ROS2 Wrapper for Intel® RealSense™ Devices

These are packages for using Intel RealSense cameras (D400 series) with ROS2.

Installation Instructions

The following instructions were verified with ROS2 crystal on Ubutnu 18.04.

Dependencies

Install ROS2 packages ros-crystal-desktop

sudo apt-get install ros-crystal-desktop

The ros-crystal-desktop will include below packages.

ament_cmake
std_msgs
sensor_msgs
builtin_interfaces
eigen
rmw_implementation
rclcpp
tf2_ros
rosidl_default_generators
rosidl_default_runtime

Install ROS2 dependences

Currently, we support librealsense master branch.

sudo apt-get install ros-crystal-cv-bridge ros-crystal-librealsense2 ros-crystal-message-filters ros-crystal-image-transport

Install Other non-ROS debian packages

sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

libssl-dev
libusb-1.0-0-dev
pkg-config
libgtk-3-dev
libglfw3-dev
libgl1-mesa-dev
libglu1-mesa-dev

Install ros2_intel_realsense binary packages

sudo apt-get install ros-crystal-realsense-camera-msgs ros-crystal-realsense-ros2-camera

The ros2_intel_realsense packages installation have been completed. You could jump to Usage Instructions for executing, you could also install ros2_intel_realsense from source for more features.

Install ros2_intel_realsense from source

#get code
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/intel/ros2_intel_realsense.git

#build
cd ~/ros2_ws
source /opt/ros/crystal/setup.bash
colcon build --base-paths src/ros2_intel_realsense

Usage Instructions

Start the camera node

To start the camera node in ROS2, plug in the camera, then type the following command:

source /opt/ros/crystal/setup.bash
source ~/ros2_ws/install/local_setup.bash
# To launch with "ros2 run"
ros2 run realsense_ros2_camera realsense_ros2_camera
# OR, to invoke the executable directly
realsense_ros2_camera

This will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.

Published Topics

/camera/depth/image_rect_raw

/camera/color/image_raw

/camera/infra1/image_rect_raw

/camera/infra2/image_rect_raw

/camera/depth/color/points

Visualize Depth Point Cloud

To start the camera node in ROS2 and view the depth pointcloud in rviz:

# console #1 launch realsense_ros2_camera
source /opt/ros/crystal/setup.bash
source ~/ros2_ws/install/local_setup.bash
ros2 launch realsense_ros2_camera ros2_intel_realsense.launch.py

This will launch RViz and display the five streams: color, depth, infra1, infra2, pointcloud.

Run tests

colcon test --base-paths src/ros2_intel_realsense

Known Issues

This ROS2 node does not currently provide any dynamic reconfigure support for camera properties/presets.
We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.

Todo

A few features to be ported from the latest ROS realsense

Preset/Controls

License

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project 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.

*Other names and brands may be claimed as the property of others

Any security issue should be reported using process at https://01.org/security

xhuan28/ros2_intel_realsense