D415 on jetson Orin cannot create PointCloud2 topic And the depth image observed in rviz2 flickers black.

[Mosazh]

System Information

Device: Jetson Orin Nx
JetPack Version: JetPack 6.1
Kernel Version: 5.15.148-tegra
ROS Distribution: Humble
RealSense ROS Version: 4.56.4-2jammy.20251229.063615
librealsense Version: 2.56.4
RealSense ROS v4.56.4
Firmware: 5.16.0.1

Case
when I use ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud.enable:=true run the realsense node it cannot publish the topic for pointcloud

~/ros2_ws ❯ ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud.enable:=true                             orin@jetson 15:09:48
[INFO] [1767856201.371523125] [camera.camera]: RealSense ROS v4.56.4
[INFO] [1767856201.371858240] [camera.camera]: Built with LibRealSense v2.56.4
[INFO] [1767856201.371919138] [camera.camera]: Running with LibRealSense v2.56.4
[INFO] [1767856201.402512773] [camera.camera]: Device with serial number 121622064017 was found.

[INFO] [1767856201.402690667] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[INFO] [1767856201.402729100] [camera.camera]: Device with name Intel RealSense D415 was found.
[INFO] [1767856201.403157530] [camera.camera]: Device with port number 2-1.1 was found.
[INFO] [1767856201.403202075] [camera.camera]: Device USB type: 3.2
[INFO] [1767856201.403357536] [camera.camera]: getParameters...
[INFO] [1767856201.404174139] [camera.camera]: JSON file is not provided
[INFO] [1767856201.404218492] [camera.camera]: Device Name: Intel RealSense D415
[INFO] [1767856201.404241661] [camera.camera]: Device Serial No: 121622064017
[INFO] [1767856201.404260126] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[INFO] [1767856201.404279070] [camera.camera]: Device FW version: 5.16.0.1
[INFO] [1767856201.404296447] [camera.camera]: Device Product ID: 0x0AD3
[INFO] [1767856201.404312831] [camera.camera]: Sync Mode: Off
[INFO] [1767856201.629644611] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1767856201.630162579] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1767856201.679713376] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1767856201.709888213] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767856201.710220992] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767856201.710253665] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[INFO] [1767856201.740053579] [camera.camera]: Starting Sensor: RGB Camera
[INFO] [1767856201.755365853] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767856201.767452806] [camera.camera]: RealSense Node Is Up!

Topic :

~/ros2_ws ❯ ros2 topic list | grep color                                                                          orin@jetson 15:13:18
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/image_raw/compressed
/camera/camera/color/image_raw/compressedDepth
/camera/camera/color/image_raw/theora
/camera/camera/color/metadata
/camera/camera/extrinsics/depth_to_color

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

~/ros2_ws ❯ ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true   1m 42s orin@jetson 16:05:08

[INFO] [launch]: All log files can be found below /home/orin/.ros/log/2026-01-08-16-05-17-071182-jetson-318960
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [318975]
[realsense2_camera_node-1] [INFO] [1767859517.592941745] [camera.camera]: RealSense ROS v4.56.4
[realsense2_camera_node-1] [INFO] [1767859517.593221979] [camera.camera]: Built with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1767859517.593266557] [camera.camera]: Running with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1767859517.617261213] [camera.camera]: Device with serial number 121622064017 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1767859517.617409282] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1767859517.617436547] [camera.camera]: Device with name Intel RealSense D415 was found.
[realsense2_camera_node-1] [INFO] [1767859517.617787856] [camera.camera]: Device with port number 2-1.1 was found.
[realsense2_camera_node-1] [INFO] [1767859517.617823121] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1767859517.617954358] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1767859517.619061790] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1767859517.619100255] [camera.camera]: Device Name: Intel RealSense D415
[realsense2_camera_node-1] [INFO] [1767859517.619119040] [camera.camera]: Device Serial No: 121622064017
[realsense2_camera_node-1] [INFO] [1767859517.619135136] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1767859517.619148961] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1767859517.619161441] [camera.camera]: Device Product ID: 0x0AD3
[realsense2_camera_node-1] [INFO] [1767859517.619173122] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1767859517.797724959] [camera.camera]: Set ROS param depth_module.infra_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1767859517.813877477] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1767859517.820539477] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1767859517.820804510] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1767859517.849206397] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1767859517.864196217] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1767859517.894057772] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1767859517.906454378] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1767859517.918581375] [camera.camera]: RealSense Node Is Up!

Topic :

~/ros2_ws ❯ ros2 topic list | grep color                                                               orin@jetson 16:03:36
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/image_raw/compressed
/camera/camera/color/image_raw/compressedDepth
/camera/camera/color/image_raw/theora
/camera/camera/color/metadata
/camera/camera/extrinsics/depth_to_color

---

Then more the depth image observed in rviz2 flickers black，see GIF. Could the unstable power of the laser projector caused by insufficient current supply from the USB data cable lead to the flickering of the depth map?

---

I have checked and tried many methods (including reading related issues，[#3354 ], [#3455 ]), but still cannot publish the point cloud topic. I hope to get some useful information. Thank you.

[MartyG-RealSense]

Hi @Mosazh Let's first test the possibility that your Orin NX (which has Neon support in its Arm processor) might be wanting to publish the pointcloud as a Neon-equipped one. You can test this by using a neon pointcloud parameter in your launch instruction:

pointcloud__neon_.enable:=true

Is the pointcloud published if you enable it that way?

[Mosazh]

Hi @Mosazh Let's first test the possibility that your Orin NX (which has Neon support in its Arm processor) might be wanting to publish the pointcloud as a Neon-equipped one. You can test this by using a neon pointcloud parameter in your launch instruction:嗨 让我们先测试一下你的 Orin NX（其 Arm 处理器支持 Neon）可能想要以配备 Neon 的方式发布点云的可能性。你可以通过在你的启动指令中使用 neon 点云参数来测试这一点：

pointcloud__neon_.enable:=true

Is the pointcloud published if you enable it that way?如果你这样启用它，点云会发布吗？

It still doesn't seem to work. Whether I use ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud_neon_.enable:=true or ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true enable_neon:=true, I cannot publish the point cloud topic /camera/camera/depth/color/points (is this the correct name for the point cloud topic?).

---

use ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud_neon_.enable:=true

~/ros2_ws ❯ ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud_neon_.enable:=true                       orin@jetson 16:24:07
[INFO] [1767860652.780618898] [camera.camera]: RealSense ROS v4.56.4
[INFO] [1767860652.780894971] [camera.camera]: Built with LibRealSense v2.56.4
[INFO] [1767860652.780932604] [camera.camera]: Running with LibRealSense v2.56.4
[INFO] [1767860652.806860224] [camera.camera]: Device with serial number 121622064017 was found.

[INFO] [1767860652.807064326] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[INFO] [1767860652.807093895] [camera.camera]: Device with name Intel RealSense D415 was found.
[INFO] [1767860652.807534774] [camera.camera]: Device with port number 2-1.1 was found.
[INFO] [1767860652.807587544] [camera.camera]: Device USB type: 3.2
[INFO] [1767860652.807788447] [camera.camera]: getParameters...
[INFO] [1767860652.809260496] [camera.camera]: JSON file is not provided
[INFO] [1767860652.809375444] [camera.camera]: Device Name: Intel RealSense D415
[INFO] [1767860652.809402805] [camera.camera]: Device Serial No: 121622064017
[INFO] [1767860652.809426005] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[INFO] [1767860652.809447414] [camera.camera]: Device FW version: 5.16.0.1
[INFO] [1767860652.809468375] [camera.camera]: Device Product ID: 0x0AD3
[INFO] [1767860652.809488727] [camera.camera]: Sync Mode: Off
[INFO] [1767860653.006164394] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1767860653.006360176] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1767860653.043951706] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1767860653.072543350] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767860653.072735292] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767860653.072781342] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[INFO] [1767860653.091122435] [camera.camera]: Starting Sensor: RGB Camera
[INFO] [1767860653.103615365] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[INFO] [1767860653.115059780] [camera.camera]: RealSense Node Is Up!

Topic

~/ros2_ws ❯ ros2 topic list | grep depth                                                                                        orin@jetson 16:24:22
/camera/camera/depth/camera_info
/camera/camera/depth/image_rect_raw
/camera/camera/depth/image_rect_raw/compressed
/camera/camera/depth/image_rect_raw/compressedDepth
/camera/camera/depth/image_rect_raw/theora
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/camera/camera/extrinsics/depth_to_infra1
/camera/camera/extrinsics/depth_to_infra2

use ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true enable_neon:=true

~/ros2_ws ❯ ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true enable_neon:=true
[INFO] [launch]: All log files can be found below /home/orin/.ros/log/2026-01-08-16-22-26-417154-jetson-339833
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [339848]
[realsense2_camera_node-1] [INFO] [1767860546.986501838] [camera.camera]: RealSense ROS v4.56.4
[realsense2_camera_node-1] [INFO] [1767860546.986806297] [camera.camera]: Built with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1767860546.986855099] [camera.camera]: Running with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1767860547.010654562] [camera.camera]: Device with serial number 121622064017 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1767860547.010924107] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1767860547.010967853] [camera.camera]: Device with name Intel RealSense D415 was found.
[realsense2_camera_node-1] [INFO] [1767860547.011351099] [camera.camera]: Device with port number 2-1.1 was found.
[realsense2_camera_node-1] [INFO] [1767860547.011420349] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1767860547.011618532] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1767860547.012367262] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1767860547.012412480] [camera.camera]: Device Name: Intel RealSense D415
[realsense2_camera_node-1] [INFO] [1767860547.012433665] [camera.camera]: Device Serial No: 121622064017
[realsense2_camera_node-1] [INFO] [1767860547.012451713] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1767860547.012468898] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1767860547.012487875] [camera.camera]: Device Product ID: 0x0AD3
[realsense2_camera_node-1] [INFO] [1767860547.012504323] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1767860547.194185896] [camera.camera]: Set ROS param depth_module.infra_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1767860547.219396129] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1767860547.230456423] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1767860547.230688655] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1767860547.260258113] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1767860547.275329877] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1767860547.301742264] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1767860547.316934288] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1767860547.331217863] [camera.camera]: RealSense Node Is Up!

Topic：

~/ros2_ws ❯ ros2 topic list | grep depth                                                                                        orin@jetson 16:16:54
/camera/camera/depth/camera_info
/camera/camera/depth/image_rect_raw
/camera/camera/depth/image_rect_raw/compressed
/camera/camera/depth/image_rect_raw/compressedDepth
/camera/camera/depth/image_rect_raw/theora
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color

[MartyG-RealSense]

Thank you for testing. Though the neon parameter should have a double-width under-slash on the left side: _neon

Yes, the pointcloud should be published to /camera/camera/depth/color/points

If the depth and color topics are both enabled then when the pointcloud is enabled they should be automatically mapped together into a textured pointcloud.

Regarding the flickering, it looks as though the depth image is there all the time but the brightness is repeatedly dropping. This could be caused by an auto-exposure issue. Does it make a difference if you disable auto-exposure with the launch parameter below:

depth_module.enable_auto_exposure:=false

Or during runtime after launch with the command below:

ros2 param set /camera/camera depth_module.enable_auto_exposure false

[Mosazh]

Thank you for testing. Though the neon parameter should have a double-width under-slash on the left side: __neon_感谢测试。虽然 neon 参数在左侧应该有一个双宽度下划线：_neon

Yes, the pointcloud should be published to /camera/camera/depth/color/points 是的，点云应该发布到 /camera/camera/depth/color/points

If the depth and color topics are both enabled then when the pointcloud is enabled they should be automatically mapped together into a textured pointcloud.如果深度和颜色主题都启用，那么当点云启用时，它们应该自动映射在一起形成带纹理的点云。

Regarding the flickering, it looks as though the depth image is there all the time but the brightness is repeatedly dropping. This could be caused by an auto-exposure issue. Does it make a difference if you disable auto-exposure with the launch parameter below:关于闪烁问题，看起来深度图像一直存在，但亮度反复下降。这可能是由自动曝光问题引起的。使用下面的启动参数禁用自动曝光是否有影响：

depth_module.enable_auto_exposure:=false

Or during runtime after launch with the command below:在运行时，使用以下命令启动后：

ros2 param set /camera/camera depth_module.enable_auto_exposure false

I sincerely apologize for not noticing earlier that there are two underscores __neon_. After I corrected this, the point cloud topic is now being published successfully.
I used the new command to launch the node: ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p depth_module.enable_auto_exposure:=false. However, the image still seems to flicker (though the flicker is not as severe as before), and I wonder if this will affect the subsequent use of the point cloud?

~/ros2_ws ❯ ros2 topic list | grep depth/color                                                                                  orin@jetson 16:53:25
/camera/camera/depth/color/points
~/ros2_ws ❯ ros2 param get /camera/camera depth_module.enable_auto_exposure                                                     orin@jetson 16:53:36
Boolean value is: False

[Mosazh]

@MartyG-RealSense

I suspect that the flickering may not be related to white balance or exposure settings. This is because we consistently set the point cloud color transform to AxisColor in RViz2, with the Axis selected as Z. Our observations show that when the depth image is nearly completely black, the point cloud appears in a uniform color (indicating that distance differentiation is not possible). Only when the depth image functions normally without flickering will the point cloud display a rainbow-colored gradient that maps to the distance values.

[MartyG-RealSense]

I'm pleased to hear that the neon parameter enabled the pointcloud.

A way to eliminate the possibility that the flickering is related to auto-exposure would be to place your hand over the front of the camera for several seconds. If exposure did have a problem then covering the camera front temporarily should cause auto-exposure to reset the depth image to normal.

Another factor that could disrupt the depth image is if your office location has overhead fluorescent strip lighting on the ceiling, as they contain a heated gas that flickers at frequencies difficult to see with the human eye.

[Mosazh]

I'm pleased to hear that the neon parameter enabled the pointcloud.很高兴听到开启霓虹参数使点云正常工作。

A way to eliminate the possibility that the flickering is related to auto-exposure would be to place your hand over the front of the camera for several seconds. If exposure did have a problem then covering the camera front temporarily should cause auto-exposure to reset the depth image to normal.消除闪烁可能与自动曝光有关的可能性的一种方法是用手遮挡相机前部几秒钟。如果曝光确实存在问题，那么暂时遮挡相机前部应该会使自动曝光将深度图像重置为正常状态。

Another factor that could disrupt the depth image is if your office location has overhead fluorescent strip lighting on the ceiling, as they contain a heated gas that flickers at frequencies difficult to see with the human eye.另一个可能干扰深度图像的因素是，如果你的办公室天花板上有荧光灯带照明，因为它们含有加热气体，会以人眼难以察觉的频率闪烁。

If the flickering were related to the strobing of the fluorescent tube, it should also be regular. However, from what I have observed, it seems to be completely irregular. I'm not sure if RViz2 is misleading me. I used both RViz2 and rqt_image_view to monitor the /camera/camera/depth/image_rect_raw topic, and observed that flickering occurs in RViz2, but never in rqt_image_view.

[MartyG-RealSense]

Is there any difference if you change the Color Transformer setting from 'Intensity' to 'RGB8'

[Mosazh]

Is there any difference if you change the Color Transformer setting from 'Intensity' to 'RGB8'

It seems that I cannot set the Color Transformer to RGB8. I have tried setting the Fixed Frame to camera_link, camera_depth_optical_frame, or any other available options, but none of these attempts have resolved the issue — I still cannot set the Color Transformer to RGB8

[MartyG-RealSense]

And it still flickers if you set laser power to its maximum of 360 and the emitter to always be on?

ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p depth_module.laser_power=360 -p depth_module.emitter_always_on:=true

A D415 should have the emitter always on by default anyway but it may be worth using the above command to check whether something has disabled that always-on status.

[Mosazh]

And it still flickers if you set laser power to its maximum of 360 and the emitter to always be on?

ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p depth_module.laser_power=360 -p depth_module.emitter_always_on:=true

A D415 should have the emitter always on by default anyway but it may be worth using the above command to check whether something has disabled that always-on status.

I encountered a startup ERROR when executing this command : ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p depth_module.laser_power=360 -p depth_module.emitter_always_on:=true

~ ❯ ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p depth_module.laser_power=360                                      10m 3s 12:08:34
[ERROR] [1768018120.145244641] [rcl]: Failed to parse global arguments
terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
  what():  failed to initialize rcl: Couldn't parse parameter override rule: '-p depth_module.laser_power=360'. Error: Expected lexeme type (22) not found, search ended at index 24, at ./src/rcl/lexer_lookahead.c:239, at ./src/rcl/arguments.c:343

Subsequently, I simply launched the node with only the point cloud enabled using this command:

ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true

Then I queried the laser power with the command:

ros2 param get /camera/camera depth_module.laser_power

The result showed the power value as:

Double value is: 150.0

After that, I set the laser power to 360 using the following command:

ros2 param set /camera/camera depth_module.laser_power 360.0

However, I was unable to query the status of the depth_module.emitter_always_on parameter with this command:

~ ❯ ros2 param get /camera/camera depth_module.emitter_always_on                                                                                                         12:00:32
Parameter not set

Although I successfully set the laser power to 360 via ros2 param set /camera/camera depth_module.laser_power 360.0, the /camera/camera/depth/image_rect_raw image still flickers in RViz2.

One new development is that a fresh warning now appears when launching the RealSense node — this warning was not present before I re-plugged the USB cable of the D415 camera. I connect the D415 camera to the Jetson device via a USB cable plugged into the latter's rear USB 3.0 port.

[WARN] [1768018391.309962585] [camera.camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range. 

I try set it to 1, but fail

~ ❯ ros2 param set /camera/camera rgb_camera.power_line_frequency 1                                                                                                            12:26:41
Setting parameter failed: parameter 'rgb_camera.power_line_frequency' cannot be set because it was not declared

I realized that the power line frequency likely needs to be configured during node launch. Although this command executed successfully, the flickering issue still persists.

~ ❯ ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true -p rgb_camera.power_line_frequency:=1                                   19s 12:32:42
[INFO] [1768019565.624065194] [camera.camera]: RealSense ROS v4.56.4
[INFO] [1768019565.624487029] [camera.camera]: Built with LibRealSense v2.56.4
[INFO] [1768019565.624559415] [camera.camera]: Running with LibRealSense v2.56.4
[INFO] [1768019565.646381108] [camera.camera]: Device with serial number 121622064017 was found.

[INFO] [1768019565.646546424] [camera.camera]: Device with physical ID /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[INFO] [1768019565.646573081] [camera.camera]: Device with name Intel RealSense D415 was found.
[INFO] [1768019565.646923874] [camera.camera]: Device with port number 2-1.1 was found.
[INFO] [1768019565.646955939] [camera.camera]: Device USB type: 3.2
[INFO] [1768019565.647084614] [camera.camera]: getParameters...
[INFO] [1768019565.647749112] [camera.camera]: JSON file is not provided
[INFO] [1768019565.647782457] [camera.camera]: Device Name: Intel RealSense D415
[INFO] [1768019565.647805241] [camera.camera]: Device Serial No: 121622064017
[INFO] [1768019565.647822746] [camera.camera]: Device physical port: /sys/devices/platform/bus@0/3610000.usb/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[INFO] [1768019565.647837018] [camera.camera]: Device FW version: 5.16.0.1
[INFO] [1768019565.647848506] [camera.camera]: Device Product ID: 0x0AD3
[INFO] [1768019565.647860315] [camera.camera]: Sync Mode: Off
[INFO] [1768019565.871461066] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1768019565.871658767] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1768019565.910337831] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1768019565.941336245] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1768019565.941557723] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 1280, Height: 720, FPS: 30
[INFO] [1768019565.941627517] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[INFO] [1768019565.968842247] [camera.camera]: Starting Sensor: RGB Camera
[INFO] [1768019565.981958272] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[INFO] [1768019565.992930944] [camera.camera]: RealSense Node Is Up!

[Mosazh]

@MartyG-RealSense
I launched the node using the command:

ros2 run realsense2_camera realsense2_camera_node --ros-args -p pointcloud__neon_.enable:=true

Could the errors that appeared after a long period of operation be related to the flickering issue?

[WARN] [1768024454.908028575] [camera.camera]: XXX Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error
[WARN] [1768024454.908218374] [camera.camera]: Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error
[WARN] [1768024455.909458812] [camera.camera]: XXX Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error
[WARN] [1768024455.909672003] [camera.camera]: Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error
[WARN] [1768024456.910983321] [camera.camera]: XXX Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error
[WARN] [1768024456.911198433] [camera.camera]: Hardware Notification:IR stream start failure,1.76802e+12,Error,Hardware Error

[MartyG-RealSense]

A lot of RealSense ROS users get the Could not set param: rgb_camera.power_line_frequency warning in their log. It is not important and does not prevent the camera from working correctly. The power_line_frequency RGB option allows interference from fluorescent lights to be negated by setting the camera's power line frequency to match the Hz operating frequency of the lights.

The default setting of power line frequency is Auto, which should correspond to '3' when configuring it. 0 is Disabled, 1 is 50 Hz and 2 is 60 Hz. The 50 Hz frequency is primarily used by lights in European regions, whilst 60 Hz is used in North American regions.

Failures of the IR stream should not affect the depth image as the IR stream is not used to generate depth frames. Instead, a depth frame is created from a pair of raw IR images inside the camera hardware, which is why depth can be streamed without the IR streams being enabled.

Have you tried resetting the camera at launch by using the initial_reset:=true parameter in your launch?

[Mosazh]

A lot of RealSense ROS users get the Could not set param: rgb_camera.power_line_frequency warning in their log. It is not important and does not prevent the camera from working correctly. The power_line_frequency RGB option allows interference from fluorescent lights to be negated by setting the camera's power line frequency to match the Hz operating frequency of the lights.

The default setting of power line frequency is Auto, which should correspond to '3' when configuring it. 0 is Disabled, 1 is 50 Hz and 2 is 60 Hz. The 50 Hz frequency is primarily used by lights in European regions, whilst 60 Hz is used in North American regions.

Failures of the IR stream should not affect the depth image as the IR stream is not used to generate depth frames. Instead, a depth frame is created from a pair of raw IR images inside the camera hardware, which is why depth can be streamed without the IR streams being enabled.

Have you tried resetting the camera at launch by using the initial_reset:=true parameter in your launch?

I apologize that the issue remains unresolved. Despite two days of debugging efforts, there has been no progress whatsoever, so I plan to set this problem aside for the time being. Because, it should not have any significant impact, as I have noticed that the point cloud display in RViz2 has been consistently stable and can accurately reflect the spatial distance relationships.
Thank you again for your assistance! If there are any new developments or relevant updates later, I will keep you informed and provide feedback in the Issues section. Thank you!

[MartyG-RealSense]

You are very welcome. Thanks very much for your patience!