How to set the advanced control parameters using the realsense-ros wrapper?

[Kaju-Bubanja]

I opened the dynamic reconfigure with rosrun rqt_reconfigure rqt_reconfigure, but looking at the options in the stereo module there are no post processing options like in the realsense-viewer:

I looked at the stereo_module with following command: rosrun dynamic_reconfigure dynparam get /camera/stereo_module with following output:
{'laser_power': 183.6, 'groups': {'laser_power': 183.6, 'parent': 0, 'global_time_enabled': True, 'inter_cam_sync_mode': 0.0, 'gain': 16, 'groups': {}, 'id': 0, 'output_trigger_enabled': False, 'exposure': 33000, 'name': 'Default', 'parameters': {}, 'emitter_enabled': True, 'enable_auto_exposure': True, 'error_polling_enabled': True, 'state': True, 'visual_preset': 4, 'enable_auto_white_balance': False, 'type': '', 'frames_queue_size': 16}, 'emitter_enabled': True, 'enable_auto_exposure': True, 'frames_queue_size': 16, 'global_time_enabled': True, 'inter_cam_sync_mode': 0.0, 'visual_preset': 4, 'error_polling_enabled': True, 'gain': 16, 'exposure': 33000, 'output_trigger_enabled': False, 'enable_auto_white_balance': False} but there is no persistency_index parameter.
The rs_rgbd.launch file has the argument filter and I set it to "temporal" and it is mentioned in the docs, but I can't figure out how to actually set the values described in the docs, like the persistency index and others. I tried rosrun dynamic_reconfigure dynparam set /camera/stereo_module persistency_index 8 but get following error: error updating parameters: don't know parameter: persistency_index
How do I set the advanced control parameters using the realsense-ros wrapper?

[doronhi]

As you already found out, the post processing options are there only if stated with the filters param.
All the options of the filters should automatically be present with rqt_dynamic_reconfigure. The names may differ though.
The option listen in realsense-viewer as persistency_mode appears in ROS as holes_fill.
you can change it with the following command:
rosrun dynamic_reconfigure dynparam set /camera/temporal holes_fill 8

[Kaju-Bubanja]

Thanks for the respons, two questions:

• Is there a list of mappings between the names? Or how are we supposed to know what the parameters are called?

• And second, then why didn't holes_fill show up for me? I launched the rs_rgbd file with the param filters set to temporal. From the launch file: <arg name="filters" default="temporal"/>

[Kaju-Bubanja]

rosrund dynamic_reconfigure dynparam list Does not show that there is a /camera/temporal param. I tried the above command and it just hangs and waits. Also the param is not in the rqt_reconfigure gui. Looking at the source code I found the names of the filters. Currently I have this in the launch file: <arg name="filters" default="decimation,spatial,hole_filling,temporal,disparity"/>, and the realsense node outputs: Add Filter: spatial [ INFO] [1564991640.917722386]: Add Filter: hole_filling [ INFO] [1564991640.920259533]: Add Filter: temporal [ INFO] [1564991640.922273055]: Add Filter: disparity [ INFO] [1564991640.924789337]: Done Add Filter: disparity [ INFO] [1564991640.924850621]: Add Filter: decimation [ INFO] [1564991640.926778718]: num_filters: 6
But even with all the filters added no new parameters show up in dynamic_reconfigure list or rqt_qui, so the question remains, how does one set these parameters?

[Kaju-Bubanja]

Haha, I found the error and you @doronhi actually fixed it in the last commit #5ef502ebcee5508adc073d228b4ed52d07acd5f7. The question for me now is why the README.md tells me to check out the second last commit and not the last? Could this line > git checkout git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1
be removed from the installation instruction? Because why should people not use the latest commit?

[doronhi]

The installation instructions refer to the latest release.
The last commit often is ahead of the latest release.
A new release should be out shortly and include this bug fix.

[RealSenseCustomerSupport]

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