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Package Summary

Tags No category tags.
Version 3.1.4
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version foxy
Last Updated 2021-03-17
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel SR300, D400 and L500 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

3.1.4 (2021-02-18)

  • fix reading json file with device other than D400 series.
  • Publish depth confidence image for supporting devices (L515)
  • Add selecting QoS option
  • Import unit-tests
  • fix timestamp domain issues
    • Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time.
    • Warn of a hardware timestamp possible loop.
  • Choose the default profile in case of an invalid request.
  • Avoid aligning confidence image.
  • Add an option for an Ordered PointCloud.
  • Contributors: Gabriel Urbain, Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi

3.1.3 (2020-12-28)

  • Publish depth confidence image for supporting devices (L515)
  • fix bug: dynamic tf publisher.
  • fix realsense2_description\'s dependency to realsense2_camera_msgs
  • remove boost dependency.
  • rename node_namespace to namespace
  • rename node_executable to executable
  • Contributors: doronhi

3.1.2 (2020-12-10)

  • upgrade librealsense2 version to 2.40.0
  • Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • colorize the aligned depth image. fix missing parameters description.
  • add infra_rgb option: enable streaming D415\'s infra stream as RGB. Expose stereo extrinsics Avoid currently unsupported Z16H depth format. Enable launch cmd line params Add notification if connected using USB2.1 port.
  • Fix README.md
  • Add launch option: output:=[screen|log]: enable sending logs to ros log file.
  • rename rs.d400_and_t265.launch.py to rs_d400_and_t265_launch.py add rs_multi_camera_launch.py on top of rs_launch.py
  • Remove \'_\' prefix from parameter serial_no. Allow to pass serial_no which is sometimes a string containing only digits.
  • remove redundant nav_msgs dependency (caused build error)
  • remove node package, change msg package name
  • update README.md
  • Contributors: Ryan Shim, doronhi

3.1.1 (2020-09-23)

  • fix bug: Conversion from milliseconds to nanoseconds. enable use of parameter: use_sim_time.
  • various fixes for canonical ROS2
  • Contributors: AustinDeric, doronhi

3.1.0 (2020-09-16)

  • port support of T265 from ROS1.
  • Contributors: doronhi

3.0.0 (2020-09-16)

  • Update README.md
  • Enable recovery from reconnect event.
  • Add an example config file: d435i.yaml.
  • fix launch file installation. Allow running the following command: \'ros2 launch realsense2_camera rs.launch.py\'
  • enable set_auto_exposure_roi options.
  • enable sensors and filters dynamic parameters.
  • clean
  • RealSenseNodeFactory inherits from rclcpp::Node
  • Add project: realsense2_node
  • Add support for D455
  • README.md: update installation process.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged realsense2_camera at answers.ros.org

Package Summary

Tags No category tags.
Version 3.2.1
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version ros2
Last Updated 2021-05-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel SR300, D400 and L500 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

3.2.1 (2021-05-10)

  • Add build dependency ros_environment
  • Contributors: doronhi

3.2.0 (2021-05-05)

  • Added filling correct Tx, Ty values in projection matrix of right camera.
  • Fixed frame_id of right sensor to match left sensor in a stereo pair.pair
  • Contributors: Pavlo Kolomiiets, doronhi

3.1.6 (2021-05-05)

  • Fix pointcloud message size when no texture is added.
  • migration toggle_sensors feature to ros2
  • Add option for aligning pointcloud to color image.
  • removed option to align to other streams other then color.
  • Contributors: anaelle, doronhi

3.1.5 (2021-03-24)

  • Support Eloquent and Dashing.
  • Add filter: HDR_merge
  • fix initialization of colorizer image if user specified negative image size (as is in default launch file)
  • Remove the following tests for known playback issue with librealsense2 version 2.43.0: align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.
  • Remove wrong dependency
  • changed default image QOS to SYSTEM_DEFAULT
  • Add missing librealsense2 dependency from package.xml
  • fix bug: selection of profile disregarded stream index.
  • Contributors: changseung.yu, doronhi

3.1.4 (2021-02-18)

  • fix reading json file with device other than D400 series.
  • Publish depth confidence image for supporting devices (L515)
  • Add selecting QoS option
  • Import unit-tests
  • fix timestamp domain issues
    • Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time.
    • Warn of a hardware timestamp possible loop.
  • Choose the default profile in case of an invalid request.
  • Avoid aligning confidence image.
  • Add an option for an Ordered PointCloud.
  • Contributors: Gabriel Urbain, Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi

3.1.3 (2020-12-28)

  • Publish depth confidence image for supporting devices (L515)
  • fix bug: dynamic tf publisher.
  • fix realsense2_description\'s dependency to realsense2_camera_msgs
  • remove boost dependency.
  • rename node_namespace to namespace
  • rename node_executable to executable
  • Contributors: doronhi

3.1.2 (2020-12-10)

  • upgrade librealsense2 version to 2.40.0
  • Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • colorize the aligned depth image. fix missing parameters description.
  • add infra_rgb option: enable streaming D415\'s infra stream as RGB. Expose stereo extrinsics Avoid currently unsupported Z16H depth format. Enable launch cmd line params Add notification if connected using USB2.1 port.
  • Fix README.md
  • Add launch option: output:=[screen|log]: enable sending logs to ros log file.
  • rename rs.d400_and_t265.launch.py to rs_d400_and_t265_launch.py add rs_multi_camera_launch.py on top of rs_launch.py
  • Remove \'_\' prefix from parameter serial_no. Allow to pass serial_no which is sometimes a string containing only digits.
  • remove redundant nav_msgs dependency (caused build error)
  • remove node package, change msg package name
  • update README.md
  • Contributors: Ryan Shim, doronhi

3.1.1 (2020-09-23)

  • fix bug: Conversion from milliseconds to nanoseconds. enable use of parameter: use_sim_time.
  • various fixes for canonical ROS2
  • Contributors: AustinDeric, doronhi

3.1.0 (2020-09-16)

  • port support of T265 from ROS1.
  • Contributors: doronhi

3.0.0 (2020-09-16)

  • Update README.md
  • Enable recovery from reconnect event.
  • Add an example config file: d435i.yaml.
  • fix launch file installation. Allow running the following command: \'ros2 launch realsense2_camera rs.launch.py\'
  • enable set_auto_exposure_roi options.
  • enable sensors and filters dynamic parameters.
  • clean
  • RealSenseNodeFactory inherits from rclcpp::Node
  • Add project: realsense2_node
  • Add support for D455
  • README.md: update installation process.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged realsense2_camera at answers.ros.org

Package Summary

Tags No category tags.
Version 2.3.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version development
Last Updated 2021-05-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

2.3.0 (2021-05-05)

  • Fix pointcloud message size when no texture is added.
  • Added filling correct Tx, Ty values in projection matrix of right camera.
  • Fixed frame_id of right sensor to match left sensor in a stereo pair.pair
  • Contributors: Pavlo Kolomiiets, doronhi

2.2.24 (2021-04-21)

  • Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image.
  • Removed option to align depth to other streams other then color.
  • Contributors: doronhi

2.2.23 (2021-03-24)

  • Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.
  • Add filter: HDR_merge
  • add default values to infra stream in rs_camera.launch as non are defined in librealsense2.
  • fix bug: selection of profile disregarded stream index.
  • fix initialization of colorizer inner image
  • Contributors: doronhi

2.2.22 (2021-02-18)

  • Add reset service.
  • fix timestamp domain issues
    • Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time.
    • Warn of a hardware timestamp possible loop.
  • Choose the default profile in case of an invalid request.
  • Avoid aligning confidence image.
  • Add an option for an Ordered PointCloud.
  • Contributors: Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi

2.2.21 (2020-12-31)

  • Publish depth confidence image for supporting devices (L515)
  • fix reading json file with device other than D400 series.
  • remove (temporarily) flaky IMU unit-test.
  • Contributors: Isaac I.Y. Saito, doronhi

2.2.20 (2020-11-19)

  • Add Support - Noetic
  • Add demo for using intrinsics from camera_info (show_center_depth.py).
  • Add launch option: send logs to ros log file.
  • Add feature: get rgb stream from infrared sensor (applies to D415)
  • Add feature: Add notification if connected using USB2.1 port.
  • Fix bug: Avoid z16h format
  • Fix bug: monitor streams frequency without subsribing.
  • Fix bug: extrinsincs for right stereo camera refers to the left stereo camera.
  • Contributors: Abhijit Majumdar, Isaac I. Y. Saito, Jakub, M-frctrl, Thomas Jespersen, doronhi

2.2.18 (2020-10-26)

  • Fix bug: Remove parameter with invalid value.
  • Fix bug: Colorize the aligned depth image.
  • Fix bug: Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • Add feature: enable/disable all sensors. Known issues: parameters persistency and not full power drop.

2.2.17 (2020-09-09)

  • Fix for ROS on Windows
  • Contributors: Lou Amadio, doronhi

2.2.16 (2020-08-06)

  • Add PID to support D455.
  • Improve instability of dynamic reconfigurable options.
  • rs_camera.lauch: add \"enable_infra\" for L515 support.
  • Contributors: doronhi

2.2.15 (2020-07-13)

  • Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs.
  • Support both L515 and L515 pre-prq versions.
  • set infra, fisheye, IMU and pose streams to be false by default.
  • add d435i-xacro
  • comply to ROS Noetic xacro rules (backcompatible with ROS Melodic)
  • Contributors: Marco Camurri, doronhi

2.2.14 (2020-06-18)

  • Fix compatibility with Librealsense2 Version 2.35.2.
  • Fix support for L515.
  • Fix urdf issues.
  • Add noetic support: change state_publisher into robot_state_publisher
  • fix distortion correction model for T265 (equidistant)
  • fix stability issues. Stop sensors at program termination.
  • Contributors: Brice, Helen Oleynikova, doronhi
  • upgrade version to 2.2.13
  • fix ctrl-C closing issues.
  • handle device creation exceptions.
  • support LiDAR camera L515.
  • optimize pointcloud. Contributors: Davide Faconti
  • fix usb port id parsing issues.
  • Add eigen dependency - missing for Melodic. Contributors: Antoine Hoarau

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/rs_d435_camera_with_model.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: pointcloud]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • allow_no_texture_points [default: false]
  • launch/rs_rtabmap.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • clip_distance [default: -2]
      • use_rviz [default: true]
      • use_rtabmapviz [default: false]
  • launch/rs_t265.launch
    • Important Notice: For wheeled robots, odometer input is a requirement for robust and accurate tracking. The relevant APIs will be added to librealsense and ROS/realsense in upcoming releases. Currently, the API is available in the https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/libtm/include/TrackingDevice.h#L508-L515.
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: t265]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • fisheye_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pose [default: true]
      • enable_sync [default: false]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • publish_odom_tf [default: true]
  • launch/demo_t265.launch
  • launch/rs_aligned_depth.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: true]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
  • launch/rs_multiple_devices.launch
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • serial_no_camera3 [default: ]
      • camera1 [default: camera1]
      • camera2 [default: camera2]
      • camera3 [default: camera3]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • tf_prefix_camera3 [default: $(arg camera3)]
      • initial_reset [default: false]
  • launch/rs_camera.launch
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • output [default: screen]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • confidence_width [default: -1]
      • confidence_height [default: -1]
      • enable_confidence [default: true]
      • confidence_fps [default: -1]
      • infra_width [default: 848]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: 30]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • filters [default: ]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • launch/rs_from_file.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • rosbag_filename [default: ]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: true]
      • depth_width [default: 0]
      • depth_height [default: 0]
      • enable_depth [default: true]
      • infra_width [default: 0]
      • infra_height [default: 0]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 0]
      • color_height [default: 0]
      • enable_color [default: true]
      • fisheye_fps [default: 0]
      • depth_fps [default: 0]
      • infra_fps [default: 0]
      • color_fps [default: 0]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: ]
  • launch/rs_d400_and_t265.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • initial_reset [default: false]
      • enable_fisheye [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • clip_distance [default: -2]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
  • launch/opensource_tracking.launch
      • offline [default: false]
  • launch/rs_rgbd.launch
    • Copyright (c) 2018 Intel Corporation Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • infra_width [default: -1]
      • infra_height [default: -1]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: -1]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • rgb [default: color]
      • ir [default: infra1]
      • depth [default: depth]
      • depth_registered_pub [default: depth_registered]
      • depth_registered [default: depth_registered]
      • depth_registered [default: aligned_depth_to_color]
      • depth_registered_filtered [default: $(arg depth_registered)]
      • projector [default: projector]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: false]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: $(arg align_depth)]
      • sw_registered_processing [default: true]
      • sw_registered_processing [default: false]
  • launch/includes/nodelet.launch.xml
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • tf_prefix [default: ]
      • json_file_path [default: ]
      • rosbag_filename [default: ]
      • required [default: false]
      • output [default: screen]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: false]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • confidence_width [default: 640]
      • confidence_height [default: 480]
      • enable_confidence [default: true]
      • confidence_fps [default: 30]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pose [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • base_frame_id [default: $(arg tf_prefix)_link]
      • depth_frame_id [default: $(arg tf_prefix)_depth_frame]
      • infra1_frame_id [default: $(arg tf_prefix)_infra1_frame]
      • infra2_frame_id [default: $(arg tf_prefix)_infra2_frame]
      • color_frame_id [default: $(arg tf_prefix)_color_frame]
      • fisheye_frame_id [default: $(arg tf_prefix)_fisheye_frame]
      • fisheye1_frame_id [default: $(arg tf_prefix)_fisheye1_frame]
      • fisheye2_frame_id [default: $(arg tf_prefix)_fisheye2_frame]
      • accel_frame_id [default: $(arg tf_prefix)_accel_frame]
      • gyro_frame_id [default: $(arg tf_prefix)_gyro_frame]
      • pose_frame_id [default: $(arg tf_prefix)_pose_frame]
      • depth_optical_frame_id [default: $(arg tf_prefix)_depth_optical_frame]
      • infra1_optical_frame_id [default: $(arg tf_prefix)_infra1_optical_frame]
      • infra2_optical_frame_id [default: $(arg tf_prefix)_infra2_optical_frame]
      • color_optical_frame_id [default: $(arg tf_prefix)_color_optical_frame]
      • fisheye_optical_frame_id [default: $(arg tf_prefix)_fisheye_optical_frame]
      • fisheye1_optical_frame_id [default: $(arg tf_prefix)_fisheye1_optical_frame]
      • fisheye2_optical_frame_id [default: $(arg tf_prefix)_fisheye2_optical_frame]
      • accel_optical_frame_id [default: $(arg tf_prefix)_accel_optical_frame]
      • gyro_optical_frame_id [default: $(arg tf_prefix)_gyro_optical_frame]
      • imu_optical_frame_id [default: $(arg tf_prefix)_imu_optical_frame]
      • pose_optical_frame_id [default: $(arg tf_prefix)_pose_optical_frame]
      • aligned_depth_to_color_frame_id [default: $(arg tf_prefix)_aligned_depth_to_color_frame]
      • aligned_depth_to_infra1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra1_frame]
      • aligned_depth_to_infra2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra2_frame]
      • aligned_depth_to_fisheye_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye_frame]
      • aligned_depth_to_fisheye1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye1_frame]
      • aligned_depth_to_fisheye2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye2_frame]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • odom_frame_id [default: $(arg tf_prefix)_odom_frame]
      • topic_odom_in [default: $(arg tf_prefix)/odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
      • filters [default: ]
      • clip_distance [default: -1]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: none]

Services

No service files found

Plugins

Recent questions tagged realsense2_camera at answers.ros.org

Package Summary

Tags No category tags.
Version 2.3.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version development
Last Updated 2021-05-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

2.3.0 (2021-05-05)

  • Fix pointcloud message size when no texture is added.
  • Added filling correct Tx, Ty values in projection matrix of right camera.
  • Fixed frame_id of right sensor to match left sensor in a stereo pair.pair
  • Contributors: Pavlo Kolomiiets, doronhi

2.2.24 (2021-04-21)

  • Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image.
  • Removed option to align depth to other streams other then color.
  • Contributors: doronhi

2.2.23 (2021-03-24)

  • Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.
  • Add filter: HDR_merge
  • add default values to infra stream in rs_camera.launch as non are defined in librealsense2.
  • fix bug: selection of profile disregarded stream index.
  • fix initialization of colorizer inner image
  • Contributors: doronhi

2.2.22 (2021-02-18)

  • Add reset service.
  • fix timestamp domain issues
    • Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time.
    • Warn of a hardware timestamp possible loop.
  • Choose the default profile in case of an invalid request.
  • Avoid aligning confidence image.
  • Add an option for an Ordered PointCloud.
  • Contributors: Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi

2.2.21 (2020-12-31)

  • Publish depth confidence image for supporting devices (L515)
  • fix reading json file with device other than D400 series.
  • remove (temporarily) flaky IMU unit-test.
  • Contributors: Isaac I.Y. Saito, doronhi

2.2.20 (2020-11-19)

  • Add Support - Noetic
  • Add demo for using intrinsics from camera_info (show_center_depth.py).
  • Add launch option: send logs to ros log file.
  • Add feature: get rgb stream from infrared sensor (applies to D415)
  • Add feature: Add notification if connected using USB2.1 port.
  • Fix bug: Avoid z16h format
  • Fix bug: monitor streams frequency without subsribing.
  • Fix bug: extrinsincs for right stereo camera refers to the left stereo camera.
  • Contributors: Abhijit Majumdar, Isaac I. Y. Saito, Jakub, M-frctrl, Thomas Jespersen, doronhi

2.2.18 (2020-10-26)

  • Fix bug: Remove parameter with invalid value.
  • Fix bug: Colorize the aligned depth image.
  • Fix bug: Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • Add feature: enable/disable all sensors. Known issues: parameters persistency and not full power drop.

2.2.17 (2020-09-09)

  • Fix for ROS on Windows
  • Contributors: Lou Amadio, doronhi

2.2.16 (2020-08-06)

  • Add PID to support D455.
  • Improve instability of dynamic reconfigurable options.
  • rs_camera.lauch: add \"enable_infra\" for L515 support.
  • Contributors: doronhi

2.2.15 (2020-07-13)

  • Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs.
  • Support both L515 and L515 pre-prq versions.
  • set infra, fisheye, IMU and pose streams to be false by default.
  • add d435i-xacro
  • comply to ROS Noetic xacro rules (backcompatible with ROS Melodic)
  • Contributors: Marco Camurri, doronhi

2.2.14 (2020-06-18)

  • Fix compatibility with Librealsense2 Version 2.35.2.
  • Fix support for L515.
  • Fix urdf issues.
  • Add noetic support: change state_publisher into robot_state_publisher
  • fix distortion correction model for T265 (equidistant)
  • fix stability issues. Stop sensors at program termination.
  • Contributors: Brice, Helen Oleynikova, doronhi
  • upgrade version to 2.2.13
  • fix ctrl-C closing issues.
  • handle device creation exceptions.
  • support LiDAR camera L515.
  • optimize pointcloud. Contributors: Davide Faconti
  • fix usb port id parsing issues.
  • Add eigen dependency - missing for Melodic. Contributors: Antoine Hoarau

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/rs_d435_camera_with_model.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: pointcloud]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • allow_no_texture_points [default: false]
  • launch/rs_rtabmap.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • clip_distance [default: -2]
      • use_rviz [default: true]
      • use_rtabmapviz [default: false]
  • launch/rs_t265.launch
    • Important Notice: For wheeled robots, odometer input is a requirement for robust and accurate tracking. The relevant APIs will be added to librealsense and ROS/realsense in upcoming releases. Currently, the API is available in the https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/libtm/include/TrackingDevice.h#L508-L515.
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: t265]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • fisheye_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pose [default: true]
      • enable_sync [default: false]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • publish_odom_tf [default: true]
  • launch/demo_t265.launch
  • launch/rs_aligned_depth.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: true]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
  • launch/rs_multiple_devices.launch
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • serial_no_camera3 [default: ]
      • camera1 [default: camera1]
      • camera2 [default: camera2]
      • camera3 [default: camera3]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • tf_prefix_camera3 [default: $(arg camera3)]
      • initial_reset [default: false]
  • launch/rs_camera.launch
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • output [default: screen]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • confidence_width [default: -1]
      • confidence_height [default: -1]
      • enable_confidence [default: true]
      • confidence_fps [default: -1]
      • infra_width [default: 848]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: 30]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • filters [default: ]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • launch/rs_from_file.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • rosbag_filename [default: ]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: true]
      • depth_width [default: 0]
      • depth_height [default: 0]
      • enable_depth [default: true]
      • infra_width [default: 0]
      • infra_height [default: 0]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 0]
      • color_height [default: 0]
      • enable_color [default: true]
      • fisheye_fps [default: 0]
      • depth_fps [default: 0]
      • infra_fps [default: 0]
      • color_fps [default: 0]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: ]
  • launch/rs_d400_and_t265.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • initial_reset [default: false]
      • enable_fisheye [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • clip_distance [default: -2]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
  • launch/opensource_tracking.launch
      • offline [default: false]
  • launch/rs_rgbd.launch
    • Copyright (c) 2018 Intel Corporation Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • infra_width [default: -1]
      • infra_height [default: -1]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: -1]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • rgb [default: color]
      • ir [default: infra1]
      • depth [default: depth]
      • depth_registered_pub [default: depth_registered]
      • depth_registered [default: depth_registered]
      • depth_registered [default: aligned_depth_to_color]
      • depth_registered_filtered [default: $(arg depth_registered)]
      • projector [default: projector]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: false]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: $(arg align_depth)]
      • sw_registered_processing [default: true]
      • sw_registered_processing [default: false]
  • launch/includes/nodelet.launch.xml
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • tf_prefix [default: ]
      • json_file_path [default: ]
      • rosbag_filename [default: ]
      • required [default: false]
      • output [default: screen]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: false]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • confidence_width [default: 640]
      • confidence_height [default: 480]
      • enable_confidence [default: true]
      • confidence_fps [default: 30]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pose [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • base_frame_id [default: $(arg tf_prefix)_link]
      • depth_frame_id [default: $(arg tf_prefix)_depth_frame]
      • infra1_frame_id [default: $(arg tf_prefix)_infra1_frame]
      • infra2_frame_id [default: $(arg tf_prefix)_infra2_frame]
      • color_frame_id [default: $(arg tf_prefix)_color_frame]
      • fisheye_frame_id [default: $(arg tf_prefix)_fisheye_frame]
      • fisheye1_frame_id [default: $(arg tf_prefix)_fisheye1_frame]
      • fisheye2_frame_id [default: $(arg tf_prefix)_fisheye2_frame]
      • accel_frame_id [default: $(arg tf_prefix)_accel_frame]
      • gyro_frame_id [default: $(arg tf_prefix)_gyro_frame]
      • pose_frame_id [default: $(arg tf_prefix)_pose_frame]
      • depth_optical_frame_id [default: $(arg tf_prefix)_depth_optical_frame]
      • infra1_optical_frame_id [default: $(arg tf_prefix)_infra1_optical_frame]
      • infra2_optical_frame_id [default: $(arg tf_prefix)_infra2_optical_frame]
      • color_optical_frame_id [default: $(arg tf_prefix)_color_optical_frame]
      • fisheye_optical_frame_id [default: $(arg tf_prefix)_fisheye_optical_frame]
      • fisheye1_optical_frame_id [default: $(arg tf_prefix)_fisheye1_optical_frame]
      • fisheye2_optical_frame_id [default: $(arg tf_prefix)_fisheye2_optical_frame]
      • accel_optical_frame_id [default: $(arg tf_prefix)_accel_optical_frame]
      • gyro_optical_frame_id [default: $(arg tf_prefix)_gyro_optical_frame]
      • imu_optical_frame_id [default: $(arg tf_prefix)_imu_optical_frame]
      • pose_optical_frame_id [default: $(arg tf_prefix)_pose_optical_frame]
      • aligned_depth_to_color_frame_id [default: $(arg tf_prefix)_aligned_depth_to_color_frame]
      • aligned_depth_to_infra1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra1_frame]
      • aligned_depth_to_infra2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra2_frame]
      • aligned_depth_to_fisheye_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye_frame]
      • aligned_depth_to_fisheye1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye1_frame]
      • aligned_depth_to_fisheye2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye2_frame]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • odom_frame_id [default: $(arg tf_prefix)_odom_frame]
      • topic_odom_in [default: $(arg tf_prefix)/odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
      • filters [default: ]
      • clip_distance [default: -1]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: none]

Services

No service files found

Plugins

Recent questions tagged realsense2_camera at answers.ros.org

Package Summary

Tags No category tags.
Version 2.3.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version development
Last Updated 2021-05-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

2.3.0 (2021-05-05)

  • Fix pointcloud message size when no texture is added.
  • Added filling correct Tx, Ty values in projection matrix of right camera.
  • Fixed frame_id of right sensor to match left sensor in a stereo pair.pair
  • Contributors: Pavlo Kolomiiets, doronhi

2.2.24 (2021-04-21)

  • Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image.
  • Removed option to align depth to other streams other then color.
  • Contributors: doronhi

2.2.23 (2021-03-24)

  • Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.
  • Add filter: HDR_merge
  • add default values to infra stream in rs_camera.launch as non are defined in librealsense2.
  • fix bug: selection of profile disregarded stream index.
  • fix initialization of colorizer inner image
  • Contributors: doronhi

2.2.22 (2021-02-18)

  • Add reset service.
  • fix timestamp domain issues
    • Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time.
    • Warn of a hardware timestamp possible loop.
  • Choose the default profile in case of an invalid request.
  • Avoid aligning confidence image.
  • Add an option for an Ordered PointCloud.
  • Contributors: Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi

2.2.21 (2020-12-31)

  • Publish depth confidence image for supporting devices (L515)
  • fix reading json file with device other than D400 series.
  • remove (temporarily) flaky IMU unit-test.
  • Contributors: Isaac I.Y. Saito, doronhi

2.2.20 (2020-11-19)

  • Add Support - Noetic
  • Add demo for using intrinsics from camera_info (show_center_depth.py).
  • Add launch option: send logs to ros log file.
  • Add feature: get rgb stream from infrared sensor (applies to D415)
  • Add feature: Add notification if connected using USB2.1 port.
  • Fix bug: Avoid z16h format
  • Fix bug: monitor streams frequency without subsribing.
  • Fix bug: extrinsincs for right stereo camera refers to the left stereo camera.
  • Contributors: Abhijit Majumdar, Isaac I. Y. Saito, Jakub, M-frctrl, Thomas Jespersen, doronhi

2.2.18 (2020-10-26)

  • Fix bug: Remove parameter with invalid value.
  • Fix bug: Colorize the aligned depth image.
  • Fix bug: Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • Add feature: enable/disable all sensors. Known issues: parameters persistency and not full power drop.

2.2.17 (2020-09-09)

  • Fix for ROS on Windows
  • Contributors: Lou Amadio, doronhi

2.2.16 (2020-08-06)

  • Add PID to support D455.
  • Improve instability of dynamic reconfigurable options.
  • rs_camera.lauch: add \"enable_infra\" for L515 support.
  • Contributors: doronhi

2.2.15 (2020-07-13)

  • Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs.
  • Support both L515 and L515 pre-prq versions.
  • set infra, fisheye, IMU and pose streams to be false by default.
  • add d435i-xacro
  • comply to ROS Noetic xacro rules (backcompatible with ROS Melodic)
  • Contributors: Marco Camurri, doronhi

2.2.14 (2020-06-18)

  • Fix compatibility with Librealsense2 Version 2.35.2.
  • Fix support for L515.
  • Fix urdf issues.
  • Add noetic support: change state_publisher into robot_state_publisher
  • fix distortion correction model for T265 (equidistant)
  • fix stability issues. Stop sensors at program termination.
  • Contributors: Brice, Helen Oleynikova, doronhi
  • upgrade version to 2.2.13
  • fix ctrl-C closing issues.
  • handle device creation exceptions.
  • support LiDAR camera L515.
  • optimize pointcloud. Contributors: Davide Faconti
  • fix usb port id parsing issues.
  • Add eigen dependency - missing for Melodic. Contributors: Antoine Hoarau

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/rs_d435_camera_with_model.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: pointcloud]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • allow_no_texture_points [default: false]
  • launch/rs_rtabmap.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • clip_distance [default: -2]
      • use_rviz [default: true]
      • use_rtabmapviz [default: false]
  • launch/rs_t265.launch
    • Important Notice: For wheeled robots, odometer input is a requirement for robust and accurate tracking. The relevant APIs will be added to librealsense and ROS/realsense in upcoming releases. Currently, the API is available in the https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/libtm/include/TrackingDevice.h#L508-L515.
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: t265]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • fisheye_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pose [default: true]
      • enable_sync [default: false]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • publish_odom_tf [default: true]
  • launch/demo_t265.launch
  • launch/rs_aligned_depth.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: true]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
  • launch/rs_multiple_devices.launch
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • serial_no_camera3 [default: ]
      • camera1 [default: camera1]
      • camera2 [default: camera2]
      • camera3 [default: camera3]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • tf_prefix_camera3 [default: $(arg camera3)]
      • initial_reset [default: false]
  • launch/rs_camera.launch
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • output [default: screen]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • confidence_width [default: -1]
      • confidence_height [default: -1]
      • enable_confidence [default: true]
      • confidence_fps [default: -1]
      • infra_width [default: 848]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: 30]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • filters [default: ]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • launch/rs_from_file.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • rosbag_filename [default: ]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: true]
      • depth_width [default: 0]
      • depth_height [default: 0]
      • enable_depth [default: true]
      • infra_width [default: 0]
      • infra_height [default: 0]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 0]
      • color_height [default: 0]
      • enable_color [default: true]
      • fisheye_fps [default: 0]
      • depth_fps [default: 0]
      • infra_fps [default: 0]
      • color_fps [default: 0]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • filters [default: ]
  • launch/rs_d400_and_t265.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • tf_prefix_camera1 [default: $(arg camera1)]
      • tf_prefix_camera2 [default: $(arg camera2)]
      • initial_reset [default: false]
      • enable_fisheye [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • clip_distance [default: -2]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
  • launch/opensource_tracking.launch
      • offline [default: false]
  • launch/rs_rgbd.launch
    • Copyright (c) 2018 Intel Corporation Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • fisheye_width [default: -1]
      • fisheye_height [default: -1]
      • enable_fisheye [default: false]
      • depth_width [default: -1]
      • depth_height [default: -1]
      • enable_depth [default: true]
      • infra_width [default: -1]
      • infra_height [default: -1]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • color_width [default: -1]
      • color_height [default: -1]
      • enable_color [default: true]
      • fisheye_fps [default: -1]
      • depth_fps [default: -1]
      • infra_fps [default: -1]
      • color_fps [default: -1]
      • gyro_fps [default: -1]
      • accel_fps [default: -1]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • enable_sync [default: true]
      • align_depth [default: true]
      • filters [default: ]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • rgb [default: color]
      • ir [default: infra1]
      • depth [default: depth]
      • depth_registered_pub [default: depth_registered]
      • depth_registered [default: depth_registered]
      • depth_registered [default: aligned_depth_to_color]
      • depth_registered_filtered [default: $(arg depth_registered)]
      • projector [default: projector]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • rgb_processing [default: true]
      • debayer_processing [default: false]
      • ir_processing [default: false]
      • depth_processing [default: false]
      • depth_registered_processing [default: true]
      • disparity_processing [default: false]
      • disparity_registered_processing [default: false]
      • hw_registered_processing [default: $(arg align_depth)]
      • sw_registered_processing [default: true]
      • sw_registered_processing [default: false]
  • launch/includes/nodelet.launch.xml
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • tf_prefix [default: ]
      • json_file_path [default: ]
      • rosbag_filename [default: ]
      • required [default: false]
      • output [default: screen]
      • fisheye_width [default: 0]
      • fisheye_height [default: 0]
      • enable_fisheye [default: false]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • confidence_width [default: 640]
      • confidence_height [default: 480]
      • enable_confidence [default: true]
      • confidence_fps [default: 30]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [default: false]
      • infra_rgb [default: false]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 0]
      • accel_fps [default: 0]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pose [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • allow_no_texture_points [default: false]
      • ordered_pc [default: false]
      • enable_sync [default: false]
      • align_depth [default: false]
      • base_frame_id [default: $(arg tf_prefix)_link]
      • depth_frame_id [default: $(arg tf_prefix)_depth_frame]
      • infra1_frame_id [default: $(arg tf_prefix)_infra1_frame]
      • infra2_frame_id [default: $(arg tf_prefix)_infra2_frame]
      • color_frame_id [default: $(arg tf_prefix)_color_frame]
      • fisheye_frame_id [default: $(arg tf_prefix)_fisheye_frame]
      • fisheye1_frame_id [default: $(arg tf_prefix)_fisheye1_frame]
      • fisheye2_frame_id [default: $(arg tf_prefix)_fisheye2_frame]
      • accel_frame_id [default: $(arg tf_prefix)_accel_frame]
      • gyro_frame_id [default: $(arg tf_prefix)_gyro_frame]
      • pose_frame_id [default: $(arg tf_prefix)_pose_frame]
      • depth_optical_frame_id [default: $(arg tf_prefix)_depth_optical_frame]
      • infra1_optical_frame_id [default: $(arg tf_prefix)_infra1_optical_frame]
      • infra2_optical_frame_id [default: $(arg tf_prefix)_infra2_optical_frame]
      • color_optical_frame_id [default: $(arg tf_prefix)_color_optical_frame]
      • fisheye_optical_frame_id [default: $(arg tf_prefix)_fisheye_optical_frame]
      • fisheye1_optical_frame_id [default: $(arg tf_prefix)_fisheye1_optical_frame]
      • fisheye2_optical_frame_id [default: $(arg tf_prefix)_fisheye2_optical_frame]
      • accel_optical_frame_id [default: $(arg tf_prefix)_accel_optical_frame]
      • gyro_optical_frame_id [default: $(arg tf_prefix)_gyro_optical_frame]
      • imu_optical_frame_id [default: $(arg tf_prefix)_imu_optical_frame]
      • pose_optical_frame_id [default: $(arg tf_prefix)_pose_optical_frame]
      • aligned_depth_to_color_frame_id [default: $(arg tf_prefix)_aligned_depth_to_color_frame]
      • aligned_depth_to_infra1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra1_frame]
      • aligned_depth_to_infra2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra2_frame]
      • aligned_depth_to_fisheye_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye_frame]
      • aligned_depth_to_fisheye1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye1_frame]
      • aligned_depth_to_fisheye2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye2_frame]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • odom_frame_id [default: $(arg tf_prefix)_odom_frame]
      • topic_odom_in [default: $(arg tf_prefix)/odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • stereo_module/exposure/1 [default: 7500]
      • stereo_module/gain/1 [default: 16]
      • stereo_module/exposure/2 [default: 1]
      • stereo_module/gain/2 [default: 16]
      • filters [default: ]
      • clip_distance [default: -1]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: none]

Services

No service files found

Plugins

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Package Summary

Tags No category tags.
Version 3.1.2
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version eloquent
Last Updated 2021-02-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RealSense Camera package allowing access to Intel SR300, D400 and L500 3D cameras

Additional Links

Maintainers

  • Doron Hirshberg

Authors

  • Sergey Dorodnicov
  • Doron Hirshberg
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

3.1.2 (2020-12-10)

  • upgrade librealsense2 version to 2.40.0
  • Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • colorize the aligned depth image. fix missing parameters description.
  • add infra_rgb option: enable streaming D415\'s infra stream as RGB. Expose stereo extrinsics Avoid currently unsupported Z16H depth format. Enable launch cmd line params Add notification if connected using USB2.1 port.
  • Fix README.md
  • Add launch option: output:=[screen|log]: enable sending logs to ros log file.
  • rename rs.d400_and_t265.launch.py to rs_d400_and_t265_launch.py add rs_multi_camera_launch.py on top of rs_launch.py
  • Remove \'_\' prefix from parameter serial_no. Allow to pass serial_no which is sometimes a string containing only digits.
  • remove redundant nav_msgs dependency (caused build error)
  • remove node package, change msg package name
  • update README.md
  • Contributors: Ryan Shim, doronhi

3.1.1 (2020-09-23)

  • fix bug: Conversion from milliseconds to nanoseconds. enable use of parameter: use_sim_time.
  • various fixes for canonical ROS2
  • Contributors: AustinDeric, doronhi

3.1.0 (2020-09-16)

  • port support of T265 from ROS1.
  • Contributors: doronhi

3.0.0 (2020-09-16)

  • Update README.md
  • Enable recovery from reconnect event.
  • Add an example config file: d435i.yaml.
  • fix launch file installation. Allow running the following command: \'ros2 launch realsense2_camera rs.launch.py\'
  • enable set_auto_exposure_roi options.
  • enable sensors and filters dynamic parameters.
  • clean
  • RealSenseNodeFactory inherits from rclcpp::Node
  • Add project: realsense2_node
  • Add support for D455
  • README.md: update installation process.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged realsense2_camera at answers.ros.org

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