ROS2 Wrapper for Intel® RealSense™ Devices
These are packages for using Intel RealSense cameras (D400 series) with ROS2.
The following instructions were verified with ROS2 crystal on Ubutnu 18.04.
sudo apt-get install ros-crystal-desktop
The ros-crystal-desktop will include below packages.
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
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
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.
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.
colcon test --base-paths src/ros2_intel_realsense
- 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.
A few features to be ported from the latest ROS realsense
Copyright 2018 Intel Corporation
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
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