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realsense_camera

use realsense camera in ROS

New

  • [2015/11/26] Add print center Z value and realsense temperature at the same time for F200.
    Can use to calibration Z value with realsense's temperature(Thx to @teknotus).
0) sudo apt-get install libusb-1.0-0-dev  
1) sudo cp config/80-realsense-usb.rules /etc/udev/rules.d  
2) reboot to reload the rule  
3) rebuild realsense_camera  
4) roslaunch realsense_camera realsense_rviz.launch debug_depth_unit:=true

If everything is OK, in terminal you will see  

getRealsenseUSBHandle OK!  
average center z value = 0.388359    temp = 31    depth_unit = 33.099998

  • Modify default image topic name like openni.

  • Add R200 support, But still in test, Because i don't have the R200 device now.

  • Intel maybe release official ROS-Realsense package.

      visit http://roscon.ros.org/2015/   then search realsense

  • [2015/04/10] Added infrared stream for realsense camera

      If you want IR stream, please visit
  http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html
  https://github.com/teknotus/depthview/tree/kernelpatchfmt

Notes

This package do not contains uvmap data(use to register RGB data)

So it is only publish point cloud without RGB

If you want RGB data for point cloud

Please visit realsense_camera_tools

You can copy the uvmap files by realsense's serial number to data/uvmap/

realsense_camera
├── data
│   └── uvmap
│       ├── 039140070906
│       │   ├── uvmap_0000.bin
│       │   ├── uvmap_0001.bin
│       │   ├── ...
│       │   ├── ...
│       │   ├── uvmap_2047.bin

039140070906 is realsense's serial number

Dependencies

sudo apt-get install libudev-dev libv4l-dev libusb-1.0-0-dev

To make sure the dynamic reconfigure works, Please visit

https://github.com/teknotus/depthview/tree/udev

Usage

  • launch realsense camera and rviz
roslaunch realsense_camera realsense_rviz.launch
  • launch realsense camera only
roslaunch realsense_camera realsense_camera.launch

Publish topics

default

sensor_msgs::PointCloud2
/camera/depth/points                point cloud without RGB
/camera/depth_registered/points     point cloud with RGB

sensor_msgs::Image
/camera/rgb/image_raw               raw image for RGB sensor
/camera/depth/image_raw             raw image for depth sensor
/camera/ir/image_raw                raw image for infrared sensor

you can custom topic in file realsense_camera.launch

<arg name="topic_depth_points_id" default="$(arg camera)/depth/points" />
<arg name="topic_depth_registered_points_id" default="$(arg camera)/depth_registered/points" />

<arg name="topic_image_rgb_raw_id" default="$(arg camera)/rgb/image_raw" />
<arg name="topic_image_depth_raw_id" default="$(arg camera)/depth/image_raw" />
<arg name="topic_image_infrared_raw_id" default="$(arg camera)/ir/image_raw" />

Camera Info

To specify a yaml file with intrinsic calibration parameters for the RGB & IR camera (for example generated using this tool), modify the value in the realsense_(r200_)camera.launch to your calibration file (eg. package://package_name/path_to_yaml_file/calibration_file.yaml )

<!-- camera calibration file url -->
<arg name="rgb_camera_info_url" default="" />
<arg name="ir_camera_info_url" default="" />

Make sure the image width and height specified in the calibration file is the same as that specified in launch file.

The calibration info will be published under the topic /camera/rgb/camera_info /camera/depth/camera_info /camera/ir/camera_info

Q&A

  • If have "select timeout" issue
Stop realsense_camera node
Re-plug realsense device then retry
  • RGB to depth misalignment

uvmap help

TODO

  • add use TF between RGB & depth to register rgb data
  • add usb reset
  • add read properties from device
  • add RGB to depth camera calibration

Issues

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >' what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument


//fill point cloud data time: [0.035777 s]     <----  need optimize