D405 support on ROS1
D405 is not officially supported by realsense-ros for ROS1
The original commit with support comes from:
- https://github.com/IntelRealSense/realsense-ros/pull/2297
- https://github.com/IntelRealSense/realsense-ros/issues/2290
- https://github.com/rjwb1/realsense-ros
This commit is really a single line change that prevented D405 from working.
Whether this means full support remains a question.
D405 has only two RGB sensors for stereo
- unlike say D415/D435/D455
- which have 2x infrared for stereo + RGB + infrared projector
Setting different resolution for depth and RGB
- doesn't make much sense
- doesn't result in immediate error
- but you may get corrupted data
So just keep depth & RGB resolution the same.
- realsense-ros officially supports librealsense 2.50.0 (stated in readme)
- according to this comment 2.50.0 already supports D405 ("unofficially")
- official D405 support was added in librealsense 2.51.1
-
apt install ros-melodic-librealsense2(or ros-noetic-librealsense2)- this is 2.50.0 version
- build this realsense-ros fork in catkin workspace
This means official support for realsense-ros and non-official support for D405
The alternative is to:
- remove ros-[VERSION]-realsense-ros
- apt install system librealense2 with version >= 2.51.1
- build this realsense-ros fork in catkin workspace
This means official librealsense2 support for D405 and non-official support for realsense-ros.
Whether there is:
- some incompatibility between librealsense > 2.50.0 and realsense_ros remains a question
- something to gain with librealsense > 2.50.0 with D405 remains a question
- IntelRealSense/realsense-ros was forked
- extend branch was created from ros1-legacy
- fork with D405 commit was added as remote
- the commit with D405 change was cherry-picked on top of last ros1-legacy commit
- extend branch was set as default