ROS Index
Repository Summary
| Checkout URI | https://github.com/intel/ros2_intel_realsense.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-01-07 |
| 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) |
Packages
| Name | Version |
|---|---|
| realsense_camera_msgs | 2.0.4 |
| realsense_ros2_camera | 2.0.4 |
README
DISCONTINUATION OF PROJECT
This project will no longer be maintained by Intel.
Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.
Intel no longer accepts patches to this project.
If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.
Contact: webadmin@linux.intel.com
ROS2 Wrapper for Intel® RealSense™ Devices
These are packages for using Intel RealSense cameras (D400 series) with ROS2.
Note: If you want T265 supported, please check out this branch
Installation Instructions
The following instructions were verified with ROS2 Dashing on Ubutnu 18.04.
Dependencies
Install ROS2 packages ros-dashing-desktop
Install ROS2 dependences
sudo apt-get install ros-dashing-cv-bridge ros-dashing-librealsense2 ros-dashing-message-filters ros-dashing-image-transport
Or you may install from sources:
- cv_bridge
- Intel® RealSense™ SDK 2.0 Currently, we support librealsense master branch.
- ros2_message_filters
- ros2 image_transport
Install Other non-ROS debian packages
sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
- libssl-dev
- libusb-1.0-0-dev
- pkg-config
- libgtk-3-dev
- libglfw3-dev
- libgl1-mesa-dev
- libglu1-mesa-dev
Install ros2_intel_realsense binary packages
sudo apt-get install ros-dashing-realsense-camera-msgs ros-dashing-realsense-ros2-camera
The ros2_intel_realsense packages installation have been completed. You could jump to Usage Instructions for executing, you could also install ros2_intel_realsense from source for more features.
Install ros2_intel_realsense from source
#get code
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/intel/ros2_intel_realsense.git
#build
cd ~/ros2_ws
source /opt/ros/dashing/setup.bash
colcon build --base-paths src/ros2_intel_realsense
Usage Instructions
Start the camera node
To start the camera node in ROS2, plug in the camera, then type the following command:
source /opt/ros/dashing/setup.bash
source ~/ros2_ws/install/local_setup.bash
# To launch with "ros2 run"
ros2 run realsense_ros2_camera realsense_ros2_camera
# OR, to invoke the executable directly
realsense_ros2_camera
This will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.
Published Topics
Rectified depth image: /camera/depth/image_rect_raw
Color image: /camera/color/image_raw
Rectified infra1 image: /camera/infra1/image_rect_raw
Rectified infra2 image: /camera/infra2/image_rect_raw
Depth registered point cloud: /camera/aligned_depth_to_color/color/points
Visualize Depth Aligned (i.e. Depth Registered) Point Cloud
To start the camera node in ROS2 and view the depth aligned pointcloud in rviz:
source /opt/ros/dashing/setup.bash
source ~/ros2_ws/install/local_setup.bash
# console #1 launch rviz2
ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz
# console #2 launch realsense_ros2_camera
ros2 run realsense_ros2_camera realsense_ros2_camera
This will launch RViz and display the five streams: color, depth, infra1, infra2, pointcloud.
Run tests
colcon test --base-paths src/ros2_intel_realsense
Known Issues
- This ROS2 node does not currently provide any dynamic reconfigure support for camera properties/presets.
- We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.
Todo
A few features to be ported from the latest ROS realsense
- Preset/Controls
License
Copyright 2018 Intel Corporation
Licensed under the Apache License, Version 2.0 (the “License”); you may not use this project 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.
*Other names and brands may be claimed as the property of others
Any security issue should be reported using process at https://01.org/security
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/intel/ros2_intel_realsense.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-01-07 |
| 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) |
Packages
| Name | Version |
|---|---|
| realsense_camera_msgs | 2.0.4 |
| realsense_ros2_camera | 2.0.4 |
README
DISCONTINUATION OF PROJECT
This project will no longer be maintained by Intel.
Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.
Intel no longer accepts patches to this project.
If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.
Contact: webadmin@linux.intel.com
ROS2 Wrapper for Intel® RealSense™ Devices
These are packages for using Intel RealSense cameras (D400 series) with ROS2.
Note: If you want T265 supported, please check out this branch
Installation Instructions
The following instructions were verified with ROS2 Dashing on Ubutnu 18.04.
Dependencies
Install ROS2 packages ros-dashing-desktop
Install ROS2 dependences
sudo apt-get install ros-dashing-cv-bridge ros-dashing-librealsense2 ros-dashing-message-filters ros-dashing-image-transport
Or you may install from sources:
- cv_bridge
- Intel® RealSense™ SDK 2.0 Currently, we support librealsense master branch.
- ros2_message_filters
- ros2 image_transport
Install Other non-ROS debian packages
sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
- libssl-dev
- libusb-1.0-0-dev
- pkg-config
- libgtk-3-dev
- libglfw3-dev
- libgl1-mesa-dev
- libglu1-mesa-dev
Install ros2_intel_realsense binary packages
sudo apt-get install ros-dashing-realsense-camera-msgs ros-dashing-realsense-ros2-camera
The ros2_intel_realsense packages installation have been completed. You could jump to Usage Instructions for executing, you could also install ros2_intel_realsense from source for more features.
Install ros2_intel_realsense from source
#get code
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/intel/ros2_intel_realsense.git
#build
cd ~/ros2_ws
source /opt/ros/dashing/setup.bash
colcon build --base-paths src/ros2_intel_realsense
Usage Instructions
Start the camera node
To start the camera node in ROS2, plug in the camera, then type the following command:
source /opt/ros/dashing/setup.bash
source ~/ros2_ws/install/local_setup.bash
# To launch with "ros2 run"
ros2 run realsense_ros2_camera realsense_ros2_camera
# OR, to invoke the executable directly
realsense_ros2_camera
This will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.
Published Topics
Rectified depth image: /camera/depth/image_rect_raw
Color image: /camera/color/image_raw
Rectified infra1 image: /camera/infra1/image_rect_raw
Rectified infra2 image: /camera/infra2/image_rect_raw
Depth registered point cloud: /camera/aligned_depth_to_color/color/points
Visualize Depth Aligned (i.e. Depth Registered) Point Cloud
To start the camera node in ROS2 and view the depth aligned pointcloud in rviz:
source /opt/ros/dashing/setup.bash
source ~/ros2_ws/install/local_setup.bash
# console #1 launch rviz2
ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz
# console #2 launch realsense_ros2_camera
ros2 run realsense_ros2_camera realsense_ros2_camera
This will launch RViz and display the five streams: color, depth, infra1, infra2, pointcloud.
Run tests
colcon test --base-paths src/ros2_intel_realsense
Known Issues
- This ROS2 node does not currently provide any dynamic reconfigure support for camera properties/presets.
- We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.
Todo
A few features to be ported from the latest ROS realsense
- Preset/Controls
License
Copyright 2018 Intel Corporation
Licensed under the Apache License, Version 2.0 (the “License”); you may not use this project 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.
*Other names and brands may be claimed as the property of others
Any security issue should be reported using process at https://01.org/security
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/intel/ros2_intel_realsense.git |
| VCS Type | git |
| VCS Version | refactor |
| Last Updated | 2020-05-09 |
| 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) |
Packages
| Name | Version |
|---|---|
| realsense_examples | 2.0.8 |
| realsense_msgs | 2.0.8 |
| realsense_node | 2.0.8 |
| realsense_ros | 2.0.8 |
README
ROS2 Package for Intel® RealSense™ Devices
Supported Devices
- Intel® RealSense™ Camera D400-Series
- Intel® RealSense™ Depth Cameras D415, D435 and D435i
- Intel® RealSense™ Tracking Camera T265
Installation Instructions
The following instructions were verified with ROS2 Foxy on Ubuntu 20.04. The software is verified with ROS2 Dashing on Ubuntu 18.04 also, with the same instructions replacing “foxy” with “dashing”.
Install Dependencies
1. Install ROS2 packages ros-foxy-desktop
2. Install ROS2 dependences
Currently, we support librealsense master branch.
sudo apt-get install ros-foxy-librealsense2
3. Install other non-ROS debian packages
sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
Install ros2_intel_realsense From Source
# fetch code
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/intel/ros2_intel_realsense.git
cd ros2_intel_realsense
git checkout refactor
# build
source /opt/ros/foxy/setup.bash
cd ~/ros2_ws
colcon build --symlink-install
Usage Instructions
Start Camera Node
Obtain the serial number of your device
rs-enumerate-devices
Change the corresponding yaml file with the specific serial number, e.g. for d435.yaml in line3:
serial_no:
# d435
To start the camera node in ROS2, plug in the camera, then type the following command:
Single camera, taking d435 for example:
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
## using ros2 run
cd ~/ros2_ws
ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/d435.yaml __ns:=/d435
## using ros2 launch
ros2 launch realsense_examples rs_camera.launch.py
Multi camera, taking d435 and t265 for example:
- Terminal 1:
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
cd ~/ros2_ws
ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_examples/config/d435.yaml __ns:=/d435
- Terminal 2:
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
cd ~/ros2_ws
ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_examples/config/t265.yaml __ns:=/t265
- Or using ros2 launch :
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
cd ~/ros2_ws
## before launch all the cameras, serial number should be set in the launch file
ros2 launch realsense_examples rs_multiple_devices.launch.py
Multi camera with tf(transform), taking d435 and t265 for example:
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
cd ~/ros2_ws
## before launch all the cameras, serial number should be set in the launch file
ros2 launch realsense_examples rs_t265_and_d400.launch.py
for more usage of these launch files in realsense_examples/launch, please refer to our robot devkit project, includes SLAM and navigation etc.
Configure Parameters at Runtime
Currently only support reconfigure parameters by ros2 param at runtime, e.g.
Enable camera stream
ros2 param list
ros2 param get <node_name> color0.enabled
ros2 param set <node_name> color0.enabled true
Enable aligned depth
ros2 param set <node_name> align_depth true
Enable pointcloud
ros2 param set <node_name> enable_pointcloud true
Contribution Instructions
Contirbution to this project is welcomed! For any patches pleaes make sure regression tests passed. For new features added please add test cases also.
Run Colcon test
# plugin the Realsense device
# invoke colcon test
colcon test --packages-select realsense_msgs realsense_node realsense_ros realsense_examples
# check test logs
vim log/latest_test/<package name as `realsense_xxx`>/stdout.log
Published Topics
- D435 and D415
camera/aligned_depth_to_color/image_raw
camera/aligned_depth_to_color/camera_info
- D435i
camera/aligned_depth_to_color/image_raw
camera/aligned_depth_to_color/camera_info
- T265
camera/fisheye1/image_rect_raw
camera/fisheye2/image_rect_raw
Known Issues
- Don’t support dynamic reconfigure parameters by rqt_reconfigure due to issue#53 of rqt_reconfigure, but you still can reconfigure parameters by
ros2 param. - We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.
TODO
- Merge sensor data from gyroscope and accelerator into one topic
- Support diagnostics
- Support reconfigure parameters by GUI
License
Copyright 2019 Intel Corporation
Licensed under the Apache License, Version 2.0 (the “License”); you may not use this project 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.
*Other names and brands may be claimed as the property of others
Any security issue should be reported using process at https://01.org/security