Lockup Issue When Switching Multiple Streams in RealSense-ROS

[wataru-okumura]

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Required Info
Camera Model	D435i
Firmware Version	5.12.5
Operating System & Version	Linux (Ubuntu 20.04.6LTS)
Kernel Version (Linux Only)	5.15.0-107-generic
Platform	PC
Librealsense SDK Version	2.55.1
Language	python
Segment	Robot
ROS Distro	Humble
RealSense ROS Wrapper Version	4.55.1

Issue Description

Thanks again.
When I try to switch between multiple streams enable as in the code I gave you (stream.py)
There is no response from realsenes-ros and it locks up.
Is this a limitation of the device? Is it a software glitch?

By the way, if I send one parameter at a time like stream_one.py, it works fine.
stream.zip

terminal1

 ros2 launch realsense2_camera rs_launch.py

terminal2

pyhon stream.py

[MartyG-RealSense]

Hi @wataru-okumura It appears that the key difference between stream.py and stream_one.py is that stream.py (the multiple stream toggle script) is applying rclpy.spin_until_future_complete a single time for all streams, whilst stream_one ply applies it for each individual stream.

I have not seen this particular method used with the RealSense ROS wrapper before. However, given how these stream enable parameters are usually set individually in launch file or launch command, I would expect the same to be the case for rclpy. And stream.py does not seem to be a bad way of implementing it.

[MartyG-RealSense]

Hi @wataru-okumura Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.