ROS Wrapper for Intel® RealSense™ Devices

These are packages for using Intel RealSense cameras (D400 series and the SR300) with ROS.

Installation Instructions

The following instructions support ROS Indigo, on Ubuntu 14.04, and ROS Kinetic, on Ubuntu 16.04.

Step 1: Install the latest Intel® RealSense™ SDK 2.0

Install from Debian Package

OR

Build from sources by downloading the latest Intel® RealSense™ SDK 2.0 and follow the instructions under Linux Installation

Step 2: Install the ROS distribution

Install ROS Indigo, on Ubuntu 14.04

OR

Install ROS Kinetic, on Ubuntu 16.04

Step 3: Install Intel® RealSense™ ROS from Sources

Create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'

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, plug in the camera, then type the following command:

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.

RGBD Point Cloud

Here is an example of how to start the camera node and make it publish the RGBD point cloud using aligned depth topic.

roslaunch realsense2_camera rs_rgbd.launch

Aligned Depth Frames

Here is an example of how to start the camera node and make it publish the aligned depth stream to other available streams such as color or infra-red.

roslaunch realsense2_camera rs_aligned_depth.launch

Set Camera Controls Using Dynamic Reconfigure Params

The following command allow to change camera control values using [http://wiki.ros.org/rqt_reconfigure].

rosrun rqt_reconfigure rqt_reconfigure

Work with multiple cameras

Here is an example of how to start the camera node and streaming with two cameras using the rs_multiple_devices.launch.

roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:=<serial number of the first camera> serial_no_camera2:=<serial number of the second camera>

The camera serial number should be provided to serial_no_camera1 and serial_no_camera2 parameters. One way to get the serial number is from the rs-enumerate-devices tool.

Packages using RealSense ROS Camera

Title	Links
ROS Object Analytics	github / ROS Wiki

Known Issues

This ROS node does not currently support ROS Lunar Loggerhead.
This ROS node does not currently work with ROS 2.
This ROS node currently does not provide the unit-tests which ensure the proper operation of the camera. Future versions of the node will provide ROS compatible unit-tests.

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

yechun1/realsense