Notes.txt

Additional Notes:

If you want to edit camera parameters using a GUI and/or use RViz:

$ sudo apt-get install ros-kinetic-rviz
$ sudo apt-get install ros-kinetic-rqt-reconfigure

To adjust camera parameters after the realsense node has been launched:

$ rosrun rqt_reconfigure rqt_reconfigure

The launch files are located in the launch directory, for example:

Open a new terminal:

$ cd <catkin_workspace name>
$ source devel/setup.bash
$ roscd realsense_camera
$ roslaunch realsense_camera r200_nodelet_rgbd.launch

Then run rviz:

Open a new terminal:

$ cd <catkin_workspace name>
$ source devel/setup.bash
$ roscd realsense_camera
$ rviz -d rviz/realsense_rgbd_pointcloud.rviz