Solvedrealsense ros Auto-Exposure Not Consistently Working at System Init on D435

Running v2.0.2 of this package with v2.10.0 of librealsense and camera firmware 5.9.2.0. Ubuntu 16.04 with 4.10.0-28 kernel.

I noticed quite poor depth performance when viewing the Point Cloud in RVIZ after power cycling the D435 camera but no issue when using realsense-viewer. This caused the data in RVIZ to appear splotchy and inconsistent.

I then launched rosrun rqt_reconfigure rqt_reconfigure and noticed that the auto-exposure for the depth stream (first checkbox at the top of the realsense config menu) was indeed turned on (as indicated by the box being checked). However, unchecking this box and then re-checking it consistently fixed the issue indicating that auto-exposure at nodelet boot is not working. This might be an issue on the librealsense side, but I'm not too sure since it looked OK in realsense-viewer.

20 Answers

✔️Accepted Answer

I have had the same issue with the d415. I believe it is caused as setting the manual exposure causes the system to drop out of auto exposure mode, and the manual exposure is set on startup.

I fixed the issue on my system by adding

if(config.rs415_depth_enable_auto_exposure){ BaseD400Node::setParam(config, base_depth_enable_auto_exposure); }

After this line https://github.com/intel-ros/realsense/blob/development/realsense2_camera/src/rs415_node.cpp#L93. I expect the same fix would work for the d435 node

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