grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Bug fiix import patron.xacro and append packages realsense2

Browse Source
This commit is contained in:
Даниил Грабарь
2026-04-14 14:20:27 +03:00
parent 1156c768bb
commit c95c94f67b
233 changed files with 41337 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/realsense2_camera/examples/align_depth/README.md
+12
View File
@@ -0,0 +1,12 @@
# Align Depth to Color
This example shows how to start the camera node and align depth stream to color stream.
```
ros2 launch realsense2_camera rs_align_depth_launch.py
```
The aligned image will be published to the topic "/aligned_depth_to_color/image_raw"
Also, align depth to color can enabled by following cmd:
```
ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
```
src/realsense2_camera/examples/align_depth/rs_align_depth_launch.py
+56
View File
@@ -0,0 +1,56 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and align depth to color.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_align_depth_launch.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'align_depth.enable', 'default': 'true', 'description': 'enable align depth filter'},
{'name': 'enable_sync', 'default': 'true', 'description': 'enable sync mode'},
]
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
)
])
src/realsense2_camera/examples/d500_tables/application_config_example.json
+54
View File
@@ -0,0 +1,54 @@
{
"application_config":
{
"sip":
{
"immediate_mode_safety_features_selection": 0,
"temporal_safety_features_selection": 0,
"mechanisms_thresholds": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"mechanisms_sampling_interval": [0, 0, 0, 0, 0, 0, 0, 0],
"tc_consecutives_failures_threshold": 3
},
"dev_rules_selection": 0,
"depth_pipe_safety_checks_override": 0,
"triggered_calib_safety_checks_override": 0,
"smcu_bypass_directly_to_maintenance_mode": 0,
"smcu_skip_spi_error": 0,
"temp_thresholds":
{
"ir_right": [0, 0, 0, 0],
"ir_left": [0, 0, 0, 0],
"apm_left": [0, 0, 0, 0],
"apm_right": [0, 0, 0, 0],
"hkr_core": [0, 0, 0, 0],
"smcu_right": [0, 0, 0, 0],
"sht4x": [0, 0, 0, 0],
"imu": [0, 0, 0, 0]
},
"sht4x_humidity_threshold": 23,
"voltage_thresholds":
{
"vdd3v3": 0,
"vdd1v8": 0,
"vdd1v2": 0,
"vdd1v1": 0,
"vdd0v8": 0,
"vdd0v6": 0,
"vdd5vo_u": 0,
"vdd5vo_l": 0,
"vdd0v8_ddr": 0
},
"developer_mode":
{
"hkr": 0,
"smcu": 0,
"hkr_simulated_lock_state": 0,
"sc": 0
},
"depth_pipeline_config": 0,
"depth_roi": 0,
"ir_for_sip": 0,
"peripherals_sensors_disable_mask": 0,
"digital_signature": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}
}
src/realsense2_camera/examples/d500_tables/calib_config_example.json
+45
View File
@@ -0,0 +1,45 @@
{
"calibration_config":
{
"roi_num_of_segments": 2,
"roi_0":
{
"vertex_0": [ 0, 36 ],
"vertex_1": [ 640, 144 ],
"vertex_2": [ 640, 576 ],
"vertex_3": [ 0, 684 ]
},
"roi_1":
{
"vertex_0": [ 640, 144 ],
"vertex_1": [ 1280, 35 ],
"vertex_2": [ 1280, 684 ],
"vertex_3": [ 640, 576 ]
},
"roi_2":
{
"vertex_0": [ 0, 0 ],
"vertex_1": [ 0, 0 ],
"vertex_2": [ 0, 0 ],
"vertex_3": [ 0, 0 ]
},
"roi_3":
{
"vertex_0": [ 0, 0 ],
"vertex_1": [ 0, 0 ],
"vertex_2": [ 0, 0 ],
"vertex_3": [ 0, 0 ]
},
"camera_position":
{
"rotation":
[
[ 0.0, 0.0, 1.0],
[-1.0, 0.0, 0.0],
[ 0.0, -1.0, 0.0]
],
"translation": [0.0, 0.0, 0.27]
},
"crypto_signature": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}
}
src/realsense2_camera/examples/d500_tables/safety_interface_config_example.json
+124
View File
@@ -0,0 +1,124 @@
{
"safety_interface_config":
{
"m12_safety_pins_configuration":
{
"power":
{
"direction": "In",
"functionality": "p24VDC"
},
"ossd1_b":
{
"direction": "Out",
"functionality": "pOSSD1_B"
},
"ossd1_a":
{
"direction": "Out",
"functionality": "pOSSD1_A"
},
"preset3_a":
{
"direction": "In",
"functionality": "pPresetSelect3_A"
},
"preset3_b":
{
"direction": "In",
"functionality": "pPresetSelect3_B"
},
"preset4_a":
{
"direction": "In",
"functionality": "pPresetSelect4_A"
},
"preset1_b":
{
"direction": "In",
"functionality": "pPresetSelect1_B"
},
"preset1_a":
{
"direction": "In",
"functionality": "pPresetSelect1_A"
},
"gpio_0":
{
"direction": "In",
"functionality": "pPresetSelect5_A"
},
"gpio_1":
{
"direction": "In",
"functionality": "pPresetSelect5_B"
},
"gpio_3":
{
"direction": "In",
"functionality": "pPresetSelect6_B"
},
"gpio_2":
{
"direction": "In",
"functionality": "pPresetSelect6_A"
},
"preset2_b":
{
"direction": "In",
"functionality": "pPresetSelect2_B"
},
"gpio_4":
{
"direction": "Out",
"functionality": "pDeviceReady"
},
"preset2_a":
{
"direction": "In",
"functionality": "pPresetSelect2_A"
},
"preset4_b":
{
"direction": "In",
"functionality": "pPresetSelect4_B"
},
"ground":
{
"direction": "In",
"functionality": "pGND"
}
},
"gpio_stabilization_interval" : 150,
"camera_position":
{
"rotation":
[
[ 0.0, 0.0, 1.0],
[-1.0, 0.0, 0.0],
[ 0.0, -1.0, 0.0]
],
"translation": [0.0, 0.0, 0.27]
},
"occupancy_grid_params":
{
"grid_cell_seed" : 20,
"close_range_quorum" : 12 ,
"mid_range_quorum" : 6,
"long_range_quorum" : 4
},
"smcu_arbitration_params":
{
"l_0_total_threshold": 100,
"l_0_sustained_rate_threshold": 20,
"l_1_total_threshold": 100,
"l_1_sustained_rate_threshold": 20,
"l_2_total_threshold": 10,
"hkr_stl_timeout": 15,
"mcu_stl_timeout": 10,
"sustained_aicv_frame_drops": 95,
"ossd_self_test_pulse_width": 23
},
"crypto_signature": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}
}
src/realsense2_camera/examples/d500_tables/safety_preset_example.json
+165
View File
@@ -0,0 +1,165 @@
{
"safety_preset":
{
"platform_config":
{
"transformation_link":
{
"rotation":
[
[ 0.0, 0.0, 1.0],
[-1.0, 0.0, 0.0],
[ 0.0, -1.0, 0.0]
],
"translation": [0.0, 0.0, 0.27]
},
"robot_height": 1.0,
"reserved": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
},
"safety_zones":
{
"danger_zone":
{
"zone_polygon":
{
"p0": {"x": 0.5, "y": 0.1},
"p1": {"x": 0.8, "y": 0.1},
"p2": {"x": 0.8, "y": -0.1},
"p3": {"x": 0.5, "y": -0.1}
},
"safety_trigger_confidence": 3,
"reserved": [0, 0, 0, 0, 0, 0, 0]
},
"warning_zone":
{
"zone_polygon":
{
"p0": {"x": 0.8, "y": 0.1},
"p1": {"x": 1.2, "y": 0.1},
"p2": {"x": 1.2, "y": -0.1},
"p3": {"x": 0.8, "y": -0.1}
},
"safety_trigger_confidence": 3,
"reserved": [0, 0, 0, 0, 0, 0, 0]
}
},
"masking_zones":
{
"0":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"1":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"2":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"3":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"4":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"5":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"6":
{
"attributes": 0,
"minimal_range": 0.5,
"region_of_interests":
{
"vertex_0": [0, 0],
"vertex_1": [0, 320],
"vertex_2": [200, 320],
"vertex_3": [200, 0]
}
},
"7":
{
"attributes": 1,
"minimal_range": 0,
"region_of_interests":
{
"vertex_0": [500, 3300],
"vertex_1": [800, 3300],
"vertex_2": [800, 3100],
"vertex_3": [500, 3100]
}
}
},
"reserved": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"environment":
{
"safety_trigger_duration": 1.0,
"zero_safety_monitoring": 0,
"hara_history_continuation": 0,
"reserved1": [0, 0],
"angular_velocity": 0.0,
"payload_weight": 0.0,
"surface_inclination": 15.0,
"surface_height": 0.05,
"diagnostic_zone_fill_rate_threshold": 255,
"floor_fill_threshold": 255,
"depth_fill_threshold": 255,
"diagnostic_zone_height_median_threshold": 255,
"vision_hara_persistency": 1,
"crypto_signature": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"reserved2": [0, 0, 0]
}
}
}
src/realsense2_camera/examples/dual_camera/README.md
+123
View File
@@ -0,0 +1,123 @@
# Launching Dual RS ROS2 nodes
The following example lanches two RS ROS2 nodes.
```
ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of the first camera> serial_no2:=<serial number of the second camera>
```
## Example:
Let's say the serial numbers of two RS cameras are 207322251310 and 234422060144.
```
ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:="'207322251310'" serial_no2:="'234422060144'"
```
or
```
ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144
```
## How to know the serial number?
Method 1: Using the rs-enumerate-devices tool
```
rs-enumerate-devices | grep "Serial Number"
```
Method 2: Connect single camera and run
```
ros2 launch realsense2_camera rs_launch.py
```
and look for the serial number in the log printed to screen under "[INFO][...] Device Serial No:".
# Using Multiple RS camera by launching each in differnet terminals
Make sure you set a different name and namespace for each camera.
Terminal 1:
```
ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
```
Terminal 2:
```
ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
```
# Multiple cameras showing a semi-unified pointcloud
The D430 series of RealSense cameras use stereo based algorithm to calculate depth. This mean, a couple of cameras can operate on the same scene. For the purpose of this demonstration, let's say 2 cameras can be coupled to look at the same scene from 2 different points of view. See image:
![multi_cameras](https://user-images.githubusercontent.com/127019120/268692789-1b3d5d8b-a41f-4a97-995d-81d44b4bcacb.jpg)
The schematic settings could be described as:
X--------------------------------->cam_2
|&emsp;&emsp;&emsp;&emsp;(70 cm)
|
|
|&ensp;(60 cm)
|
|
/
cam_1
The cameras have no data regarding their relative position. That’s up to a third party program to set. To simplify things, the coordinate system of cam_1 can be considered as the refernce coordinate system for the whole scene.
The estimated translation of cam_2 from cam_1 is 70(cm) on X-axis and 60(cm) on Y-axis. Also, the estimated yaw angle of cam_2 relative to cam_1 as 90(degrees) clockwise. These are the initial parameters to be set for setting the transformation between the 2 cameras as follows:
```
ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.7 tf.translation.y:=0.6 tf.translation.z:=0.0 tf.rotation.yaw:=-90.0 tf.rotation.pitch:=0.0 tf.rotation.roll:=0.0
```
If the unified pointcloud result is not good, follow the below steps to fine-tune the calibaration.
## Visualizing the pointclouds and fine-tune the camera calibration
Launch 2 cameras in separate terminals:
**Terminal 1:**
```
ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
```
**Terminal 2:**
```
ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
```
**Terminal 3:**
```
rviz2
```
Open rviz and set '“Fixed Frame'” to “camera1_link”
Add Pointcloud2-> By topic -> /camera1/camera1/depth/color/points
Add Pointcloud2 -> By topic -> /camera2/camera2/depth/color/points
**Terminal 4:**
Run the 'set_cams_transforms.py' tool. It can be used to fine-tune the calibaration.
```
python src/realsense-ros/realsense2_camera/scripts/set_cams_transforms.py camera1_link camera2_link 0.7 0.6 0 -90 0 0
```
**Instructions printed by the tool:**
```
Using default file /home/user_name/ros2_ws/src/realsense-ros/realsense2_camera/scripts/_set_cams_info_file.txt
Use given initial values.
Press the following keys to change mode: x, y, z, (a)zimuth, (p)itch, (r)oll
For each mode, press 6 to increase by step and 4 to decrease
Press + to multiply step by 2 or - to divide
Press Q to quit
```
Note that the tool prints the path of the current configuration file. It saves its last configuration automatically, all the time, to be used on the next run.
After a lot of fiddling around, unified pointcloud looked better with the following calibaration:
```
x = 0.75
y = 0.575
z = 0
azimuth = -91.25
pitch = 0.75
roll = 0
```
Now, use the above results in the launch file:
```
ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.75 tf.translation.y:=0.575 tf.translation.z:=0.0 tf.rotation.yaw:=-91.25 tf.rotation.pitch:=0.75 tf.rotation.roll:=0.0
```
src/realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py
+109
View File
@@ -0,0 +1,109 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch 2 devices.
# The Parameters available for definition in the command line for each camera are described in rs_launch.configurable_parameters
# For each device, the parameter name was changed to include an index.
# For example: to set camera_name for device1 set parameter camera_name1.
# command line example:
# ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of 1st camera> serial_no2:=<serial number of 2nd camera>
"""Launch realsense2_camera node."""
import copy
from launch import LaunchDescription, LaunchContext
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera unique name'},
{'name': 'camera_name2', 'default': 'camera2', 'description': 'camera unique name'},
{'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
{'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
{'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable1', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'pointcloud.enable2', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'spatial_filter.enable1', 'default': 'true', 'description': 'enable_spatial_filter'},
{'name': 'spatial_filter.enable2', 'default': 'true', 'description': 'enable_spatial_filter'},
{'name': 'temporal_filter.enable1', 'default': 'true', 'description': 'enable_temporal_filter'},
{'name': 'temporal_filter.enable2', 'default': 'true', 'description': 'enable_temporal_filter'},
{'name': 'tf.translation.x', 'default': '0.0', 'description': 'x'},
{'name': 'tf.translation.y', 'default': '0.0', 'description': 'y'},
{'name': 'tf.translation.z', 'default': '0.0', 'description': 'z'},
{'name': 'tf.rotation.yaw', 'default': '0.0', 'description': 'yaw'},
{'name': 'tf.rotation.pitch', 'default': '0.0', 'description': 'pitch'},
{'name': 'tf.rotation.roll', 'default': '0.0', 'description': 'roll'},
]
def set_configurable_parameters(local_params):
return dict([(param['original_name'], LaunchConfiguration(param['name'])) for param in local_params])
def duplicate_params(general_params, posix):
local_params = copy.deepcopy(general_params)
for param in local_params:
param['original_name'] = param['name']
param['name'] += posix
return local_params
def launch_static_transform_publisher_node(context : LaunchContext):
# Static transformation from camera1 to camera2
node = launch_ros.actions.Node(
name = "my_static_transform_publisher",
package = "tf2_ros",
executable = "static_transform_publisher",
arguments = [context.launch_configurations['tf.translation.x'],
context.launch_configurations['tf.translation.y'],
context.launch_configurations['tf.translation.z'],
context.launch_configurations['tf.rotation.yaw'],
context.launch_configurations['tf.rotation.pitch'],
context.launch_configurations['tf.rotation.roll'],
context.launch_configurations['camera_name1'] + "_link",
context.launch_configurations['camera_name2'] + "_link"]
)
return [node]
def generate_launch_description():
params1 = duplicate_params(rs_launch.configurable_parameters, '1')
params2 = duplicate_params(rs_launch.configurable_parameters, '2')
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params1) +
rs_launch.declare_configurable_parameters(params2) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params1),
'param_name_suffix': '1'}),
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params2),
'param_name_suffix': '2'}),
OpaqueFunction(function=launch_static_transform_publisher_node),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/rviz/dual_camera_pointcloud.rviz']]
)
])
src/realsense2_camera/examples/dual_camera/rviz/dual_camera_pointcloud.rviz
+194
View File
@@ -0,0 +1,194 @@
Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
- /PointCloud22
Splitter Ratio: 0.5
Tree Height: 865
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera1/camera1/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera2/camera2/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera1_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 8.93685531616211
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.18814913928508759
Y: -0.17941315472126007
Z: 0.14549313485622406
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 4.730405330657959
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1846
X: 74
Y: 27
src/realsense2_camera/examples/launch_from_rosbag/README.md
+22
View File
@@ -0,0 +1,22 @@
# Launching RS ROS2 node from rosbag File
The following example allows streaming a rosbag file, saved by RealSense Viewer, instead of streaming live with a camera. It can be used for testing and repetition of the same sequence.
```
ros2 launch realsense2_camera rs_launch_from_rosbag.py
```
By default, the 'rs_launch_from_rosbag.py' launch file uses the "/rosbag/D435i_Depth_and_IMU_Stands_still.bag" rosbag file.
User can also provide a different rosbag file through cmd line as follows:
```
ros2 launch realsense2_camera rs_launch_from_rosbag.py rosbag_filename:="/full/path/to/rosbag/file"
```
or
```
ros2 launch realsense2_camera rs_launch.py rosbag_filename:="/full/path/to/rosbag/file"
```
Additionally, the 'rosbag_loop' cmd line argument enables the looped playback of the rosbag file:
```
ros2 launch realsense2_camera rs_launch_from_rosbag.py rosbag_filename:="/full/path/to/rosbag/file" rosbag_loop:="true"
```
Check-out [sample-recordings](https://github.com/realsenseai/librealsense/blob/master/doc/sample-data.md) for a few recorded samples.
src/realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py
+57
View File
@@ -0,0 +1,57 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device from rosbag file.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_launch_from_rosbag.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_gyro', 'default': 'true', 'description': "'enable gyro stream'"},
{'name': 'enable_accel', 'default': 'true', 'description': "'enable accel stream'"},
{'name': 'rosbag_filename', 'default': [ThisLaunchFileDir(), "/rosbag/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'},
{'name': 'rosbag_loop', 'default': 'false', 'description': 'enable realsense bagfile loop playback'},
]
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
)
])
src/realsense2_camera/examples/launch_params_from_file/README.md
+33
View File
@@ -0,0 +1,33 @@
# Get RS ROS2 node params from YAML file
The following example gets the RS ROS2 node params from YAML file.
```
ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py
```
By default, 'rs_launch_get_params_from_yaml.py' launch file uses the "/config/config.yaml" YAML file.
User can provide a different YAML file through cmd line as follows:
```
ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py config_file:="/full/path/to/config/file"
```
or
```
ros2 launch realsense2_camera rs_launch.py config_file:="/full/path/to/config/file"
```
## Syntax for defining params in YAML file
```
param1: value
param2: value
```
Example:
```
enable_color: true
rgb_camera.color_profile: 1280x720x15
enable_depth: true
align_depth.enable: true
enable_sync: true
publish_tf: true
tf_publish_rate: 1.0
```
src/realsense2_camera/examples/launch_params_from_file/config/config.yaml
+7
View File
@@ -0,0 +1,7 @@
enable_color: true
rgb_camera.color_profile: 1280x720x15
enable_depth: true
align_depth.enable: true
enable_sync: true
publish_tf: true
tf_publish_rate: 1.0
src/realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py
+53
View File
@@ -0,0 +1,53 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and get the params from a YAML file.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'config_file', 'default': [ThisLaunchFileDir(), "/config/config.yaml"], 'description': 'yaml config file'},
]
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
)
])
src/realsense2_camera/examples/pointcloud/README.md
+17
View File
@@ -0,0 +1,17 @@
# PointCloud Visualization
The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud.
```
ros2 launch realsense2_camera rs_pointcloud_launch.py
```
Alternatively, start the camera terminal 1:
```
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true
```
and in terminal 2 open rviz to visualize pointcloud.
# PointCloud with different coordinate systems
This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together.
```
ros2 launch realsense2_camera rs_d455_pointcloud_launch.py
```
src/realsense2_camera/examples/pointcloud/rs_d405_pointcloud_launch.py
+92
View File
@@ -0,0 +1,92 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and visualize pointcloud along with the camera model D405.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_d405_pointcloud_launch.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import os
import sys
import pathlib
import xacro
import tempfile
from ament_index_python.packages import get_package_share_directory
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'device_type', 'default': "d405", 'description': 'choose device by type'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
]
def to_urdf(xacro_path, parameters=None):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* parameters -- to be used when xacro file is parsed.
"""
urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path, mappings=parameters)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
return urdf_path
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d405_camera.urdf.xacro')
urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']],
output='screen',
parameters=[{'use_sim_time': False}]
),
launch_ros.actions.Node(
name='model_node',
package='robot_state_publisher',
executable='robot_state_publisher',
namespace='',
output='screen',
arguments=[urdf]
)
])
src/realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py
+92
View File
@@ -0,0 +1,92 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and visualize pointcloud along with the camera model D455.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_d455_pointcloud_launch.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import os
import sys
import pathlib
import xacro
import tempfile
from ament_index_python.packages import get_package_share_directory
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'device_type', 'default': "d455", 'description': 'choose device by type'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
]
def to_urdf(xacro_path, parameters=None):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* parameters -- to be used when xacro file is parsed.
"""
urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
# open and process file
doc = xacro.process_file(xacro_path, mappings=parameters)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))
return urdf_path
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d455_camera.urdf.xacro')
urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']],
output='screen',
parameters=[{'use_sim_time': False}]
),
launch_ros.actions.Node(
name='model_node',
package='robot_state_publisher',
executable='robot_state_publisher',
namespace='',
output='screen',
arguments=[urdf]
)
])
src/realsense2_camera/examples/pointcloud/rs_pointcloud_infra_launch.py
+58
View File
@@ -0,0 +1,58 @@
# Copyright 2025 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and align depth to infrared 2.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_align_depth_to infra_launch.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'enable_color', 'default': 'false', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_infra2', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_sync', 'default': 'true', 'description': 'enable sync mode'},
{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'pointcloud.stream_filter', 'default': '3', 'description': 'pointcloud with infrared'},
]
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
)
])
src/realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py
+62
View File
@@ -0,0 +1,62 @@
# Copyright 2023 RealSense, Inc. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and visualize pointcloud.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_pointcloud_launch.py
"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch
local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
]
def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/rviz/pointcloud.rviz']]
)
])
src/realsense2_camera/examples/pointcloud/rviz/pointcloud.rviz
+189
View File
@@ -0,0 +1,189 @@
Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
Splitter Ratio: 0.5
Tree Height: 382
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/color/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/depth/image_rect_raw
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera_depth_optical_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.0510121583938599
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.18814913928508759
Y: -0.17941315472126007
Z: 0.14549313485622406
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 4.730405330657959
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 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
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1846
X: 74
Y: 27
src/realsense2_camera/examples/pointcloud/rviz/urdf_pointcloud.rviz
+363
View File
@@ -0,0 +1,363 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Description Topic1
- /TF1/Frames1
- /PointCloud21
- /Image1
- /Image2
Splitter Ratio: 0.36195287108421326
Tree Height: 308
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Pose Estimate1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_imu_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_usb_plug_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
camera_accel_frame:
Value: true
camera_accel_optical_frame:
Value: true
camera_bottom_screw_frame:
Value: true
camera_color_frame:
Value: true
camera_color_optical_frame:
Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_gyro_frame:
Value: true
camera_gyro_optical_frame:
Value: true
camera_imu_optical_frame:
Value: true
camera_infra1_frame:
Value: true
camera_infra1_optical_frame:
Value: true
camera_infra2_frame:
Value: true
camera_infra2_optical_frame:
Value: true
camera_link:
Value: true
camera_usb_plug_link:
Value: true
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
camera_bottom_screw_frame:
camera_link:
camera_accel_frame:
camera_accel_optical_frame:
{}
camera_color_frame:
camera_color_optical_frame:
{}
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_gyro_frame:
camera_gyro_optical_frame:
camera_imu_optical_frame:
{}
camera_infra1_frame:
camera_infra1_optical_frame:
{}
camera_infra2_frame:
camera_infra2_optical_frame:
{}
camera_usb_plug_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/color/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/camera/depth/image_rect_raw
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 4.639365196228027
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0008243769989348948
Y: -0.00015415334200952202
Z: 0.0003343875869177282
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.2247962951660156
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.343583583831787
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000002540000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000132000000b00000000000000000fb0000000a0049006d00610067006501000001e8000000ed0000000000000000fb0000000a0049006d0061006700650100000202000000e90000002800fffffffb0000000a0049006d00610067006501000002f1000000ea0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c70000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1846
X: 74
Y: 27