Realsense node#

The vision launcher automatically spawns all the component of the container, and it accept the following parameters

  • namespace. By default ipc.

Note

Changing namespace will change the search of a special file d415camera<newnamespace>, which has to exists. this file can be created under <rvc_dynamic_controller_use_caseinstallpath>/cameraurdf/ Of course, if vision has a non default namespace, rvc_control has to have the same namespace, and when launching it the issue will be apparent.

  • camera_name: by default camera

  • rs_serial: by default null string. in case there are multiple cameras, the one to use is specified with this parameters

In addition to command line parameters, an yaml file is provided with default values, in <rvc_vision_main_install_path>/config/rs_parameters>

The list is long and full of interesting parameters, useful to fine tune according to lightning, distance, camera perfomance enable_auto_white_balance but standing out are:

  • auto_exposure for both RGB and DEPTH streams:

    it might be usefull to set it to false, and manually fixing the exposure to a not so dark image but this will give constant frame rate (autoexposure FPS is dependent of illumination conditions).

  • resolution and FPS parameters for both RGB and DEPTH streams

accel_fps: 0
align_depth.enable: true
allow_no_texture_points: false
calib_odom_file: ''
clip_distance: -0.8
colorizer.enable: false
config_file: ''
decimation_filter.enable: false
depth_module.emitter_enabled: 1
depth_module.laser_power: 360.0
depth_module.enable_auto_exposure: true
depth_module.enable_auto_white_balance: true
depth_module.exposure: 6000
depth_module.exposure.1: 6000
depth_module.exposure.2: 6000
depth_module.gain.1: 16
depth_module.gain.2: 16
depth_module.profile: 640x480x30
device_type: ''
diagnostics_period: 0.0
enable_accel: false
enable_color: true
enable_confidence: false
enable_depth: true
enable_fisheye1: false
enable_fisheye2: false
enable_gyro: false
enable_infra1: false
enable_infra2: false
enable_pose: false
enable_sync: true
gyro_fps: 0
infra_rgb: false
initial_reset: false
json_file_path: ''
linear_accel_cov: 0.01
log_level: info
output: screen
color_info_qos: "SENSOR_DATA"
color_qos: "SENSOR_DATA"
depth_info_qos: "SENSOR_DATA"
depth_qos: "SENSOR_DATA"
infra1_info_qos: "SENSOR_DATA"
infra1_qos: "SENSOR_DATA"
infra2_info_qos: "SENSOR_DATA"
infra2_qos: "SENSOR_DATA"
infra_info_qos: "SENSOR_DATA"
infra_qos: "SENSOR_DATA"
pointcloud.enable: true
pointcloud.ordered_pc: true
pointcloud.pointcloud_qos: "SENSOR_DATA"
pointcloud.frames_queue_size: 1
# 0: disable texture, 1: depth texture 2: RGB, see: https://intelrealsense.github.io/librealsense/doxygen/rs__sensor_8h.html#a01b4027af33139de861408872dd11b93a58a1d3d8a392aafe15b30b6d4575c153
pointcloud.stream_filter: 2
pointcloud.stream_index_filter: 0
pose_fps: 200
reconnect_timeout: 6.0
rgb_camera.enable_auto_exposure: false
rgb_camera.enable_auto_white_balance: true
rgb_camera.exposure: 100
rgb_camera.profile: 640x480x30
rosbag_filename: ''
#serial_no: _002422060415
tf_publish_rate: 0.0
topic_odom_in: ''
tracking_module.profile: 0,0,0
unite_imu_method: 0
usb_port_id: ''
wait_for_device_timeout: -1.0