ROS Wrapper for Intel® RealSense™ Devices

This repo is SPECIFICALLY FOR SUPPORTING D405 camera in ROS1. The official realsense supports only ROS2. This was tested only on Ubuntu 20.04 with ROS1 Noetic and Python3.

Installation Instructions

delete any realsense driver in your workspace -- including apt installs.

sudo apt remove ros-noetic-realsense2-camera*
sudo apt purge ros-noetic-realsense2-camera*

git clone this fork in your catkin ws

git clone --branch development https://github.com/[INSERT LINK TO GIT REPO]

build from source

catkin_make clean
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

Usage Instructions

Start the camera node

To start the camera node in ROS:

roslaunch realsense2_camera rs_camera.launch

This will stream all camera sensors and publish on the appropriate ROS topics.

Other stream resolutions and frame rates can optionally be provided as parameters to the 'rs_camera.launch' file.

Published Topics

The published topics differ according to the device and parameters. After running the above command with D435i attached, the following list of topics will be available (This is a partial list. For full one type rostopic list):

• /camera/color/camera_info
• /camera/color/image_raw
• /camera/color/metadata
• /camera/depth/camera_info
• /camera/depth/image_rect_raw
• /camera/depth/metadata
• /camera/extrinsics/depth_to_color
• /camera/extrinsics/depth_to_infra1
• /camera/extrinsics/depth_to_infra2
• /camera/infra1/camera_info
• /camera/infra1/image_rect_raw
• /camera/infra2/camera_info
• /camera/infra2/image_rect_raw
• /camera/gyro/imu_info
• /camera/gyro/metadata
• /camera/gyro/sample
• /camera/accel/imu_info
• /camera/accel/metadata
• /camera/accel/sample
• /diagnostics