Repository Summary
Checkout URI | https://github.com/IntelRealSense/realsense-ros.git |
VCS Type | git |
VCS Version | ros2-master |
Last Updated | 2025-07-23 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
realsense2_camera | 4.56.4 |
realsense2_camera_msgs | 4.56.4 |
realsense2_description | 4.56.4 |
README
ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes
[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]
Table of contents
- ROS1 and ROS2 legacy
- Installation on Ubuntu
- Installation on Windows
- ROS2 LifeCycleNode
-
Usage
- Starting the camera node
- Camera name and namespace
- Parameters
- ROS2-vs-Optical Coordination Systems
- TF from coordinate A to coordinate B
- Extrinsics from sensor A to sensor B
- Topics
- RGBD Topic
- Metadata Topic
- Post-Processing Filters
- Available Services
- Available Actions
- Efficient intra-process communication
- Contributing
- License
ROS1 and ROS2 Legacy
ROS1 Wrapper for Intel® RealSense™ cameras
ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.For ROS1 wrapper, go to ros1-legacy branch
Moving from ros2-legacy to ros2-master
* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\Step 1: Install the ROS2 distribution
- #### Ubuntu 24.04: - [ROS2 Kilted](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html) - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) - #### Ubuntu 22.04: File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)CONTRIBUTING
How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project issues.
Branching Policy: The
ros2-master
branch is considered stable, at all times. If you plan to propose a patch, please commit into theros2-development
branch, or its own feature branch.
In addition, please run pr_check.sh
under scripts
directory. This scripts verify compliance with project’s standards:
- Every example / source file must refer to LICENSE
- Every example / source file must include correct copyright notice
- For indentation we are using spaces and not tabs
- Line-endings must be Unix and not DOS style
Most common issues can be automatically resolved by running ./pr_check.sh --fix
Please familirize yourself with the Apache License 2.0 before contributing.
Step-by-Step
- Make sure you have
git
andcmake
installed on your system. On Windows we recommend using Git Extensions for git bash. - Run
git clone https://github.com/IntelRealSense/realsense-ros.git
andcd realsense-ros
- To align with latest status of the ros2-development branch, run:
git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development
-
git checkout -b name_of_your_contribution
to create a dedicated branch - Make your changes to the local repository
- Make sure your local git user is updated, or run
git config --global user.email "email@example.com"
andgit config --global user.user "user"
to set it up. This is the user & email that will appear in GitHub history. -
git add -p
to select the changes you wish to add git commit -m "Description of the change"
- Make sure you have a GitHub user and fork realsense-ros
-
git remote add fork https://github.com/username/realsense-ros.git
with your GitHubusername
git fetch fork
-
git push fork
to pushname_of_your_contribution
branch to your fork - Go to your fork on GitHub at
https://github.com/username/realsense-ros
- Click the
New pull request
button - For
base
combo-box selectros2-development
, since you want to submit a PR to that branch - For
compare
combo-box selectname_of_your_contribution
with your commit - Review your changes and click
Create pull request
- Wait for all automated checks to pass
- The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3. To return to your PR (in order to make more changes):
git stash
git checkout name_of_your_contribution
- Repeat items 5-8 from the previous list
-
git push fork
The pull request will be automatically updated
Repository Summary
Checkout URI | https://github.com/IntelRealSense/realsense-ros.git |
VCS Type | git |
VCS Version | ros2-master |
Last Updated | 2025-07-23 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
realsense2_camera | 4.56.4 |
realsense2_camera_msgs | 4.56.4 |
realsense2_description | 4.56.4 |
README
ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes
[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]
Table of contents
- ROS1 and ROS2 legacy
- Installation on Ubuntu
- Installation on Windows
- ROS2 LifeCycleNode
-
Usage
- Starting the camera node
- Camera name and namespace
- Parameters
- ROS2-vs-Optical Coordination Systems
- TF from coordinate A to coordinate B
- Extrinsics from sensor A to sensor B
- Topics
- RGBD Topic
- Metadata Topic
- Post-Processing Filters
- Available Services
- Available Actions
- Efficient intra-process communication
- Contributing
- License
ROS1 and ROS2 Legacy
ROS1 Wrapper for Intel® RealSense™ cameras
ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.For ROS1 wrapper, go to ros1-legacy branch
Moving from ros2-legacy to ros2-master
* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\Step 1: Install the ROS2 distribution
- #### Ubuntu 24.04: - [ROS2 Kilted](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html) - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) - #### Ubuntu 22.04: File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)CONTRIBUTING
How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project issues.
Branching Policy: The
ros2-master
branch is considered stable, at all times. If you plan to propose a patch, please commit into theros2-development
branch, or its own feature branch.
In addition, please run pr_check.sh
under scripts
directory. This scripts verify compliance with project’s standards:
- Every example / source file must refer to LICENSE
- Every example / source file must include correct copyright notice
- For indentation we are using spaces and not tabs
- Line-endings must be Unix and not DOS style
Most common issues can be automatically resolved by running ./pr_check.sh --fix
Please familirize yourself with the Apache License 2.0 before contributing.
Step-by-Step
- Make sure you have
git
andcmake
installed on your system. On Windows we recommend using Git Extensions for git bash. - Run
git clone https://github.com/IntelRealSense/realsense-ros.git
andcd realsense-ros
- To align with latest status of the ros2-development branch, run:
git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development
-
git checkout -b name_of_your_contribution
to create a dedicated branch - Make your changes to the local repository
- Make sure your local git user is updated, or run
git config --global user.email "email@example.com"
andgit config --global user.user "user"
to set it up. This is the user & email that will appear in GitHub history. -
git add -p
to select the changes you wish to add git commit -m "Description of the change"
- Make sure you have a GitHub user and fork realsense-ros
-
git remote add fork https://github.com/username/realsense-ros.git
with your GitHubusername
git fetch fork
-
git push fork
to pushname_of_your_contribution
branch to your fork - Go to your fork on GitHub at
https://github.com/username/realsense-ros
- Click the
New pull request
button - For
base
combo-box selectros2-development
, since you want to submit a PR to that branch - For
compare
combo-box selectname_of_your_contribution
with your commit - Review your changes and click
Create pull request
- Wait for all automated checks to pass
- The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3. To return to your PR (in order to make more changes):
git stash
git checkout name_of_your_contribution
- Repeat items 5-8 from the previous list
-
git push fork
The pull request will be automatically updated
Repository Summary
Checkout URI | https://github.com/IntelRealSense/realsense-ros.git |
VCS Type | git |
VCS Version | ros2-master |
Last Updated | 2025-07-23 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
realsense2_camera | 4.56.4 |
realsense2_camera_msgs | 4.56.4 |
realsense2_description | 4.56.4 |
README
ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes
[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]
Table of contents
- ROS1 and ROS2 legacy
- Installation on Ubuntu
- Installation on Windows
- ROS2 LifeCycleNode
-
Usage
- Starting the camera node
- Camera name and namespace
- Parameters
- ROS2-vs-Optical Coordination Systems
- TF from coordinate A to coordinate B
- Extrinsics from sensor A to sensor B
- Topics
- RGBD Topic
- Metadata Topic
- Post-Processing Filters
- Available Services
- Available Actions
- Efficient intra-process communication
- Contributing
- License
ROS1 and ROS2 Legacy
ROS1 Wrapper for Intel® RealSense™ cameras
ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.For ROS1 wrapper, go to ros1-legacy branch
Moving from ros2-legacy to ros2-master
* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\Step 1: Install the ROS2 distribution
- #### Ubuntu 24.04: - [ROS2 Kilted](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html) - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) - #### Ubuntu 22.04: File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)CONTRIBUTING
How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project issues.
Branching Policy: The
ros2-master
branch is considered stable, at all times. If you plan to propose a patch, please commit into theros2-development
branch, or its own feature branch.
In addition, please run pr_check.sh
under scripts
directory. This scripts verify compliance with project’s standards:
- Every example / source file must refer to LICENSE
- Every example / source file must include correct copyright notice
- For indentation we are using spaces and not tabs
- Line-endings must be Unix and not DOS style
Most common issues can be automatically resolved by running ./pr_check.sh --fix
Please familirize yourself with the Apache License 2.0 before contributing.
Step-by-Step
- Make sure you have
git
andcmake
installed on your system. On Windows we recommend using Git Extensions for git bash. - Run
git clone https://github.com/IntelRealSense/realsense-ros.git
andcd realsense-ros
- To align with latest status of the ros2-development branch, run:
git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development
-
git checkout -b name_of_your_contribution
to create a dedicated branch - Make your changes to the local repository
- Make sure your local git user is updated, or run
git config --global user.email "email@example.com"
andgit config --global user.user "user"
to set it up. This is the user & email that will appear in GitHub history. -
git add -p
to select the changes you wish to add git commit -m "Description of the change"
- Make sure you have a GitHub user and fork realsense-ros
-
git remote add fork https://github.com/username/realsense-ros.git
with your GitHubusername
git fetch fork
-
git push fork
to pushname_of_your_contribution
branch to your fork - Go to your fork on GitHub at
https://github.com/username/realsense-ros
- Click the
New pull request
button - For
base
combo-box selectros2-development
, since you want to submit a PR to that branch - For
compare
combo-box selectname_of_your_contribution
with your commit - Review your changes and click
Create pull request
- Wait for all automated checks to pass
- The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3. To return to your PR (in order to make more changes):
git stash
git checkout name_of_your_contribution
- Repeat items 5-8 from the previous list
-
git push fork
The pull request will be automatically updated
Repository Summary
Checkout URI | https://github.com/IntelRealSense/realsense-ros.git |
VCS Type | git |
VCS Version | ros2-master |
Last Updated | 2025-07-23 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
realsense2_camera | 4.56.4 |
realsense2_camera_msgs | 4.56.4 |
realsense2_description | 4.56.4 |
README
ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes
[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]
Table of contents
- ROS1 and ROS2 legacy
- Installation on Ubuntu
- Installation on Windows
- ROS2 LifeCycleNode
-
Usage
- Starting the camera node
- Camera name and namespace
- Parameters
- ROS2-vs-Optical Coordination Systems
- TF from coordinate A to coordinate B
- Extrinsics from sensor A to sensor B
- Topics
- RGBD Topic
- Metadata Topic
- Post-Processing Filters
- Available Services
- Available Actions
- Efficient intra-process communication
- Contributing
- License
ROS1 and ROS2 Legacy
ROS1 Wrapper for Intel® RealSense™ cameras
ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.For ROS1 wrapper, go to ros1-legacy branch
Moving from ros2-legacy to ros2-master
* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\Step 1: Install the ROS2 distribution
- #### Ubuntu 24.04: - [ROS2 Kilted](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html) - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) - #### Ubuntu 22.04: File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)CONTRIBUTING
How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project issues.
Branching Policy: The
ros2-master
branch is considered stable, at all times. If you plan to propose a patch, please commit into theros2-development
branch, or its own feature branch.
In addition, please run pr_check.sh
under scripts
directory. This scripts verify compliance with project’s standards:
- Every example / source file must refer to LICENSE
- Every example / source file must include correct copyright notice
- For indentation we are using spaces and not tabs
- Line-endings must be Unix and not DOS style
Most common issues can be automatically resolved by running ./pr_check.sh --fix
Please familirize yourself with the Apache License 2.0 before contributing.
Step-by-Step
- Make sure you have
git
andcmake
installed on your system. On Windows we recommend using Git Extensions for git bash. - Run
git clone https://github.com/IntelRealSense/realsense-ros.git
andcd realsense-ros
- To align with latest status of the ros2-development branch, run:
git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development
-
git checkout -b name_of_your_contribution
to create a dedicated branch - Make your changes to the local repository
- Make sure your local git user is updated, or run
git config --global user.email "email@example.com"
andgit config --global user.user "user"
to set it up. This is the user & email that will appear in GitHub history. -
git add -p
to select the changes you wish to add git commit -m "Description of the change"
- Make sure you have a GitHub user and fork realsense-ros
-
git remote add fork https://github.com/username/realsense-ros.git
with your GitHubusername
git fetch fork
-
git push fork
to pushname_of_your_contribution
branch to your fork - Go to your fork on GitHub at
https://github.com/username/realsense-ros
- Click the
New pull request
button - For
base
combo-box selectros2-development
, since you want to submit a PR to that branch - For
compare
combo-box selectname_of_your_contribution
with your commit - Review your changes and click
Create pull request
- Wait for all automated checks to pass
- The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3. To return to your PR (in order to make more changes):
git stash
git checkout name_of_your_contribution
- Repeat items 5-8 from the previous list
-
git push fork
The pull request will be automatically updated
Repository Summary
Checkout URI | https://github.com/IntelRealSense/realsense-ros.git |
VCS Type | git |
VCS Version | ros2-master |
Last Updated | 2025-07-23 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
realsense2_camera | 4.56.4 |
realsense2_camera_msgs | 4.56.4 |
realsense2_description | 4.56.4 |
README
ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes
[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]
Table of contents
- ROS1 and ROS2 legacy
- Installation on Ubuntu
- Installation on Windows
- ROS2 LifeCycleNode
-
Usage
- Starting the camera node
- Camera name and namespace
- Parameters
- ROS2-vs-Optical Coordination Systems
- TF from coordinate A to coordinate B
- Extrinsics from sensor A to sensor B
- Topics
- RGBD Topic
- Metadata Topic
- Post-Processing Filters
- Available Services
- Available Actions
- Efficient intra-process communication
- Contributing
- License
ROS1 and ROS2 Legacy
ROS1 Wrapper for Intel® RealSense™ cameras
ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.For ROS1 wrapper, go to ros1-legacy branch
Moving from ros2-legacy to ros2-master
* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\Step 1: Install the ROS2 distribution
- #### Ubuntu 24.04: - [ROS2 Kilted](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html) - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) - #### Ubuntu 22.04: File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)CONTRIBUTING
How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project issues.
Branching Policy: The
ros2-master
branch is considered stable, at all times. If you plan to propose a patch, please commit into theros2-development
branch, or its own feature branch.
In addition, please run pr_check.sh
under scripts
directory. This scripts verify compliance with project’s standards:
- Every example / source file must refer to LICENSE
- Every example / source file must include correct copyright notice
- For indentation we are using spaces and not tabs
- Line-endings must be Unix and not DOS style
Most common issues can be automatically resolved by running ./pr_check.sh --fix
Please familirize yourself with the Apache License 2.0 before contributing.
Step-by-Step
- Make sure you have
git
andcmake
installed on your system. On Windows we recommend using Git Extensions for git bash. - Run
git clone https://github.com/IntelRealSense/realsense-ros.git
andcd realsense-ros
- To align with latest status of the ros2-development branch, run:
git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development
-
git checkout -b name_of_your_contribution
to create a dedicated branch - Make your changes to the local repository
- Make sure your local git user is updated, or run
git config --global user.email "email@example.com"
andgit config --global user.user "user"
to set it up. This is the user & email that will appear in GitHub history. -
git add -p
to select the changes you wish to add git commit -m "Description of the change"
- Make sure you have a GitHub user and fork realsense-ros
-
git remote add fork https://github.com/username/realsense-ros.git
with your GitHubusername
git fetch fork
-
git push fork
to pushname_of_your_contribution
branch to your fork - Go to your fork on GitHub at
https://github.com/username/realsense-ros
- Click the
New pull request
button - For
base
combo-box selectros2-development
, since you want to submit a PR to that branch - For
compare
combo-box selectname_of_your_contribution
with your commit - Review your changes and click
Create pull request
- Wait for all automated checks to pass
- The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3. To return to your PR (in order to make more changes):
git stash
git checkout name_of_your_contribution
- Repeat items 5-8 from the previous list
-
git push fork
The pull request will be automatically updated