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Package Summary

Tags No category tags.
Version 1.8.1
License BSD 3-clause. See license attached
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/intel-ros/realsense.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-07-04
Dev Status MAINTAINED
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 3D cameras and advanced modules

Additional Links

Maintainers

  • Sergey Dorodnicov
  • Itay Carpis

Authors

  • Rajvi Jingar
  • Reagan Lopez
  • Matt Hansen
  • Mark Horn

Intel® RealSense™ Camera Driver for ROS

Please reference the documentation on the ROS realsense_camera wiki.

Unit Tests:

The Unit Tests can be executed using either of the methods:

Using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_nodelet_disable_color.test 

Using rosrun command

$ roslaunch realsense_camera r200_nodelet_modify_params.launch

$ rosrun realsense_camera realsense_camera_test <args>
E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920

Both these methods first starts the nodelet and then executes all the unit tests.

Sample test files are available in "realsense_camera/test" directory

Bat Tests:

The bat tests can be executed using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_camera_info_matrix_check.test

Sample test files are available in "realsense_camera/test/files/bat-tests" directory.

Bat tests include its executable python scripts, they will be copied to specific directory when build realsense_camera. If will not run the bat tests again or want to clean realsense_camera, please remove the bat python scripts by additional running catkin_make clean-script command.

Errata:

See the GitHub Issues Bugs for a complete list.

CHANGELOG

Changelog for package realsense_camera

1.8.1 (2017-12-20) -----------* Added missing ZR300 launch file arguments (#259) * Fixed ZR300 launch file typo (#244) * Added LR200 support (#245) * Added RGDB launch file for the ZR300 * Updated code to cache ZR300 IMU data (#186) * Contributors: Benjamin Maidel, Dinesh Bolkensteyn, Itay Carpis, Junya Hayashi, Matt Curfman, Murilo Belluzzo, Reagan Lopez, Sergey Dorodnicov

1.8.0 (2017-03-27)

  • Enable configuration of the TF publication rate when using tf_dynamic
  • Enable roslint when CATKIN_ENABLE_TESTING is True
  • Add option to link against non-catkin librealsense
  • Fixed LR auto exposure (#131)
  • Dynamic reconfig autoexposure/exposure control SR300/F200/R200 (#213)
  • Added check for depth_enable dynamic change
  • Update Debug Tool
  • Added SyncNodelet class as new base for F200/SR300/R200 (#207, #210)
  • Contributors: Amanda Brindle, Dmitry Rozhkov, James Sergeant, Mark Horn, Matthew Hansen, Reagan Lopez, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/f200_nodelet_default.launch
    • Sample launch file for using RealSense F200 camera with default configurations
      • camera [default: camera]
      • camera_type [default: F200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_fps [default: 30]
  • launch/get_debug_info.launch
    • launch file for data collection of RealSense camera configurations
  • launch/sr300_nodelet_rgbd.launch
    • Sample launch file for using RealSense SR300 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: SR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_multiple_cameras.launch
    • Sample launch file for using multiple RealSense R200 cameras
      • camera1 [default: camera1]
      • camera1_camera_type [default: R200]
      • camera1_serial_no [default: ]
      • camera1_usb_port_id [default: ]
      • camera2 [default: camera2]
      • camera2_camera_type [default: R200]
      • camera2_serial_no [default: ]
      • camera2_usb_port_id [default: ]
  • launch/zr300_nodelet_rgbd.launch
    • Sample launch file for using RealSense ZR300 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: ZR300]
      • enable_fisheye [default: true]
      • enable_imu [default: true]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 480]
      • depth_height [default: 360]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: false]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_rgbd.launch
    • Sample launch file for using RealSense R200 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 480]
      • depth_height [default: 360]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: false]
      • debayer_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_default.launch
    • Sample launch file for using RealSense R200 camera with default configurations
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • color_fps [default: 30]
  • launch/r200_nodelet_modify_params.launch
    • Sample launch file for modifying the parameters of RealSense R200 camera
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • enable_depth [default: true]
      • enable_ir [default: false]
      • enable_ir2 [default: false]
      • enable_color [default: true]
      • enable_pointcloud [default: false]
      • enable_tf [default: true]
      • enable_tf_dynamic [default: false]
      • tf_publication_rate [default: 1.0]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_width [default: 1920]
      • color_height [default: 1080]
      • depth_fps [default: 30]
      • color_fps [default: 30]
  • launch/zr300_nodelet_default.launch
    • Sample launch file for using RealSense ZR300 camera with default configurations
      • camera [default: camera]
      • camera_type [default: ZR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • color_fps [default: 30]
      • fisheye_fps [default: 30]
      • fisheye_strobe [default: 1]
      • fisheye_external_trigger [default: 1]
  • launch/sr300_nodelet_default.launch
    • Sample launch file for using RealSense SR300 camera with default configurations
      • camera [default: camera]
      • camera_type [default: SR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_fps [default: 30]
  • launch/includes/nodelet.launch.xml
    • Entry point for using realsense_camera
      • manager
      • camera_type
      • camera [default: camera]
      • depth [default: depth]
      • rgb [default: color]
      • ir [default: ir]
      • ir2 [default: ir2]
      • fisheye [default: fisheye]
      • imu [default: imu]
      • serial_no [default: ]
      • usb_port_id [default: ]
  • launch/includes/nodelet_rgbd.launch.xml
    • Entry point for using realsense_camera with rgbd_launch
      • manager
      • camera [default: camera]
      • publish_tf [default: true]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • ir2 [default: ir2]
      • imu [default: imu]
      • fisheye [default: fisheye]
      • camera_type
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: ]
      • depth_width [default: ]
      • depth_height [default: ]
      • color_width [default: ]
      • color_height [default: ]
      • depth_fps [default: ]
      • color_fps [default: ]
      • enable_depth [default: true]
      • enable_color [default: true]
      • enable_ir [default: true]
      • enable_ir2 [default: true]
      • enable_fisheye [default: false]
      • enable_imu [default: false]
      • enable_pointcloud [default: false]

Messages

Plugins

Recent questions tagged realsense_camera at answers.ros.org

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realsense_camera package from realsense2_camera repo

realsense_camera

Package Summary

Tags No category tags.
Version 1.8.1
License BSD 3-clause. See license attached
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelRealSense/realsense-ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-07-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
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 3D cameras and advanced modules

Additional Links

Maintainers

  • Sergey Dorodnicov
  • Itay Carpis

Authors

  • Rajvi Jingar
  • Reagan Lopez
  • Matt Hansen
  • Mark Horn

Intel® RealSense™ Camera Driver for ROS

Please reference the documentation on the ROS realsense_camera wiki.

Unit Tests:

The Unit Tests can be executed using either of the methods:

Using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_nodelet_disable_color.test 

Using rosrun command

$ roslaunch realsense_camera r200_nodelet_modify_params.launch

$ rosrun realsense_camera realsense_camera_test <args>
E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920

Both these methods first starts the nodelet and then executes all the unit tests.

Sample test files are available in "realsense_camera/test" directory

Bat Tests:

The bat tests can be executed using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_camera_info_matrix_check.test

Sample test files are available in "realsense_camera/test/files/bat-tests" directory.

Bat tests include its executable python scripts, they will be copied to specific directory when build realsense_camera. If will not run the bat tests again or want to clean realsense_camera, please remove the bat python scripts by additional running catkin_make clean-script command.

Errata:

See the GitHub Issues Bugs for a complete list.

CHANGELOG

Changelog for package realsense_camera

1.8.1 (2017-12-20) -----------* Added missing ZR300 launch file arguments (#259) * Fixed ZR300 launch file typo (#244) * Added LR200 support (#245) * Added RGDB launch file for the ZR300 * Updated code to cache ZR300 IMU data (#186) * Contributors: Benjamin Maidel, Dinesh Bolkensteyn, Itay Carpis, Junya Hayashi, Matt Curfman, Murilo Belluzzo, Reagan Lopez, Sergey Dorodnicov

1.8.0 (2017-03-27)

  • Enable configuration of the TF publication rate when using tf_dynamic
  • Enable roslint when CATKIN_ENABLE_TESTING is True
  • Add option to link against non-catkin librealsense
  • Fixed LR auto exposure (#131)
  • Dynamic reconfig autoexposure/exposure control SR300/F200/R200 (#213)
  • Added check for depth_enable dynamic change
  • Update Debug Tool
  • Added SyncNodelet class as new base for F200/SR300/R200 (#207, #210)
  • Contributors: Amanda Brindle, Dmitry Rozhkov, James Sergeant, Mark Horn, Matthew Hansen, Reagan Lopez, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/f200_nodelet_default.launch
    • Sample launch file for using RealSense F200 camera with default configurations
      • camera [default: camera]
      • camera_type [default: F200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_fps [default: 30]
  • launch/get_debug_info.launch
    • launch file for data collection of RealSense camera configurations
  • launch/sr300_nodelet_rgbd.launch
    • Sample launch file for using RealSense SR300 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: SR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_multiple_cameras.launch
    • Sample launch file for using multiple RealSense R200 cameras
      • camera1 [default: camera1]
      • camera1_camera_type [default: R200]
      • camera1_serial_no [default: ]
      • camera1_usb_port_id [default: ]
      • camera2 [default: camera2]
      • camera2_camera_type [default: R200]
      • camera2_serial_no [default: ]
      • camera2_usb_port_id [default: ]
  • launch/zr300_nodelet_rgbd.launch
    • Sample launch file for using RealSense ZR300 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: ZR300]
      • enable_fisheye [default: true]
      • enable_imu [default: true]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 480]
      • depth_height [default: 360]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: false]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_rgbd.launch
    • Sample launch file for using RealSense R200 camera with rgbd_launch
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: manual]
      • color_width [default: 640]
      • color_height [default: 480]
      • depth_width [default: 480]
      • depth_height [default: 360]
      • depth_fps [default: 30]
      • color_fps [default: 30]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
      • queue_size [default: 100]
      • load_driver [default: true]
      • publish_tf [default: true]
      • rgb_processing [default: false]
      • debayer_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: false]
      • sw_registered_processing [default: true]
      • respawn [default: false]
      • num_worker_threads [default: 4]
      • debug [default: false]
  • launch/r200_nodelet_default.launch
    • Sample launch file for using RealSense R200 camera with default configurations
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • color_fps [default: 30]
  • launch/r200_nodelet_modify_params.launch
    • Sample launch file for modifying the parameters of RealSense R200 camera
      • camera [default: camera]
      • camera_type [default: R200]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • enable_depth [default: true]
      • enable_ir [default: false]
      • enable_ir2 [default: false]
      • enable_color [default: true]
      • enable_pointcloud [default: false]
      • enable_tf [default: true]
      • enable_tf_dynamic [default: false]
      • tf_publication_rate [default: 1.0]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_width [default: 1920]
      • color_height [default: 1080]
      • depth_fps [default: 30]
      • color_fps [default: 30]
  • launch/zr300_nodelet_default.launch
    • Sample launch file for using RealSense ZR300 camera with default configurations
      • camera [default: camera]
      • camera_type [default: ZR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • color_fps [default: 30]
      • fisheye_fps [default: 30]
      • fisheye_strobe [default: 1]
      • fisheye_external_trigger [default: 1]
  • launch/sr300_nodelet_default.launch
    • Sample launch file for using RealSense SR300 camera with default configurations
      • camera [default: camera]
      • camera_type [default: SR300]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • manager [default: nodelet_manager]
      • mode [default: manual]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • color_fps [default: 30]
  • launch/includes/nodelet.launch.xml
    • Entry point for using realsense_camera
      • manager
      • camera_type
      • camera [default: camera]
      • depth [default: depth]
      • rgb [default: color]
      • ir [default: ir]
      • ir2 [default: ir2]
      • fisheye [default: fisheye]
      • imu [default: imu]
      • serial_no [default: ]
      • usb_port_id [default: ]
  • launch/includes/nodelet_rgbd.launch.xml
    • Entry point for using realsense_camera with rgbd_launch
      • manager
      • camera [default: camera]
      • publish_tf [default: true]
      • depth [default: depth]
      • rgb [default: rgb]
      • ir [default: ir]
      • ir2 [default: ir2]
      • imu [default: imu]
      • fisheye [default: fisheye]
      • camera_type
      • serial_no [default: ]
      • usb_port_id [default: ]
      • mode [default: ]
      • depth_width [default: ]
      • depth_height [default: ]
      • color_width [default: ]
      • color_height [default: ]
      • depth_fps [default: ]
      • color_fps [default: ]
      • enable_depth [default: true]
      • enable_color [default: true]
      • enable_ir [default: true]
      • enable_ir2 [default: true]
      • enable_fisheye [default: false]
      • enable_imu [default: false]
      • enable_pointcloud [default: false]

Messages

Plugins

Recent questions tagged realsense_camera at answers.ros.org

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