realsense_camera

use realsense camera in ROS

New

[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

Notes

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

Dependencies

sudo apt-get install libudev-dev

Usage

launch realsense camera and rviz

roslaunch realsense_camera realsense_rviz.launch

launch realsense camera only

roslaunch realsense_camera realsense_camera.launch

Publish topics

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" />

Q&A

If have "select timeout" issue

Stop realsense_camera node
Re-plug realsense device then retry

RGB to depth misalignment

uvmap help

TODO

add use TF between RGB & depth to register rgb data
add usb reset
add read properties from device
add RGB to depth camera calibration

dirkholz / realsense_camera