D415 on Jetson Nano not publishing PointCloud data

[anishk85]

PointCloud data is not being published even after setting enable_pointcloud:=true.
The node starts without errors, but no PointCloud2 topic appears.
Verified the parameter is correctly set at runtime.
Is any additional configuration or dependency required to enable point cloud output?

ros2 launch realsense2_camera rs_launch.py \
    pointcloud.enable:=true \
    pointcloud.stream_filter:=2 \
    pointcloud.stream_index_filter:=0 \
    align_depth.enable:=true \
    depth_module.profile:=640x480x15 \
    rgb_camera.profile:=640x480x15
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-02-06-19-13-50-681701-jetson-6468
[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 [6469]
[realsense2_camera_node-1] [INFO] [1770405231.651372560] [camera.camera]: RealSense ROS v4.56.4
[realsense2_camera_node-1] [INFO] [1770405231.651596935] [camera.camera]: Built with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1770405231.651667507] [camera.camera]: Running with LibRealSense v2.56.4
[realsense2_camera_node-1] [INFO] [1770405231.674177560] [camera.camera]: Device with serial number 211422060364 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1770405231.674396987] [camera.camera]: Device with physical ID /sys/devices/70090000.xusb/usb2/2-1/2-1.2/2-1.2.4/2-1.2.4:1.0/video4linux/video1 was found.
[realsense2_camera_node-1] [INFO] [1770405231.674463601] [camera.camera]: Device with name Intel RealSense D415 was found.
[realsense2_camera_node-1] [INFO] [1770405231.675245216] [camera.camera]: Device with port number 2-1.2.4 was found.
[realsense2_camera_node-1] [INFO] [1770405231.675342768] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1770405231.675580528] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1770405231.679067195] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1770405231.679186362] [camera.camera]: Device Name: Intel RealSense D415
[realsense2_camera_node-1] [INFO] [1770405231.679302247] [camera.camera]: Device Serial No: 211422060364
[realsense2_camera_node-1] [INFO] [1770405231.679378862] [camera.camera]: Device physical port: /sys/devices/70090000.xusb/usb2/2-1/2-1.2/2-1.2.4/2-1.2.4:1.0/video4linux/video1
[realsense2_camera_node-1] [INFO] [1770405231.679453653] [camera.camera]: Device FW version: 5.17.0.10
[realsense2_camera_node-1] [INFO] [1770405231.679525424] [camera.camera]: Device Product ID: 0x0AD3
[realsense2_camera_node-1] [INFO] [1770405231.679569278] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1770405231.834588497] [camera.camera]: Set ROS param depth_module.depth_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1770405231.837068653] [camera.camera]: Set ROS param depth_module.infra_profile to default: 1280x720x30
[realsense2_camera_node-1] [WARN] [1770405231.843947039] [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.
[realsense2_camera_node-1] [INFO] [1770405231.864071414] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1770405231.878534591] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1770405231.878887455] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1770405231.919730007] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1770405231.929104226] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1770405231.949267664] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1770405231.958350841] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1770405231.970572716] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1770405233.920962090] [camera.camera]: XXX Hardware Notification:Depth stream start failure,1.77041e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1770405233.921164850] [camera.camera]: Hardware Notification:Depth stream start failure,1.77041e+12,Error,Hardware Error

[anishk85]

 ros2 param list /camera/camera | grep point
  pointcloud__neon_.allow_no_texture_points
  pointcloud__neon_.enable
  pointcloud__neon_.filter_magnitude
  pointcloud__neon_.frames_queue_size
  pointcloud__neon_.ordered_pc
  pointcloud__neon_.pointcloud_qos
  pointcloud__neon_.stream_filter
  pointcloud__neon_.stream_format_filter
  pointcloud__neon_.stream_index_filter

ros2 topic list
/camera/camera/aligned_depth_to_color/camera_info
/camera/camera/aligned_depth_to_color/image_raw
/camera/camera/aligned_depth_to_color/image_raw/compressed
/camera/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/camera/aligned_depth_to_color/image_raw/theora
/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/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
/clicked_point
/goal_pose
/initialpose
/parameter_events
/rosout
/tf
/tf_static

1770494407.465422039] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1770494407.474575134] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1770494407.492941117] [camera.camera]: RealSense Node Is Up!
[ERROR] [rviz2-2]: process has died [pid 8871, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/realsense2_camera/examples/pointcloud/rviz/pointcloud.rviz --ros-args -r __node:=rviz2 -r __ns:=/'].
[realsense2_camera_node-1] [WARN] [1770494409.440616613] [camera.camera]: XXX Hardware Notification:Depth stream start failure,1.77049e+12,Error,Hardware Error
[realsense2_camera_node-1] [WARN] [1770494409.440854377] [camera.camera]: Hardware Notification:Depth stream start failure,1.77049e+12,Error,Hardware Error
/camera/camera:
  ros__parameters:
    ? ''
    : camera:
        aligned_depth_to_color:
          image_raw:
            format: jpeg
            jpeg_quality: 95
            png_level: 3
            tiff:
              res_unit: inch
              xdpi: -1
              ydpi: -1
        color:
          image_raw:
            format: jpeg
            jpeg_quality: 95
            png_level: 3
            tiff:
              res_unit: inch
              xdpi: -1
              ydpi: -1
        depth:
          image_rect_raw:
            format: jpeg
            jpeg_quality: 95
            png_level: 3
            tiff:
              res_unit: inch
              xdpi: -1
              ydpi: -1
    _device_type: ''
    _usb_port_id: ''
    align_depth:
      enable: true
      frames_queue_size: 16
    angular_velocity_cov: 0.01
    base_frame_id: link
    camera:
      aligned_depth_to_color:
        image_raw:
          enable_pub_plugins:
          - image_transport/compressedDepth
          - image_transport/compressed
          - image_transport/raw
          - image_transport/theora
      color:
        image_raw:
          enable_pub_plugins:
          - image_transport/compressedDepth
          - image_transport/compressed
          - image_transport/raw
          - image_transport/theora
      depth:
        image_rect_raw:
          enable_pub_plugins:
          - image_transport/compressedDepth
          - image_transport/compressed
          - image_transport/raw
          - image_transport/theora
    camera_name: camera
    clip_distance: -2.0
    color_info_qos: DEFAULT
    color_qos: SYSTEM_DEFAULT
    colorizer:
      color_scheme: 0
      enable: false
      frames_queue_size: 16
      histogram_equalization_enabled: true
      max_distance: 6.0
      min_distance: 0.0
      stream_filter: 1
      stream_format_filter: 1
      stream_index_filter: -1
      visual_preset: 0
    decimation_filter:
      enable: false
      filter_magnitude: 2
      frames_queue_size: 16
      stream_filter: 1
      stream_format_filter: 1
      stream_index_filter: -1
    depth_info_qos: DEFAULT
    depth_module:
      auto_exposure_roi:
        bottom: 719
        left: 0
        right: 1279
        top: 0
      depth_format: Z16
      depth_profile: 1280x720x30
      emitter_enabled: 1
      enable_auto_exposure: true
      enable_auto_white_balance: false
      error_polling_enabled: true
      exposure: 8500
      frames_queue_size: 16
      gain: 16
      global_time_enabled: true
      hdr_enabled: false
      infra1_format: Y8
      infra2_format: Y8
      infra_format: RGB8
      infra_profile: 1280x720x30
      inter_cam_sync_mode: 0
      laser_power: 150.0
      output_trigger_enabled: false
      sequence_id: 0
      sequence_name: 0
      sequence_size: 2
      visual_preset: 0
    depth_qos: SYSTEM_DEFAULT
    diagnostics_period: 0.0
    disparity_filter:
      enable: false
    disparity_to_depth:
      enable: false
    enable_color: true
    enable_depth: true
    enable_infra: false
    enable_infra1: false
    enable_infra2: false
    enable_rgbd: false
    enable_sync: false
    filter_by_sequence_id:
      enable: false
      frames_queue_size: 16
      sequence_id: 1
    hdr_merge:
      enable: false
      frames_queue_size: 16
    hold_back_imu_for_frames: false
    hole_filling_filter:
      enable: false
      frames_queue_size: 16
      holes_fill: 1
      stream_filter: 1
      stream_format_filter: 1
      stream_index_filter: -1
    infra1_info_qos: DEFAULT
    infra1_qos: SYSTEM_DEFAULT
    infra2_info_qos: DEFAULT
    infra2_qos: SYSTEM_DEFAULT
    infra_info_qos: DEFAULT
    infra_qos: SYSTEM_DEFAULT
    initial_reset: false
    json_file_path: ''
    linear_accel_cov: 0.01
    pointcloud__neon_:
      allow_no_texture_points: false
      enable: false
      filter_magnitude: 2
      frames_queue_size: 16
      ordered_pc: false
      pointcloud_qos: DEFAULT
      stream_filter: 0
      stream_format_filter: 0
      stream_index_filter: -1
    publish_tf: true
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    reconnect_timeout: 6.0
    rgb_camera:
      auto_exposure_priority: false
      auto_exposure_roi:
        bottom: 719
        left: 0
        right: 1279
        top: 0
      backlight_compensation: false
      brightness: 0
      color_format: RGB8
      color_profile: 1280x720x30
      contrast: 50
      enable_auto_exposure: true
      enable_auto_white_balance: true
      exposure: 166
      frames_queue_size: 16
      gain: 64
      gamma: 300
      global_time_enabled: true
      hue: 0
      saturation: 64
      sharpness: 50
      white_balance: 4600.0
    rosbag_filename: ''
    rotation_filter:
      enable: false
      frames_queue_size: 16
      rotation: 0.0
      stream_filter: 0
      stream_format_filter: 0
      stream_index_filter: -1
    serial_no: ''
    spatial_filter:
      enable: false
      filter_magnitude: 2
      filter_smooth_alpha: 0.5
      filter_smooth_delta: 20
      frames_queue_size: 16
      holes_fill: 0
      stream_filter: 1
      stream_format_filter: 1
      stream_index_filter: -1
    temporal_filter:
      enable: false
      filter_smooth_alpha: 0.4
      filter_smooth_delta: 20
      frames_queue_size: 16
      holes_fill: 3
      stream_filter: 1
      stream_format_filter: 1
      stream_index_filter: -1
    tf_publish_rate: 0.0
    unite_imu_method: 0
    use_sim_time: false
    wait_for_device_timeout: -1.0

[anishk85]

enabled pointcloud.enable=true, but no topic appeared at all. The real issue was that the pointcloud parameters had a weird _neon prefix internally

[MartyG-RealSense]

Hi @anishk85 Thanks very much for the very detailed information.

On Arm computing devices that have a processor with Neon pointcloud acceleration support built in (including Jetson Orin Nano), when a RealSense cameras used with it then it can cause __neon_ to be inserted into the pointcloud parameter names, preventing the pointcloud from being published when using pointcloud.enable.

The solution is to use pointcloud__neon_.enable:=true in the launch command after editing the pointcloud parameters in the launch file to insert __neon_ into them so that they match the parameter names that you obtained with ros2 param list. Please note that it is two underslashes on the left side of 'neon' and one underslash on the right side.

In the rs_launch.py launch file the pointcloud parameters to edit are on lines 76-80.

https://github.com/realsenseai/realsense-ros/blob/ros2-master/realsense2_camera/launch/rs_launch.py#L76-L80

[anishk85]

hi @MartyG-RealSense
thanks a lot i am getting the point cloud data now

[MartyG-RealSense]

You are very welcome. I'm pleased to hear that you were successful!

[anishk85]

hi @MartyG-RealSense ,
the point cloud data is coming to me but it doesn't update frequently like it appears to me constant some frames drops

ros2 launch rover_hardware bringup.launch.py 
[INFO] [launch]: All log files can be found below /home/jetsonorin/.ros/log/2026-02-14-06-32-26-723090-jetsonorin-3437
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-7]: process started with pid [3452]
[INFO] [ros2_control_node-1]: process started with pid [3440]
[INFO] [robot_state_publisher-2]: process started with pid [3442]
[INFO] [spawner-3]: process started with pid [3444]
[INFO] [spawner-4]: process started with pid [3446]
[INFO] [icm20948_imu_publisher.py-5]: process started with pid [3448]
[INFO] [nmea_gps_node.py-6]: process started with pid [3450]
[robot_state_publisher-2] [INFO] [1771030947.382022496] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1771030947.382233824] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1771030947.382263264] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1771030947.382277920] [robot_state_publisher]: got segment camera_link_1
[robot_state_publisher-2] [INFO] [1771030947.382289408] [robot_state_publisher]: got segment camera_link_2
[robot_state_publisher-2] [INFO] [1771030947.382300544] [robot_state_publisher]: got segment chassis
[robot_state_publisher-2] [INFO] [1771030947.382311360] [robot_state_publisher]: got segment gps_link
[robot_state_publisher-2] [INFO] [1771030947.382321728] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1771030947.382332000] [robot_state_publisher]: got segment lidar_link
[robot_state_publisher-2] [INFO] [1771030947.382342496] [robot_state_publisher]: got segment steering1
[robot_state_publisher-2] [INFO] [1771030947.382352640] [robot_state_publisher]: got segment steering2
[robot_state_publisher-2] [INFO] [1771030947.382362752] [robot_state_publisher]: got segment steering3
[robot_state_publisher-2] [INFO] [1771030947.382372768] [robot_state_publisher]: got segment steering4
[robot_state_publisher-2] [INFO] [1771030947.382382752] [robot_state_publisher]: got segment wheel1
[robot_state_publisher-2] [INFO] [1771030947.382392896] [robot_state_publisher]: got segment wheel2
[robot_state_publisher-2] [INFO] [1771030947.382403072] [robot_state_publisher]: got segment wheel3
[robot_state_publisher-2] [INFO] [1771030947.382413792] [robot_state_publisher]: got segment wheel4
[ros2_control_node-1] [WARN] [1771030947.447518080] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1771030947.448244320] [resource_manager]: Loading hardware 'RoverSystem' 
[ros2_control_node-1] [INFO] [1771030947.449564192] [resource_manager]: Initialize hardware 'RoverSystem' 
[ros2_control_node-1] [INFO] [1771030947.450221824] [RoverCANInterface]: Initialized with UART port: /dev/ttyTHS1 @ 115200 baud
[ros2_control_node-1] [INFO] [1771030947.450262432] [resource_manager]: Successful initialization of hardware 'RoverSystem'
[ros2_control_node-1] [INFO] [1771030947.450728288] [resource_manager]: 'configure' hardware 'RoverSystem' 
[ros2_control_node-1] [INFO] [1771030947.450753888] [RoverCANInterface]: Configuring UART...
[ros2_control_node-1] [INFO] [1771030947.452906368] [RoverCANInterface]: UART configured successfully
[ros2_control_node-1] [INFO] [1771030947.453795168] [resource_manager]: Successful 'configure' of hardware 'RoverSystem'
[ros2_control_node-1] [INFO] [1771030947.454519232] [resource_manager]: 'activate' hardware 'RoverSystem' 
[ros2_control_node-1] [INFO] [1771030947.455209984] [RoverCANInterface]: Activating...
[ros2_control_node-1] [INFO] [1771030947.455937376] [RoverCANInterface]: Activated - ready to receive commands
[ros2_control_node-1] [INFO] [1771030947.458903552] [resource_manager]: Successful 'activate' of hardware 'RoverSystem'
[ros2_control_node-1] [INFO] [1771030947.466297024] [controller_manager]: update rate is 50 Hz
[ros2_control_node-1] [INFO] [1771030947.467715808] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1771030947.484150432] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[realsense2_camera_node-7] [INFO] [1771030947.848502688] [camera.camera]: RealSense ROS v4.56.4
[realsense2_camera_node-7] [INFO] [1771030947.848751328] [camera.camera]: Built with LibRealSense v2.56.4
[realsense2_camera_node-7] [INFO] [1771030947.848792608] [camera.camera]: Running with LibRealSense v2.56.4
[realsense2_camera_node-7] [INFO] [1771030947.889644480] [camera.camera]: Device with serial number 211422060364 was found.
[realsense2_camera_node-7] 
[realsense2_camera_node-7] [INFO] [1771030947.892508416] [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-7] [INFO] [1771030947.893188000] [camera.camera]: Device with name Intel RealSense D415 was found.
[realsense2_camera_node-7] [INFO] [1771030947.894201568] [camera.camera]: Device with port number 2-1.1 was found.
[realsense2_camera_node-7] [INFO] [1771030947.894858304] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-7] [INFO] [1771030947.895467328] [camera.camera]: Resetting device...
[ros2_control_node-1] [INFO] [1771030948.087304544] [controller_manager]: Loading controller 'diff_drive_controller'
[ros2_control_node-1] [INFO] [1771030948.130007840] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1771030948.168156352] [spawner_diff_drive_controller]: Loaded diff_drive_controller
[ros2_control_node-1] [INFO] [1771030948.170727456] [controller_manager]: Configuring controller 'diff_drive_controller'
[spawner-4] [INFO] [1771030948.198502816] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1771030948.225295136] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1771030948.225477856] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1771030948.228616704] [spawner_diff_drive_controller]: Configured and activated diff_drive_controller
[nmea_gps_node.py-6] [INFO] [1771030948.290073952] [gps_node]: Opened GPS serial port /dev/ttyUSB0 at 38400 baud
[nmea_gps_node.py-6] [INFO] [1771030948.291583552] [gps_node]: NMEA GPS node started
[spawner-4] [INFO] [1771030948.390057120] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[icm20948_imu_publisher.py-5] [INFO] [1771030948.468135520] [imu_publisher]: ICM-20948 initialized (mag: False)
[icm20948_imu_publisher.py-5] [INFO] [1771030948.469700256] [imu_publisher]: Publishing at 100.0 Hz with Madgwick filter
[INFO] [spawner-3]: process has finished cleanly [pid 3444]
[INFO] [spawner-4]: process has finished cleanly [pid 3446]
[realsense2_camera_node-7] [INFO] [1771030954.140501728] [camera.camera]: Device with serial number 211422060364 was found.
[realsense2_camera_node-7] 
[realsense2_camera_node-7] [INFO] [1771030954.140957088] [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-7] [INFO] [1771030954.141006656] [camera.camera]: Device with name Intel RealSense D415 was found.
[realsense2_camera_node-7] [INFO] [1771030954.141609824] [camera.camera]: Device with port number 2-1.1 was found.
[realsense2_camera_node-7] [INFO] [1771030954.141664224] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-7] [INFO] [1771030954.142092800] [camera.camera]: getParameters...
[realsense2_camera_node-7] [INFO] [1771030954.145111136] [camera.camera]: JSON file is not provided
[realsense2_camera_node-7] [INFO] [1771030954.145209280] [camera.camera]: Device Name: Intel RealSense D415
[realsense2_camera_node-7] [INFO] [1771030954.145240576] [camera.camera]: Device Serial No: 211422060364
[realsense2_camera_node-7] [INFO] [1771030954.145275776] [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-7] [INFO] [1771030954.145296448] [camera.camera]: Device FW version: 5.17.0.10
[realsense2_camera_node-7] [INFO] [1771030954.145313440] [camera.camera]: Device Product ID: 0x0AD3
[realsense2_camera_node-7] [INFO] [1771030954.145328384] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-7] [WARN] [1771030954.377621248] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-7] [WARN] [1771030954.379904384] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-7] [WARN] [1771030954.394935264] [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.
[realsense2_camera_node-7] [WARN] [1771030954.406108480] [camera.camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-7] [INFO] [1771030954.424973536] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-7] [INFO] [1771030954.425519232] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-7] [INFO] [1771030954.450011776] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-7] [INFO] [1771030954.468326688] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-7] [INFO] [1771030954.509475840] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-7] [INFO] [1771030954.521603584] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-7] [INFO] [1771030954.535382240] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-7] [WARN] [1771030954.931147168] [camera.camera]: No stream match for pointcloud chosen texture Process - Color

[MartyG-RealSense]

The message No stream match for pointcloud chosen texture Process - Color indicates that RGB color frames are being dropped. The pointcloud will not publish when there is not a color frame to accompany the depth frame.

You could test whether the delay is occurring due to missing color frames by setting the pointcloud to publish with depth only by setting pointcloud__neon_.stream_filter to '0' instead of the default '2' in the launch file.

[prdrj]

hi @MartyG-RealSense

Using pointcloud__neon_.enable:=true gives me a pointcloud but runs the node completely on CPU spiking the percentages to 60%.

I did try building the package with GLSL support with

colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'

but, launching the node in a headless ssh environment gives me an error:

[realsense2_camera_node-1] [ERROR] [1771785908.907338109] [camera.camera]: Error starting device: Could not open OpenGL window, please check your graphic drivers or use the textual SDK tools

Any guidance on how to offload the process to gpu would be appreciated. Thank you.

[MartyG-RealSense]

Hi @prdrj If you have a Jetson then installing the librealsense SDK from the dedicated Jetson packages at the link below or building the SDK from source code with CMake with the flag -DBUILD_WITH_CUDA=ON included in the CMake build instruction will enable the SDK's CUDA support. This causes pointcloud generation to be automatically offloaded from the Jetson's CPU onto its GPU.

https://github.com/realsenseai/librealsense/blob/master/doc/installation_jetson.md#4-install-with-debian-packages

[MartyG-RealSense]

Hi @prdrj Do you require further assistance with this case, please? Thanks!

[prdrj]

Hi @MartyG-RealSense
Thank you for the assistance. After compiling the sdk with CUDA, the cpu percentages fell significantly. I can run the realsense node and a full rtabmap pipeline for SLAM at a minimal 20% CPU!

[MartyG-RealSense]

You are very welcome. It's great to hear that enabling CUDA support was a successful solution for you. Thanks very much for the update!