Package Summary

Tags No category tags.
Version 4.0.4
License Apache License 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-beta
Last Updated 2022-08-03
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

  • LibRealSense ROS Team

Authors

  • LibRealSense ROS Team
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

4.0.4 (2022-03-20)

  • fix required packages for building debians for ros2-beta branch
  • Contributors: NirAz

4.0.3 (2022-03-16)

  • Support intra-process zero-copy
  • Update README
  • Fix Galactic deprecated-declarations compilation warning
  • Fix Eloquent compilation error
  • Contributors: Eran, Nir-Az, SamerKhshiboun

4.0.2 (2022-02-24)

  • version 4.4.0 changed to 4.0.0 in CHANGELOG
  • add frequency monitoring to /diagnostics topic.
  • fix topic_hz.py to recognize message type from topic name. (Naive)
  • move diagnostic updater for stream frequencies into the RosSensor class.
  • add frequency monitoring to /diagnostics topic.
  • fix galactic issue with undeclaring parameters
  • fix to support Rolling.
  • fix dynamic_params syntax.
  • fix issue with Galactic parameters set by default to static which prevents them from being undeclared.
  • Contributors: Haowei Wen, doronhi, remibettan

4.0.1 (2022-02-01)

  • fix reset issue when multiple devices are connected
  • fix /rosout issue
  • fix PID for D405 device
  • fix bug: frame_id is based on camera_name
  • unite_imu_method is now changeable in runtime.
  • fix motion module default values.
  • add missing extrinsics topics
  • fix crash when camera disconnects.
  • fix header timestamp for metadata messages.
  • Contributors: nomumu, JamesChooWK, benlev, doronhi

4.0.0 (2021-11-17)

  • changed parameters:
    • \"stereo_module\", \"l500_depth_sensor\" are replaced by \"depth_module\"
    • for video streams: <module>.profile replaces <stream>_width, <stream>_height, <stream>_fps
    • removed paramets <stream>_frame_id, <stream>_optical_frame_id. frame_ids are defined by camera_name
    • \"filters\" is removed. All filters (or post-processing blocks) are enabled/disabled using \"<filter>.enable\"
    • \"align_depth\" is replaced with \"align_depth.enable\"
    • \"allow_no_texture_points\", \"ordered_pc\" replaced by \"pointcloud.allow_no_texture_points\", \"pointcloud.ordered_pc\"
    • \"pointcloud_texture_stream\", \"pointcloud_texture_index\" are replaced by \"pointcloud.stream_filter\", \"pointcloud.stream_index_filter\"
  • Allow enable/disable of sensors in runtime.
  • Allow enable/disable of filters in runtime.

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 4.0.4
License Apache License 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-beta
Last Updated 2022-08-03
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

  • LibRealSense ROS Team

Authors

  • LibRealSense ROS Team
README
No README found. See repository README.
CHANGELOG

Changelog for package realsense2_camera

4.0.4 (2022-03-20)

  • fix required packages for building debians for ros2-beta branch
  • Contributors: NirAz

4.0.3 (2022-03-16)

  • Support intra-process zero-copy
  • Update README
  • Fix Galactic deprecated-declarations compilation warning
  • Fix Eloquent compilation error
  • Contributors: Eran, Nir-Az, SamerKhshiboun

4.0.2 (2022-02-24)

  • version 4.4.0 changed to 4.0.0 in CHANGELOG
  • add frequency monitoring to /diagnostics topic.
  • fix topic_hz.py to recognize message type from topic name. (Naive)
  • move diagnostic updater for stream frequencies into the RosSensor class.
  • add frequency monitoring to /diagnostics topic.
  • fix galactic issue with undeclaring parameters
  • fix to support Rolling.
  • fix dynamic_params syntax.
  • fix issue with Galactic parameters set by default to static which prevents them from being undeclared.
  • Contributors: Haowei Wen, doronhi, remibettan

4.0.1 (2022-02-01)

  • fix reset issue when multiple devices are connected
  • fix /rosout issue
  • fix PID for D405 device
  • fix bug: frame_id is based on camera_name
  • unite_imu_method is now changeable in runtime.
  • fix motion module default values.
  • add missing extrinsics topics
  • fix crash when camera disconnects.
  • fix header timestamp for metadata messages.
  • Contributors: nomumu, JamesChooWK, benlev, doronhi

4.0.0 (2021-11-17)

  • changed parameters:
    • \"stereo_module\", \"l500_depth_sensor\" are replaced by \"depth_module\"
    • for video streams: <module>.profile replaces <stream>_width, <stream>_height, <stream>_fps
    • removed paramets <stream>_frame_id, <stream>_optical_frame_id. frame_ids are defined by camera_name
    • \"filters\" is removed. All filters (or post-processing blocks) are enabled/disabled using \"<filter>.enable\"
    • \"align_depth\" is replaced with \"align_depth.enable\"
    • \"allow_no_texture_points\", \"ordered_pc\" replaced by \"pointcloud.allow_no_texture_points\", \"pointcloud.ordered_pc\"
    • \"pointcloud_texture_stream\", \"pointcloud_texture_index\" are replaced by \"pointcloud.stream_filter\", \"pointcloud.stream_index_filter\"
  • Allow enable/disable of sensors in runtime.
  • Allow enable/disable of filters in runtime.

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

realsense2_camera package from realsense2_camera repo

realsense2_camera realsense2_description

Package Summary

Tags No category tags.
Version 2.3.2
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 2022-03-23
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

2.3.2 (2021-11-15)

  • publish metadata
  • Add service: device_info
  • add wait_for_device_timeout parameter
  • Add reconnect_timeout parameter
  • show warning when requested profile cannot be selected.
  • send only 4 distortion coeffs when using equidistant
  • fixed missing std namespace
  • Removing spaces when iterating filters
  • Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi

2.3.1 (2021-07-01)

  • add respawn option
  • add udev rules to debian installation
  • Add support for L535
  • Fix occasional missing diagnostic messages
  • Contributors: Alex Fernandes Neves, doronhi

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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
  • 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]
      • respawn [default: false]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • respawn [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]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • unite_imu_method [default: none]

Plugins

Recent questions tagged realsense2_camera at answers.ros.org

realsense2_camera package from realsense2_camera repo

realsense2_camera realsense2_description

Package Summary

Tags No category tags.
Version 2.3.2
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 2022-03-23
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

2.3.2 (2021-11-15)

  • publish metadata
  • Add service: device_info
  • add wait_for_device_timeout parameter
  • Add reconnect_timeout parameter
  • show warning when requested profile cannot be selected.
  • send only 4 distortion coeffs when using equidistant
  • fixed missing std namespace
  • Removing spaces when iterating filters
  • Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi

2.3.1 (2021-07-01)

  • add respawn option
  • add udev rules to debian installation
  • Add support for L535
  • Fix occasional missing diagnostic messages
  • Contributors: Alex Fernandes Neves, doronhi

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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
  • 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]
      • respawn [default: false]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • respawn [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]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • unite_imu_method [default: none]

Plugins

Recent questions tagged realsense2_camera at answers.ros.org

realsense2_camera package from realsense2_camera repo

realsense2_camera realsense2_description

Package Summary

Tags No category tags.
Version 2.3.2
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 2022-03-23
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

2.3.2 (2021-11-15)

  • publish metadata
  • Add service: device_info
  • add wait_for_device_timeout parameter
  • Add reconnect_timeout parameter
  • show warning when requested profile cannot be selected.
  • send only 4 distortion coeffs when using equidistant
  • fixed missing std namespace
  • Removing spaces when iterating filters
  • Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi

2.3.1 (2021-07-01)

  • add respawn option
  • add udev rules to debian installation
  • Add support for L535
  • Fix occasional missing diagnostic messages
  • Contributors: Alex Fernandes Neves, doronhi

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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • reconnect_timeout [default: 6.0]
  • 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]
      • respawn [default: false]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • 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]
      • reconnect_timeout [default: 6.0]
      • 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]
      • respawn [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]
      • 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]
      • reconnect_timeout [default: 6.0]
      • wait_for_device_timeout [default: -1.0]
      • unite_imu_method [default: none]

Plugins

Recent questions tagged realsense2_camera at answers.ros.org