realsense2_camera package from realsense2_camera repo

realsense2_camera realsense2_description

Package Summary

Tags No category tags.
Version 2.2.8
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 2019-09-16
Dev Status MAINTAINED
Released RELEASED

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
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/demo_pointcloud.launch
      • serial_no [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
  • 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/demo_t265.launch
  • launch/opensource_tracking.launch
      • offline [default: false]
  • launch/rs_camera.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: 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]
      • 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/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: ]
      • json_file_path [default: ]
      • 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: ]
      • 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/rs_d400_and_t265.launch
      • 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/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: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • fisheye_width [default: 848]
      • fisheye_height [default: 800]
      • enable_fisheye1 [default: true]
      • enable_fisheye2 [default: true]
      • fisheye_fps [default: 30]
      • gyro_fps [default: 200]
      • accel_fps [default: 62]
      • enable_gyro [default: true]
      • enable_accel [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_rtabmap.launch
      • 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/includes/nodelet.launch.xml
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • serial_no [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: true]
      • enable_fisheye1 [default: true]
      • enable_fisheye2 [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: 0]
      • accel_fps [default: 0]
      • 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]
      • 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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