Wrong result in registered depth image on realsense D435if using rs_rgbd.launch (ROS1) about realsense-ros HOT 6 CLOSED

As the RealSense ROS1 wrapper has ceased development (the ROS2 wrapper continues to be updated), your fill_upsampling_holes=true workaround is likely to be the best available solution to your registered depth issue. Thanks very much again for sharing your find.

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You are very welcome, @Alessio-Parmeggiani - thanks very much for the update!

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Hi @Alessio-Parmeggiani Thanks very much for your report about registered depth in the rs_rgbd launch file and the sharing of your method of using fill_upsampling_holes=true to resolve it.

When align_depth is true, the librealsense SDK's align processing block automatically compensates for differences in resolution between depth and color.

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Thank you for answering @MartyG-RealSense.
I know about using align_depth=true but when I used it on the Jetson Orin Nano I got a really low rate (about 4 Hz). By using instead the depth_image_proc package on the rs_rgbd.launch I get a much higher rate.

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Hi @Alessio-Parmeggiani Do you require further assistance with this case, please? Thanks!

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No I don't require further assistance, I can close the issue. Thank you!

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