realsense_launch

ROS Noetic package for launching the Intel RealSense driver into a nodelet manager. Nodelets are also launched to convert the depth images to an RGB pointcloud, crop, voxelise, removal outliers and estimate normals on the pointcloud, all within a single nodelet manager for efficiency.

Installation

sudo apt-get update
sudo apt-get install ros-noetic-realsense2-camera
sudo apt-get install ros-noetic-realsense2-description
sudo apt-get install ros-noetic-image-pipeline

Working in your catkin_ws/src directory...

git clone https://github.com/MShields1986/realsense_launch.git

...and build...

cd ..
catkin_make

Usage

Source your environment and run the launch file using the following command.

roslaunch realsense_launch realsense.launch

The default args launch a d435i with visualisation in RViz.

The device type and visualisation can be toggled with arguements.

roslaunch realsense_launch realsense.launch device_type:=d415 rviz:=false