Realsense Camera

This repository is designed to be a ROS Wrapper for the Intel Realsense D435i camera

Camera Scripts

Camera:

ros2 run realsense_camera camera

Script: realsense_publisher.py

Published Topics:

/camera/Image_raw
/depth/PointCloud2_raw
/depth/depth_raw

Published Messages:

sensor_msgs/Image
sensor_msgs/PointCloud2
std_msgs/UInt16MultiArray

Description:

This script is designed to publish all aspects which you want from the camera.

It implements multi-threading to give each publisher its own process while sharing the same pipeline for the camera

Image Server:

ros2 run realsense_camera image_server

Script: image_server.py

Subscribed Topics:

/camera/Image_raw

Subscribed Messages:

sensor_msgs/Image

Description:

This script implements a UDP server for 2 devices to send live image_feedback from the camera to the ground station.

It must be used with the image_client executable to work properly.

Image Client:

ros2 run realsense_camera image_client

Script: camera_client.py

Published Messages:

sensor_msgs/Image

Arguments:

Topic: Name of the topic you want the image to be published on - Default is /camera1

Port: Name of the socket you want to connect to - Default is 12345

ros2 run realsense_camera image_client --ros-args -p topic:='/camera2' -p port:=12346

Description:

This script is the other half of image_server which publishes the image topic to the ground station for viewing

Depth Server

ros2 run realsense_camera depth_server

Scripts: depth_server.py

Subscribed Topics:

/depth/depth_raw

Subscribed Messages:

std_msgs/UInt16MultiArray

Description:

This script implements a UDP server for 2 devices to send live pointcloud_feedback from the camera to the ground station.

It must be used with the depth_client executable to work properly

Depth Client

ros2 run realsense_camera depth_client

Script: depth_client.py

Published Topics:

/depth/PointCloud2

Published Messages:

sensor_msgs/PointCloud2

Description:

This script is the other half of depth_server which publishes the PointCloud2 topic to the ground station for viewing