From 241961e4e3523db9893241a89df200753e914ed1 Mon Sep 17 00:00:00 2001 From: Arun-Prasad-V Date: Tue, 19 Sep 2023 05:00:57 +0530 Subject: [PATCH] updated examples and readme --- .../examples/align_depth/README.md | 12 ++ .../examples/dual_camera/README.md | 123 ++++++++++++++++++ .../dual_camera/rs_dual_camera_launch.py | 6 +- .../{ => rviz}/dual_camera_pointcloud.rviz | 4 +- .../examples/launch_from_rosbag/README.md | 17 +++ .../rs_launch_from_rosbag.py | 2 +- .../launch_params_from_file/README.md | 33 +++++ .../{ => config}/config.yaml | 3 +- .../rs_launch_get_params_from_yaml.py | 2 +- .../examples/pointcloud/README.md | 17 +++ .../pointcloud/rs_d455_pointcloud_launch.py | 2 +- .../pointcloud/rs_pointcloud_launch.py | 2 +- .../pointcloud/{ => rviz}/pointcloud.rviz | 86 ++++++------ .../{ => rviz}/urdf_pointcloud.rviz | 16 +-- realsense2_camera/launch/default.rviz | 86 ++++++++---- 15 files changed, 327 insertions(+), 84 deletions(-) create mode 100644 realsense2_camera/examples/align_depth/README.md create mode 100644 realsense2_camera/examples/dual_camera/README.md rename realsense2_camera/examples/dual_camera/{ => rviz}/dual_camera_pointcloud.rviz (98%) create mode 100644 realsense2_camera/examples/launch_from_rosbag/README.md create mode 100644 realsense2_camera/examples/launch_params_from_file/README.md rename realsense2_camera/examples/launch_params_from_file/{ => config}/config.yaml (74%) create mode 100644 realsense2_camera/examples/pointcloud/README.md rename realsense2_camera/examples/pointcloud/{ => rviz}/pointcloud.rviz (69%) rename realsense2_camera/examples/pointcloud/{ => rviz}/urdf_pointcloud.rviz (92%) diff --git a/realsense2_camera/examples/align_depth/README.md b/realsense2_camera/examples/align_depth/README.md new file mode 100644 index 0000000000..ee869ac70c --- /dev/null +++ b/realsense2_camera/examples/align_depth/README.md @@ -0,0 +1,12 @@ +# Align Depth to Color +This example shows how to start the camera node and align depth stream to color stream. +``` +ros2 launch realsense2_camera rs_align_depth_launch.py +``` + +The aligned image will be published to the topic "/aligned_depth_to_color/image_raw" + +Also, align depth to color can enabled by following cmd: +``` +ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true" +``` \ No newline at end of file diff --git a/realsense2_camera/examples/dual_camera/README.md b/realsense2_camera/examples/dual_camera/README.md new file mode 100644 index 0000000000..03a7cfa08f --- /dev/null +++ b/realsense2_camera/examples/dual_camera/README.md @@ -0,0 +1,123 @@ +# Launching Dual RS ROS2 nodes +The following example lanches two RS ROS2 nodes. +``` +ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:= serial_no2:= +``` + +## Example: +Let's say the serial numbers of two RS cameras are 207322251310 and 234422060144. +``` +ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:="'207322251310'" serial_no2:="'234422060144'" +``` +or +``` +ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 +``` + +## How to know the serial number? +Method 1: Using the rs-enumerate-devices tool +``` +rs-enumerate-devices | grep "Serial Number" +``` + +Method 2: Connect single camera and run +``` +ros2 launch realsense2_camera rs_launch.py +``` +and look for the serial number in the log printed to screen under "[INFO][...] Device Serial No:". + +# Using Multiple RS camera by launching each in differnet terminals +Make sure you set a different name and namespace for each camera. + +Terminal 1: +``` +ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1' +``` +Terminal 2: +``` +ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2' +``` + +# Multiple cameras showing a semi-unified pointcloud +The D430 series of RealSense cameras use stereo based algorithm to calculate depth. This mean, a couple of cameras can operate on the same scene. For the purpose of this demonstration, let's say 2 cameras can be coupled to look at the same scene from 2 different points of view. See image: + +![multi_cameras](https://user-images.githubusercontent.com/127019120/268692789-1b3d5d8b-a41f-4a97-995d-81d44b4bcacb.jpg) + +The schematic settings could be described as: +X--------------------------------->cam_2 +|    (70 cm) +| +| +| (60 cm) +| +| +/ +cam_1 + +The cameras have no data regarding their relative position. That’s up to a third party program to set. To simplify things, the coordinate system of cam_1 can be considered as the refernce coordinate system for the whole scene. + +The estimated translation of cam_2 from cam_1 is 70(cm) on X-axis and 60(cm) on Y-axis. Also, the estimated yaw angle of cam_2 relative to cam_1 as 90(degrees) clockwise. These are the initial parameters to be set for setting the transformation between the 2 cameras as follows: + +``` +ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.7 tf.translation.y:=0.6 tf.translation.z:=0.0 tf.rotation.yaw:=-90.0 tf.rotation.pitch:=0.0 tf.rotation.roll:=0.0 +``` + +If the unified pointcloud result is not good, follow the below steps to fine-tune the calibaration. + +## Visualizing the pointclouds and fine-tune the camera calibration +Launch 2 cameras in separate terminals: + +**Terminal 1:** +``` +ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1' +``` +**Terminal 2:** +``` +ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2' +``` +**Terminal 3:** +``` +rviz2 +``` +Open rviz and set '“Fixed Frame'” to “camera1_link” +Add Pointcloud2-> By topic -> /camera1/camera1/depth/color/points +Add Pointcloud2 -> By topic -> /camera2/camera2/depth/color/points + +**Terminal 4:** +Run the 'set_cams_transforms.py' tool. It can be used to fine-tune the calibaration. +``` +python src/realsense-ros/realsense2_camera/scripts/set_cams_transforms.py camera1_link camera2_link 0.7 0.6 0 -90 0 0 +``` + +**Instructions printed by the tool:** +``` +Using default file /home/user_name/ros2_ws/src/realsense-ros/realsense2_camera/scripts/_set_cams_info_file.txt + +Use given initial values. + +Press the following keys to change mode: x, y, z, (a)zimuth, (p)itch, (r)oll + +For each mode, press 6 to increase by step and 4 to decrease + +Press + to multiply step by 2 or - to divide + +Press Q to quit +``` + +Note that the tool prints the path of the current configuration file. It saves its last configuration automatically, all the time, to be used on the next run. + +After a lot of fiddling around, unified pointcloud looked better with the following calibaration: +``` +x = 0.75 +y = 0.575 +z = 0 +azimuth = -91.25 +pitch = 0.75 +roll = 0 +``` + +Now, use the above results in the launch file: +``` +ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.75 tf.translation.y:=0.575 tf.translation.z:=0.0 tf.rotation.yaw:=-91.25 tf.rotation.pitch:=0.75 tf.rotation.roll:=0.0 +``` + diff --git a/realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py b/realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py index 4a4db4a275..81643d2c7e 100644 --- a/realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py +++ b/realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py @@ -19,7 +19,7 @@ # For each device, the parameter name was changed to include an index. # For example: to set camera_name for device1 set parameter camera_name1. # command line example: -# ros2 launch realsense2_camera rs_dual_camera_launch.py camera_name1:=D400 device_type2:=l5. device_type1:=d4.. +# ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:= serial_no2:= """Launch realsense2_camera node.""" import copy @@ -68,7 +68,7 @@ def duplicate_params(general_params, posix): return local_params def launch_static_transform_publisher_node(context : LaunchContext): - # dummy static transformation from camera1 to camera2 + # Static transformation from camera1 to camera2 node = launch_ros.actions.Node( name = "my_static_transform_publisher", package = "tf2_ros", @@ -104,6 +104,6 @@ def generate_launch_description(): namespace='', executable='rviz2', name='rviz2', - arguments=['-d', [ThisLaunchFileDir(), '/dual_camera_pointcloud.rviz']] + arguments=['-d', [ThisLaunchFileDir(), '/rviz/dual_camera_pointcloud.rviz']] ) ]) diff --git a/realsense2_camera/examples/dual_camera/dual_camera_pointcloud.rviz b/realsense2_camera/examples/dual_camera/rviz/dual_camera_pointcloud.rviz similarity index 98% rename from realsense2_camera/examples/dual_camera/dual_camera_pointcloud.rviz rename to realsense2_camera/examples/dual_camera/rviz/dual_camera_pointcloud.rviz index 3469eda9d8..1a4c0caa11 100644 --- a/realsense2_camera/examples/dual_camera/dual_camera_pointcloud.rviz +++ b/realsense2_camera/examples/dual_camera/rviz/dual_camera_pointcloud.rviz @@ -74,7 +74,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /camera1/depth/color/points + Value: /camera1/camera1/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true @@ -108,7 +108,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /camera2/depth/color/points + Value: /camera2/camera2/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true diff --git a/realsense2_camera/examples/launch_from_rosbag/README.md b/realsense2_camera/examples/launch_from_rosbag/README.md new file mode 100644 index 0000000000..5bfbb017f5 --- /dev/null +++ b/realsense2_camera/examples/launch_from_rosbag/README.md @@ -0,0 +1,17 @@ +# Launching RS ROS2 node from rosbag File +The following example allows streaming a rosbag file, saved by Intel RealSense Viewer, instead of streaming live with a camera. It can be used for testing and repetition of the same sequence. +``` +ros2 launch realsense2_camera rs_launch_from_rosbag.py +``` +By default, the 'rs_launch_from_rosbag.py' launch file uses the "/rosbag/D435i_Depth_and_IMU_Stands_still.bag" rosbag file. + +User can also provide a different rosbag file through cmd line as follows: +``` +ros2 launch realsense2_camera rs_launch_from_rosbag.py rosbag_filename:="/full/path/to/rosbag/file" +``` +or +``` +ros2 launch realsense2_camera rs_launch.py rosbag_filename:="/full/path/to/rosbag/file" +``` + +Check-out [sample-recordings](https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md) for a few recorded samples. \ No newline at end of file diff --git a/realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py b/realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py index ad9b76667b..a0d9620cad 100644 --- a/realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py +++ b/realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py @@ -37,7 +37,7 @@ {'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'}, {'name': 'enable_gyro', 'default': 'true', 'description': "'enable gyro stream'"}, {'name': 'enable_accel', 'default': 'true', 'description': "'enable accel stream'"}, - {'name': 'rosbag_filename', 'default': [ThisLaunchFileDir(), "/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'}, + {'name': 'rosbag_filename', 'default': [ThisLaunchFileDir(), "/rosbag/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'}, ] def set_configurable_parameters(local_params): diff --git a/realsense2_camera/examples/launch_params_from_file/README.md b/realsense2_camera/examples/launch_params_from_file/README.md new file mode 100644 index 0000000000..ce9980aa5b --- /dev/null +++ b/realsense2_camera/examples/launch_params_from_file/README.md @@ -0,0 +1,33 @@ +# Get RS ROS2 node params from YAML file +The following example gets the RS ROS2 node params from YAML file. +``` +ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py +``` + +By default, 'rs_launch_get_params_from_yaml.py' launch file uses the "/config/config.yaml" YAML file. + +User can provide a different YAML file through cmd line as follows: +``` +ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py config_file:="/full/path/to/config/file" +``` +or +``` +ros2 launch realsense2_camera rs_launch.py config_file:="/full/path/to/config/file" +``` + +## Syntax for defining params in YAML file +``` +param1: value +param2: value +``` + +Example: +``` +enable_color: true +rgb_camera.profile: 1280x720x15 +enable_depth: true +align_depth.enable: true +enable_sync: true +publish_tf: true +tf_publish_rate: 1.0 +``` \ No newline at end of file diff --git a/realsense2_camera/examples/launch_params_from_file/config.yaml b/realsense2_camera/examples/launch_params_from_file/config/config.yaml similarity index 74% rename from realsense2_camera/examples/launch_params_from_file/config.yaml rename to realsense2_camera/examples/launch_params_from_file/config/config.yaml index 8b8bcc1709..d15a19a0fe 100644 --- a/realsense2_camera/examples/launch_params_from_file/config.yaml +++ b/realsense2_camera/examples/launch_params_from_file/config/config.yaml @@ -3,4 +3,5 @@ rgb_camera.profile: 1280x720x15 enable_depth: true align_depth.enable: true enable_sync: true - +publish_tf: true +tf_publish_rate: 1.0 diff --git a/realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py b/realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py index a6b5582039..c0ebd7bfbd 100644 --- a/realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py +++ b/realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py @@ -34,7 +34,7 @@ local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'}, {'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'}, - {'name': 'config_file', 'default': [ThisLaunchFileDir(), "/config.yaml"], 'description': 'yaml config file'}, + {'name': 'config_file', 'default': [ThisLaunchFileDir(), "/config/config.yaml"], 'description': 'yaml config file'}, ] def set_configurable_parameters(local_params): diff --git a/realsense2_camera/examples/pointcloud/README.md b/realsense2_camera/examples/pointcloud/README.md new file mode 100644 index 0000000000..1285e0a843 --- /dev/null +++ b/realsense2_camera/examples/pointcloud/README.md @@ -0,0 +1,17 @@ +# PointCloud Visualization +The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud. +``` +ros2 launch realsense2_camera rs_pointcloud_launch.py +``` + +Alternatively, start the camera terminal 1: +``` +ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true +``` +and in terminal 2 open rviz to visualize pointcloud. + +# PointCloud with different coordinate systems +This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together. +``` +ros2 launch realsense2_camera rs_d455_pointcloud_launch.py +``` \ No newline at end of file diff --git a/realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py b/realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py index 4f013b1c87..85ee0ff48d 100644 --- a/realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py +++ b/realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py @@ -77,7 +77,7 @@ def generate_launch_description(): namespace='', executable='rviz2', name='rviz2', - arguments=['-d', [ThisLaunchFileDir(), '/urdf_pointcloud.rviz']], + arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']], output='screen', parameters=[{'use_sim_time': False}] ), diff --git a/realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py b/realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py index f0a5b541e0..f0acfe80b2 100644 --- a/realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py +++ b/realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py @@ -57,6 +57,6 @@ def generate_launch_description(): namespace='', executable='rviz2', name='rviz2', - arguments=['-d', [ThisLaunchFileDir(), '/pointcloud.rviz']] + arguments=['-d', [ThisLaunchFileDir(), '/rviz/pointcloud.rviz']] ) ]) diff --git a/realsense2_camera/examples/pointcloud/pointcloud.rviz b/realsense2_camera/examples/pointcloud/rviz/pointcloud.rviz similarity index 69% rename from realsense2_camera/examples/pointcloud/pointcloud.rviz rename to realsense2_camera/examples/pointcloud/rviz/pointcloud.rviz index 055431f228..bb8955146f 100644 --- a/realsense2_camera/examples/pointcloud/pointcloud.rviz +++ b/realsense2_camera/examples/pointcloud/rviz/pointcloud.rviz @@ -8,14 +8,12 @@ Panels: - /Status1 - /Grid1 - /PointCloud21 - - /Image1 Splitter Ratio: 0.5 - Tree Height: 222 + Tree Height: 382 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -65,13 +63,17 @@ Visualization Manager: Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /camera/depth/color/points - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true @@ -82,9 +84,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/color/image_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/color/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -93,31 +98,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/depth/image_rect_raw - Unreliable: false - Value: true - - Class: rviz_default_plugins/Image - Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 10 - Topic: /camera/infra1/image_rect_raw - Unreliable: false - Value: true - - Class: rviz_default_plugins/Image - Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 10 - Topic: /camera/infra2/image_rect_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/depth/image_rect_raw Value: true Enabled: true Global Options: @@ -132,12 +118,30 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Topic: /initialpose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF @@ -168,18 +172,18 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1025 + Height: 1016 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true - Width: 1853 - X: 67 + Width: 1846 + X: 74 Y: 27 diff --git a/realsense2_camera/examples/pointcloud/urdf_pointcloud.rviz b/realsense2_camera/examples/pointcloud/rviz/urdf_pointcloud.rviz similarity index 92% rename from realsense2_camera/examples/pointcloud/urdf_pointcloud.rviz rename to realsense2_camera/examples/pointcloud/rviz/urdf_pointcloud.rviz index 500e60114e..294917ad48 100644 --- a/realsense2_camera/examples/pointcloud/urdf_pointcloud.rviz +++ b/realsense2_camera/examples/pointcloud/rviz/urdf_pointcloud.rviz @@ -8,12 +8,12 @@ Panels: - /Status1 - /RobotModel1 - /RobotModel1/Description Topic1 - - /TF1 - /TF1/Frames1 + - /PointCloud21 - /Image1 - /Image2 - Splitter Ratio: 0.6360294222831726 - Tree Height: 362 + Splitter Ratio: 0.36195287108421326 + Tree Height: 308 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -245,7 +245,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /camera/depth/color/points + Value: /camera/camera/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true @@ -261,7 +261,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /camera/color/image_raw + Value: /camera/camera/color/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -275,7 +275,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /camera/depth/image_rect_raw + Value: /camera/camera/depth/image_rect_raw Value: true Enabled: true Global Options: @@ -323,7 +323,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 3.9530911445617676 + Distance: 4.639365196228027 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -351,7 +351,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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Selection: collapsed: false Tool Properties: diff --git a/realsense2_camera/launch/default.rviz b/realsense2_camera/launch/default.rviz index 055431f228..c4374772c6 100644 --- a/realsense2_camera/launch/default.rviz +++ b/realsense2_camera/launch/default.rviz @@ -9,13 +9,15 @@ Panels: - /Grid1 - /PointCloud21 - /Image1 + - /Image2 + - /Image3 + - /Image4 Splitter Ratio: 0.5 - Tree Height: 222 + Tree Height: 190 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -65,13 +67,17 @@ Visualization Manager: Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /camera/depth/color/points - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true @@ -82,9 +88,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/color/image_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/color/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -93,9 +102,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/depth/image_rect_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/depth/image_rect_raw Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -104,9 +116,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/infra1/image_rect_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/infra1/image_rect_raw Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -115,9 +130,12 @@ Visualization Manager: Min Value: 0 Name: Image Normalize Range: true - Queue Size: 10 - Topic: /camera/infra2/image_rect_raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/camera/infra2/image_rect_raw Value: true Enabled: true Global Options: @@ -132,12 +150,30 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Topic: /initialpose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF @@ -145,7 +181,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 1.0510121583938599 + Distance: 3.677529811859131 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -168,18 +204,18 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1025 + Height: 1016 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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