No version for distro foxy. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.2.14
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 2020-07-29
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package 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

  • Sergey Dorodnicov
  • Doron Hirshberg

Authors

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

Changelog for package realsense2_camera

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

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

No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.2.15
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 2020-08-04
Dev Status DEVELOPED
CI status
Released RELEASED
Package 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

  • Sergey Dorodnicov
  • Doron Hirshberg

Authors

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

Changelog for package realsense2_camera

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_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_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: 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: false]
      • enable_infra2 [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: 400]
      • accel_fps [default: 250]
      • 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/demo_t265.launch
  • launch/opensource_tracking.launch
      • offline [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_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_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_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]
      • 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: false]
      • enable_infra2 [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: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • 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]
      • allow_no_texture_points [default: false]
  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • 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: 848]
      • fisheye_height [default: 800]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • fisheye_fps [default: 30]
      • gyro_fps [default: 200]
      • accel_fps [default: 62]
      • 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/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_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/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]
      • 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]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [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]
      • 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]
      • filters [default: ]
      • clip_distance [default: -1]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: none]
      • allow_no_texture_points [default: false]

Services

No service files found

Plugins

Recent questions tagged realsense2_camera at answers.ros.org

Package Summary

Tags No category tags.
Version 2.2.15
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 2020-08-04
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package 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

  • Sergey Dorodnicov
  • Doron Hirshberg

Authors

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

Changelog for package realsense2_camera

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_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_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: 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: false]
      • enable_infra2 [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: 400]
      • accel_fps [default: 250]
      • 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/demo_t265.launch
  • launch/opensource_tracking.launch
      • offline [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_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_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_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]
      • 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: false]
      • enable_infra2 [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: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: false]
      • enable_accel [default: false]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • 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]
      • allow_no_texture_points [default: false]
  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • 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: 848]
      • fisheye_height [default: 800]
      • enable_fisheye1 [default: false]
      • enable_fisheye2 [default: false]
      • fisheye_fps [default: 30]
      • gyro_fps [default: 200]
      • accel_fps [default: 62]
      • 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/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_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/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]
      • 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]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra [default: false]
      • enable_infra1 [default: false]
      • enable_infra2 [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]
      • 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]
      • filters [default: ]
      • clip_distance [default: -1]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: none]
      • allow_no_texture_points [default: false]

Services

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Plugins

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