ros2_intel_realsense repository

Repository Summary

Checkout URI https://github.com/intel/ros2_intel_realsense.git
VCS Type git
VCS Version master
Last Updated 2018-12-14
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
realsense_camera_msgs 2.0.3
realsense_ros2_camera 2.0.3

README

ROS2 Wrapper for Intel® RealSense™ Devices

These are packages for using Intel RealSense cameras (D400 series) with ROS2.

Installation Instructions

The following instructions were verified with ROS2 Bouncy on Ubutnu 18.04.

Step 1: Install the ROS2 dependenices

# from binary install
$ source /opt/ros/bouncy/setup.bash
# from source install
$ cd ~/ros2_ws
$ source install/local_setup.bash

$ cd ~/ros2_ws/src
$ git clone https://github.com/ros-perception/vision_opencv.git
$ git checkout ros2
$ cd ~/ros2_ws
$ colcon build --base-paths src/vision_opencv/cv_bridge

$ cd ~/ros2_ws/src
$ git clone https://github.com/ros2/message_filters.git
$ cd ~/ros2_ws
$ colcon build --base-paths src/message_filters

$ cd ~/ros2_ws/src
$ git clone https://github.com/ros-perception/image_common.git
$ git checkout ros2
$ cd ~/ros2_ws
$ colcon build --base-paths src/image_common/image_transport

Step 2: Install the Intel® RealSense™ SDK 2.0

$ cd ~/ros2_ws/src
$ git clone https://github.com/IntelRealSense/librealsense.git
$ git checkout ros2debian
$ cd ~/ros2_ws
$ colcon build --base-paths src/librealsense

Step 3: Install Intel® RealSense™ ROS2 from Sources

$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src

  • Clone the latest ros2_intel_realsense package into 'ros2_ws/src/'
$ cd ~/ros2_ws/src
$ git clone https://github.com/intel/ros2_intel_realsense.git
$ colcon build --base-paths src/ros2_intel_realsense
$ source ./install/local_setup.bash

Usage Instructions

Start the camera node

To start the camera node in ROS2, plug in the camera, then type the following command:

# 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

/camera/depth/image_rect_raw

/camera/color/image_raw

/camera/infra1/image_rect_raw

/camera/infra2/image_rect_raw

/camera/depth/color/points

Visualize Depth Point Cloud

To start the camera node in ROS2 and view the depth pointcloud in rviz:

# console #1 launch realsense_ros2_camera
$ source ~/ros2_ws/install/local_setup.bash
$ realsense_ros2_camera

# console #2 launch rviz2
$ source ~/ros2_ws/install/local_setup.bash
$ ros2 run rviz2 rviz2
# add image and pointcloud2 and select topic in rviz.

This will launch RViz and display the five streams: color, depth, infra1, infra2, pointcloud.

realsense_ros2_camera visualization results

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