时出现Qos问题，报错如下：

bash 复制代码

[camera.camera]: New subscription discovered on topic '/camera/camera/imu', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

解决

对驱动源码https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/realsense2_camera/src/rs_node_setup.cpp的以下位置进行修改：

源码：

cpp 复制代码

    if (_is_accel_enabled && _is_gyro_enabled && (_imu_sync_method > imu_sync_method::NONE))
    {
        rmw_qos_profile_t qos = _use_intra_process ? qos_string_to_qos(DEFAULT_QOS) : qos_string_to_qos(HID_QOS);
        
        _synced_imu_publisher = std::make_shared<SyncedImuPublisher>(_node.create_publisher<sensor_msgs::msg::Imu>("~/imu", 
                                                        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos)));
    }

修改：

cpp 复制代码

    if (_is_accel_enabled && _is_gyro_enabled && (_imu_sync_method > imu_sync_method::NONE))
    {
    	// changed 20241028
    	rmw_qos_profile_t qos;
    	qos = rmw_qos_profile_default;
    	qos.depth = 20;
    	// delete 20241028
        //rmw_qos_profile_t qos = _use_intra_process ? qos_string_to_qos(DEFAULT_QOS) : qos_string_to_qos(HID_QOS);
        
        _synced_imu_publisher = std::make_shared<SyncedImuPublisher>(_node.create_publisher<sensor_msgs::msg::Imu>("~/imu", 
                                                        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos)));
    }