# ROS Wrapper for Intel® RealSense™ Devices
These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS.
This version supports Kinetic, Melodic and Noetic distributions.
For running in ROS2 environment please switch to the [ros2-development branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development). </br>
LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases))
## Installation Instructions
### Ubuntu
#### Step 1: Install the ROS distribution
- #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04, [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) on Ubuntu 18.04 or [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) on Ubuntu 20.04.
### Windows
#### Step 1: Install the ROS distribution
- #### Install [ROS Melodic or later on Windows 10](https://wiki.ros.org/Installation/Windows)
### There are 2 sources to install realsense2_camera from:
* ### Method 1: The ROS distribution:
*Ubuntu*
realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing:
```sudo apt-get install ros-$ROS_DISTRO-realsense2-camera```
This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules.
Notice:
* The version of librealsense2 is almost always behind the one available in the RealSense™ official repository.
* librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms.
* realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing:
`sudo apt-get install ros-$ROS_DISTRO-realsense2-description`
*Windows*
**Chocolatey distribution Coming soon**
* ### Method 2: The RealSense™ distribution:
> This option is demonstrated in the [.travis.yml](https://github.com/intel-ros/realsense/blob/ros1-legacy/.travis.yml) file. It basically summerize the elaborate instructions in the following 2 steps:
### Step 1: Install the latest Intel® RealSense™ SDK 2.0
*Ubuntu*
Install librealsense2 debian package:
* Jetson users - use the [Jetson Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md)
* Otherwise, install from [Linux Debian Installation Guide](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 librealsense2-dkms packages.
*Windows*
Install using vcpkg
`vcpkg install realsense2:x64-windows`
#### OR
- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
### Step 2: Install Intel® RealSense™ ROS from Sources
- Create a [catkin](http://wiki.ros.org/catkin#Installing_catkin) workspace
*Ubuntu*
```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
```
*Windows*
```batch
mkdir c:\catkin_ws\src
cd c:\catkin_ws\src
```
- Clone the latest Intel® RealSense™ 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 "^2.\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 or if you are using *Windows* you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel)
```bash
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
```
*Ubuntu*
```bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
*Windows*
```batch
devel\setup.bat
```
## 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/color/metadata
- /camera/depth/camera_info
- /camera/depth/image_rect_raw
- /camera/depth/metadata
- /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/metadata
- /camera/gyro/sample
- /camera/accel/imu_info
- /camera/accel/metadata
- /camera/accel/sample
- /diagnostics
>Using an L515 device the list differs a little by adding a 4-bit confidence grade (pulished as a mono8 image):
>- /camera/confidence/camera_info
>- /camera/confidence/image_rect_raw
>
>It also replaces the 2 infrared topics with the single available one:
>- /camera/infra/camera_info
>- /camera/infra/image_raw
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.
- **reconnect_timeout**: When the driver cannot connect to the device try to reconnect after this timeout (in seconds).
- **align_depth**: If set to true, will publish additional topics for the "aligned depth to color" image.: ```/camera/aligned_depth_to_color/image_raw```, ```/camera/aligned_depth_to_color/camera_info```.</br>
The pointcloud, if enabled, will be built based on the aligned_depth_to_color image.</br>
- **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 .
- ```poi
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realsense-ros-ros1-legacy.zip (87个子文件)
realsense-ros-ros1-legacy
realsense2_description
CMakeLists.txt 347B
CHANGELOG.rst 2KB
urdf
test_r410_camera.urdf.xacro 437B
_d455.urdf.xacro 8KB
_r410.urdf.xacro 5KB
_r430.urdf.xacro 5KB
test_d415_camera.urdf.xacro 585B
_l515.urdf.xacro 10KB
test_d435_camera.urdf.xacro 586B
_materials.urdf.xacro 718B
_usb_plug.urdf.xacro 1KB
test_r430_camera.urdf.xacro 437B
test_d435i_camera.urdf.xacro 444B
test_l515_camera.urdf.xacro 586B
test_d455_camera.urdf.xacro 437B
test_d435_multiple_cameras.urdf.xacro 633B
_d435i_imu_modules.urdf.xacro 2KB
_d415.urdf.xacro 6KB
_d435.urdf.xacro 7KB
_d435i.urdf.xacro 905B
tests
dual_d435.xacro 497B
test_xacro.py 529B
dual_r430.xacro 497B
dual_r410.xacro 498B
dual_d415.xacro 497B
one_of_each.xacro 882B
package.xml 721B
meshes
plug.stl 285KB
d435.dae 15.05MB
d415.stl 20.27MB
l515.dae 31.67MB
plug_collision.stl 11KB
d455.stl 2.44MB
launch
view_d435i_model.launch 500B
view_r430_model.launch 499B
view_l515_model.launch 529B
view_d415_model.launch 529B
view_d455_model.launch 499B
view_d435_model.launch 529B
view_multiple_d435_models.launch 523B
view_r410_model.launch 499B
rviz
urdf.rviz 7KB
.travis.yml 3KB
.github
workflows
main.yml 3KB
LICENSE 11KB
.gitignore 49B
README.md 21KB
realsense2_camera
include
realsense2_camera
realsense_node_factory.h 3KB
constants.h 5KB
base_realsense_node.h 14KB
t265_realsense_node.h 1KB
CMakeLists.txt 4KB
librealsense2_bionic.rdmanifest 1KB
CHANGELOG.rst 5KB
src
realsense_node_factory.cpp 13KB
t265_realsense_node.cpp 6KB
base_realsense_node.cpp 103KB
debian
udev.em 9KB
package.xml 1KB
launch
rs_d435_camera_with_model.launch 6KB
rs_aligned_depth.launch 4KB
rs_rgbd.launch 10KB
demo_t265.launch 200B
includes
nodelet.launch.xml 14KB
rs_camera.launch 8KB
rs_rtabmap.launch 2KB
opensource_tracking.launch 3KB
rs_from_file.launch 4KB
rs_multiple_devices.launch 2KB
rs_d400_and_t265.launch 3KB
demo_pointcloud.launch 1KB
rs_t265.launch 3KB
nodelet_plugins.xml 376B
rviz
t265.rviz 6KB
pointcloud.rviz 5KB
.gitignore 20B
msg
IMUInfo.msg 86B
Metadata.msg 40B
Extrinsics.msg 66B
srv
DeviceInfo.srv 143B
librealsense2_xenial.rdmanifest 1KB
scripts
rs2_listener.py 13KB
set_cams_transforms.py 5KB
show_center_depth.py 4KB
rs2_test.py 19KB
echo_metadada.py 946B
NOTICE 212B
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