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Set realsense QoS to sensor data #273

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May 16, 2024
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Set realsense QoS to sensor data #273

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616cb62
Set realsense QoS to sensor data
dyackzan May 15, 2024
318a7c0
limit rgb camera rate
dyackzan May 15, 2024
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70 changes: 40 additions & 30 deletions src/picknik_ur_base_config/launch/rs_cameras.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,42 +4,52 @@
<arg name="wrist_mounted_camera_serial_no" default="'0'" />

<!-- Scene camera -->
<include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
<arg name="camera_name" value="scene_camera"/>
<arg name="serial_no" value="$(var scene_camera_serial_no)"/>
<arg name="device_type" value="D415"/>
<arg name="depth_module.profile" value="640x480x6"/>
<arg name="pointcloud.enable" value="True"/>
<arg name="pointcloud.ordered_pc" value="True"/>
<arg name="decimation_filter.enable" value="False"/>
<node pkg="realsense2_camera" exec="realsense2_camera_node" name="scene_camera" namespace="scene_camera">
<param name="camera_name" value="scene_camera"/>
<param name="serial_no" value="$(var scene_camera_serial_no)"/>
<param name="device_type" value="D415"/>
<param name="depth_module.profile" value="640x480x6"/>
<param name="rgb_camera.profile" value="640x480x6"/>
<param name="pointcloud.enable" value="True"/>
<param name="pointcloud.ordered_pc" value="True"/>
<param name="decimation_filter.enable" value="False"/>

<!--# information about the topics the camera publishes the raw image and info-->
<arg name="rgb_info" value="/scene_camera/color/camera_info"/>
<arg name="rgb_image" value="/scene_camera/color/image_raw"/>
<arg name="registered_rgb_depth_pair.depth_info" value="/scene_camera/color/camera_info"/>
<arg name="registered_rgb_depth_pair.depth_image" value="/scene_camera/depth/image_rect_raw"/>
<arg name="registered_rgb_depth_pair.registered_info" value="/scene_camera/color/camera_info"/>
<arg name="registered_rgb_depth_pair.registered_image" value="/scene_camera/depth/image_rect_raw"/>
</include>
<param name="rgb_info" value="/scene_camera/color/camera_info"/>
<param name="rgb_image" value="/scene_camera/color/image_raw"/>
<param name="registered_rgb_depth_pair.depth_info" value="/scene_camera/color/camera_info"/>
<param name="registered_rgb_depth_pair.depth_image" value="/scene_camera/depth/image_rect_raw"/>
<param name="registered_rgb_depth_pair.registered_info" value="/scene_camera/color/camera_info"/>
<param name="registered_rgb_depth_pair.registered_image" value="/scene_camera/depth/image_rect_raw"/>

<!-- QoS settings -->
<param name="color_qos" value="SENSOR_DATA"/>
<param name="depth_qos" value="SENSOR_DATA"/>
</node>

<!-- Wrist camera -->
<include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
<arg name="camera_name" value="wrist_mounted_camera"/>
<arg name="serial_no" value="$(var wrist_mounted_camera_serial_no)"/>
<arg name="device_type" value="D415"/>
<arg name="depth_module.profile" value="640x480x6"/>
<arg name="pointcloud.enable" value="True"/>
<arg name="pointcloud.ordered_pc" value="True"/>
<arg name="decimation_filter.enable" value="False"/>
<node pkg="realsense2_camera" exec="realsense2_camera_node" name="wrist_mounted_camera" namespace="wrist_mounted_camera">
<param name="camera_name" value="wrist_mounted_camera"/>
<param name="serial_no" value="$(var wrist_mounted_camera_serial_no)"/>
<param name="device_type" value="D415"/>
<param name="depth_module.profile" value="640x480x6"/>
<param name="rgb_camera.profile" value="640x480x6"/>
<param name="pointcloud.enable" value="True"/>
<param name="pointcloud.ordered_pc" value="True"/>
<param name="decimation_filter.enable" value="False"/>

<!-- information about the topics the camera publishes the raw image and info -->
<arg name="rgb_info" value="/wrist_mounted_camera/color/camera_info"/>
<arg name="rgb_image" value="/wrist_mounted_camera/color/image_raw"/>
<param name="rgb_info" value="/wrist_mounted_camera/color/camera_info"/>
<param name="rgb_image" value="/wrist_mounted_camera/color/image_raw"/>

<!-- By adding registered_rgb_depth_pair, This camera can be used for "Set Transform From Click" -->
<arg name="registered_rgb_depth_pair.depth_info" value="/wrist_mounted_camera/depth/camera_info"/>
<arg name="registered_rgb_depth_pair.depth_image" value="/wrist_mounted_camera/depth/image_rect_raw"/>
<arg name="registered_rgb_depth_pair.registered_info" value="/wrist_mounted_camera/depth_registered/camera_info"/>
<arg name="registered_rgb_depth_pair.registered_image" value="/wrist_mounted_camera/depth_registered/image_rect"/>
</include>
<param name="registered_rgb_depth_pair.depth_info" value="/wrist_mounted_camera/depth/camera_info"/>
<param name="registered_rgb_depth_pair.depth_image" value="/wrist_mounted_camera/depth/image_rect_raw"/>
<param name="registered_rgb_depth_pair.registered_info" value="/wrist_mounted_camera/depth_registered/camera_info"/>
<param name="registered_rgb_depth_pair.registered_image" value="/wrist_mounted_camera/depth_registered/image_rect"/>

<!-- QoS settings -->
<param name="color_qos" value="SENSOR_DATA"/>
<param name="depth_qos" value="SENSOR_DATA"/>
</node>
</launch>
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