Set min_distance value for L515 LiDAR

[jcgarciaca]

I am using a L515 LiDAR camera with roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY as here and I can see the pointcloud in rviz. However, since I need to define my own min_distance value, I exported a JSON file with realsense-viewer and added its path to json_file_path argument but the message Device does not support advanced settings! is shown and of course the values are not set according with my file. How could I set my own values?

[doronhi]

Which versions of ROS, librealsense and realsense2_camera do you use?
Could you add the json file you try to load?

[jcgarciaca]

I am using melodic version with LibRealSense v2.37.0 and RealSense ROS v2.2.16. The generated json file below:

{
    "Ambient Light": 1,
    "Apd Temperature": -9999,
    "Confidence Threshold": 1,
    "Depth Offset": 4.5,
    "Depth Units": 0.000250000011874363,
    "Error Polling Enabled": 1,
    "Frames Queue Size": 16,
    "Freefall Detection Enabled": 1,
    "Global Time Enabled": 0.0,
    "Inter Cam Sync Mode": 0.0,
    "Invalidation Bypass": 0.0,
    "Laser Power": 33,
    "Lld Temperature": 25.1394882202148,
    "Ma Temperature": 25.067985534668,
    "Mc Temperature": 24.8353538513184,
    "Min Distance": 0.0,
    "Noise Filtering": 2,
    "Post Processing Sharpening": 1,
    "Pre Processing Sharpening": 4,
    "Receiver Gain": 9,
    "Sensor Mode": 0.0,
    "Visual Preset": 0.0,
    "Zero Order Enabled": 0.0,
    "stream-depth-format": "Z16",
    "stream-fps": "30",
    "stream-height": "480",
    "stream-ir-format": "Y8",
    "stream-width": "640"
}

Since I just need to set custom values for min_distance, pre_processing_sharpening and noise_filtering, I defined a json file with just these parameters, without successful results:

{
    "Min Distance": 0.0,
    "Noise Filtering": 2,
    "Pre Processing Sharpening": 4,
} 

[doronhi]

The issue regarding the message "Device does not support advanced settings!" is a bug. I fixed that in #1548.
Can you build and check that PR? I didn't test for the "Min Distance" or any other parameter so I would really appreciate your feedback.

[jcgarciaca]

It worked.
Thank you