How to get RGB image from realsense L515 depth camera

[kashishdhal]

Hello,

I am using the L515 camera to get the point cloud with the launch file rs_camera.launch. However, I want to get an RGB image along with the depth image. But I am not able to see /camera/color/image_raw topic being published. I am only able to see the depth data coming over the ROS topics.

Please help me to get the RGB image.

Regards,
Kashish Dhal

[yuzhou42]

Hi Kashish, I just figure this out. In order to get the l515 color image, you will need to change the image size in the launch file. Because l515 doesn't support 640x480. You can choose anyone from 960x540, 1280x720 and 1920x1080.

Yu

[kashishdhal]

Hello @yuzhou42 ,

Thanks for the reply! One question, will that also change the resolution of the depth image?

[yuzhou42]

Hi @kashishdhal, it won't change the resolution of depth. They are using different parameters.

[kashishdhal]

Hello @yuzhou42 ,

Thanks, it worked!