realsense-ros: Ros2 depth_module.auto_exposure_enabled via launch file doesnt do anything
System: Ubuntu 20.04 Ros2 Galactic
If I start the camera node via ros2 launch realsense2_camera rs_record.py config_file:="'../my_config.yaml'" with depth_module.enable_auto_exposure: true, the auto exposure is not enabled.
I can check the state of the parameter with ros2 param get /camera/camera depth_module.enable_auto_exposure and it returns true!
If I set it again via ros2 param get /camera/camera depth_module.enable_auto_exposure true then it works and the infra1 images changes exposure
About this issue
- Original URL
- State: closed
- Created 2 years ago
- Comments: 30
Hi @geoeo ,
I started debugging this interesting issue again, and looks like one of the parameters inside the launch file
depth_module.exposure.1is auto-disabling theenable_auto_exposurefeature of the depth module, so the FPS is lower than expected.you can add
depth_module.enable_auto_exposure:=trueto the command, although the auto exposure feature should be enabled by default for depth_module.Another way to get a solution, is to run your node with
ros2 runcommand, which will ignore the launch file and start the node with its default values:ros2 run realsense2_camera realsense2_camera_nodewith ros2 run you can also override params, but in a different way, using the--ros-args -p <name>:=<value>, for example:ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=true -p enable_infra1:=false -p enable_infra2:=falseI will continue investigating why and how these params are being affecting each other, and how we can overcome in an elegant way.
Will update ASAP.
Yes the parameter is True, but the autoexposure does not seem to be triggered in e.g. infra1.
I have referred this issue to the RealSense ROS team.