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 MAINTAINED
Released UNRELEASED

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

IntelĀ® RealSenseā„¢ 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/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/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/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/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/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/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/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/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/get_debug_info.launch
    • launch file for data collection of RealSense camera configurations
  • 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]

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