use realsense camera in ROS
-
[2015/04/10] Added infrared stream for realsense camera
If you want IR stream, please visit http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html https://github.com/teknotus/depthview/tree/kernelpatchfmt
This package do not contains uvmap data(use to register RGB data)
So it is only publish point cloud without RGB
If you want RGB data for point cloud
Please visit realsense_camera_tools
You can copy the uvmap files by realsense's serial number to data/uvmap/
realsense_camera
├── data
│ └── uvmap
│ ├── 039140070906
│ │ ├── uvmap_0000.bin
│ │ ├── uvmap_0001.bin
│ │ ├── ...
│ │ ├── ...
│ │ ├── uvmap_2047.bin
039140070906 is realsense's serial number
sudo apt-get install libudev-dev
- launch realsense camera and rviz
roslaunch realsense_camera realsense_rviz.launch
- launch realsense camera only
roslaunch realsense_camera realsense_camera.launch
default
sensor_msgs::PointCloud2
/camera/depth/points point cloud without RGB
/camera/depth_registered/points point cloud with RGB
sensor_msgs::Image
/camera/image/rgb_raw raw image for RGB sensor
/camera/image/depth_raw raw image for depth sensor
/camera/image/ir_raw raw image for infrared sensor
you can custom topic in file realsense_camera.launch
<arg name="topic_depth_points_id" default="$(arg camera)/depth/points" />
<arg name="topic_depth_registered_points_id" default="$(arg camera)/depth_registered/points" />
<arg name="topic_image_rgb_raw_id" default="$(arg camera)/image/rgb_raw" />
<arg name="topic_image_depth_raw_id" default="$(arg camera)/image/depth_raw" />
<arg name="topic_image_infrared_raw_id" default="$(arg camera)/image/ir_raw" />
- If have "select timeout" issue
Stop realsense_camera node
Re-plug realsense device then retry
- RGB to depth misalignment
- add use TF between RGB & depth to register rgb data
- add usb reset
- add read properties from device
- add RGB to depth camera calibration
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