传感器驱动：Realsense D435i深度相机的ROS驱动

# ROS Wrapper for Intel&reg; RealSense&trade; Devices These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS. LibRealSense supported version: v2.31.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions The following instructions support ROS Indigo, on **Ubuntu 14.04**, and ROS Kinetic, on **Ubuntu 16.04**. #### The simplest way to install on a clean machine is to follow the instructions on the [.travis.yml](https://github.com/intel-ros/realsense/blob/development/.travis.yml) file. It basically summerize the elaborate instructions in the following 3 steps: ### Step 1: Install the latest Intel&reg; RealSense&trade; SDK 2.0 - #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages. #### OR - #### Build from sources by downloading the latest [Intel&reg; RealSense&trade; SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.31.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install the ROS distribution - #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04 ### Step 3: Install Intel&reg; RealSense&trade; ROS from Sources - Create a [catkin](http://wiki.ros.org/catkin#Installing_catkin) workspace ```bash mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/ ``` - Clone the latest Intel&reg; RealSense&trade; ROS from [here](https://github.com/intel-ros/realsense/releases) into 'catkin_ws/src/' ```bashrc git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1` cd .. ``` - Make sure all dependent packages are installed. You can check .travis.yml file for reference. - Specifically, make sure that the ros package *ddynamic_reconfigure* is installed. If *ddynamic_reconfigure* cannot be installed using APT, you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) (Version 0.2.0) ```bash catkin_init_workspace cd .. catkin_make clean catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ## Usage Instructions ### Start the camera node To start the camera node in ROS: ```bash roslaunch realsense2_camera rs_camera.launch ``` This will stream all camera sensors and publish on the appropriate ROS topics. Other stream resolutions and frame rates can optionally be provided as parameters to the 'rs_camera.launch' file. ### Published Topics The published topics differ according to the device and parameters. After running the above command with D435i attached, the following list of topics will be available (This is a partial list. For full one type `rostopic list`): - /camera/color/camera_info - /camera/color/image_raw - /camera/depth/camera_info - /camera/depth/image_rect_raw - /camera/extrinsics/depth_to_color - /camera/extrinsics/depth_to_infra1 - /camera/extrinsics/depth_to_infra2 - /camera/infra1/camera_info - /camera/infra1/image_rect_raw - /camera/infra2/camera_info - /camera/infra2/image_rect_raw - /camera/gyro/imu_info - /camera/gyro/sample - /camera/accel/imu_info - /camera/accel/sample - /diagnostics The "/camera" prefix is the default and can be changed. Check the rs_multiple_devices.launch file for an example. If using D435 or D415, the gyro and accel topics wont be available. Likewise, other topics will be available when using T265 (see below). ### Launch parameters The following parameters are available by the wrapper: - **serial_no**: will attach to the device with the given serial number (*serial_no*) number. Default, attach to available RealSense device in random. - **usb_port_id**: will attach to the device with the given USB port (*usb_port_id*). i.e 4-1, 4-2 etc. Default, ignore USB port when choosing a device. - **device_type**: will attach to a device whose name includes the given *device_type* regular expression pattern. Default, ignore device type. For example, device_type:=d435 will match d435 and d435i. device_type=d435(?!i) will match d435 but not d435i. - **rosbag_filename**: Will publish topics from rosbag file. - **initial_reset**: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage. - **align_depth**: If set to true, will publish additional topics with the all the images aligned to the depth image.</br> The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. - **filters**: any of the following options, separated by commas:</br> - ```colorizer```: will color the depth image. On the depth topic an RGB image will be published, instead of the 16bit depth values . - ```pointcloud```: will add a pointcloud topic `/camera/depth/color/points`. The texture of the pointcloud can be modified in rqt_reconfigure (see below) or using the parameters: `pointcloud_texture_stream` and `pointcloud_texture_index`. Run rqt_reconfigure to see available values for these parameters.</br> The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `allow_no_texture_points` to true. - The following filters have detailed descriptions in : https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md - ```disparity``` - convert depth to disparity before applying other filters and back. - ```spatial``` - filter the depth image spatially. - ```temporal``` - filter the depth image temporally. - ```hole_filling``` - apply hole-filling filter. - ```decimation``` - reduces depth scene complexity. - **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. - ***<stream_type>*_width**, ***<stream_type>*_height**, ***<stream_type>*_fps**: <stream_type> can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will not be published. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined). Note: for gyro accel and pose, only _fps option is meaningful. - **enable_*<stream_name>***: Choose whether to enable a specified stream or not. Default is true. <stream_name> can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*. - **tf_prefix**: By default all frame's ids have the same prefix - `camera_`. This allows changing it per camera. - **base_frame_id**: defines the frame_id all static transformations refers to. - **odom_frame_id**: defines the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). pose topic defines the pose relative to that system. - **All the rest of the frame_ids can be found in the template launch file: [nodelet.launch.xml](./realsense2_camera/launch/includes/nodelet.launch.xml)** - **unite_imu_method**: The D435i and T265 cameras have built in IMU components which produce 2 unrelated streams: *gyro* - which shows angular velocity and *accel* which shows linear acceleration. Each with it's own frequency. By default, 2 corresponding topics are available, each with only the relevant fields of the message sensor_msgs::Imu are filled out. Settin