realsense-ros | Intel RealSense ROS Wrapper for Depth Camera | Robotics library

by IntelRealSense C++ Version: 4.51.1 License: Apache-2.0

X-Ray Key Features Code Snippets Community Discussions(2)Vulnerabilities Install Support

kandi X-RAY | realsense-ros Summary

realsense-ros is a C++ library typically used in Automation, Robotics applications. realsense-ros has no bugs, it has no vulnerabilities, it has a Permissive License and it has medium support. You can download it from GitHub.

These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS. This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the ros2 branch. LibRealSense2 supported version: v2.50.0 (see realsense2_camera release notes).

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Quality

Security

License

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Support

realsense-ros has a medium active ecosystem.

It has 2025 star(s) with 1556 fork(s). There are 58 watchers for this library.

It had no major release in the last 12 months.

There are 92 open issues and 2019 have been closed. On average issues are closed in 29 days. There are 12 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of realsense-ros is 4.51.1

Quality

realsense-ros has 0 bugs and 0 code smells.

Security

realsense-ros has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

realsense-ros code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

realsense-ros is licensed under the Apache-2.0 License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

realsense-ros releases are available to install and integrate.

Installation instructions, examples and code snippets are available.

It has 1771 lines of code, 82 functions and 28 files.

It has high code complexity. Code complexity directly impacts maintainability of the code.

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realsense-ros Key Features

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realsense-ros Examples and Code Snippets

No Code Snippets are available at this moment for realsense-ros.

Community Discussions

Trending Discussions on realsense-ros

How to transform a 3D bounding box from pointclouds to matched RGB frames in ROS?

How to transfer realsense data via ROS to other Device(s)

QUESTION

How to transform a 3D bounding box from pointclouds to matched RGB frames in ROS?

Asked 2020-Nov-23 at 10:59

i am doing SLAM with depth camera realsense D455 on ROS (https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i) and I am able to create 3D point clouds of the environment. I am new in ROS and my goal is to bound a 3d box in a region of global pointcloud then transform the same box on RGB frames that are matched with that points(at the same coordinates) in the global point cloud. now i have RGB, depth, and point cloud topic and tf but since i am new in this field i do not know how can i find RGB frames that are matched with each point in the global point cloud? and how do the same operation from point cloud to RGB frames? i would be grateful if someone can help me with that

...

ANSWER

Answered 2020-Nov-23 at 10:59

Get 3D bounding box points.
Transform them into camera's frame (z is depth).
Generate your camera's calibration model (intrinsic and extrinsic parameters of the camera, focal length etc.) -> Check openCV model, Scaramuzza Model or another stereo camera calibration model
Project 3D points to 2D pixels. (openCV has one projectPoints() function).

Source https://stackoverflow.com/questions/64920510

QUESTION

How to transfer realsense data via ROS to other Device(s)

Asked 2020-Jun-17 at 01:37

I want to make the program under

" catkin_ws/src/realsense-ros-3.2.13/realsense2_camera "

directory from the "ros wrapper site" transfer realsense data to other devices.

I've chosen to use ".cpp file" since I've already made the program which uses C++ and realsense camera.

I want to know the relationships of the files inside " realsense2_camera/src " directory and how and where the executable files appears after catkin_make etc., because I want to remodel that file(s),if it's able to transfer the realsense data to other Devices to do it.

I think it's related with roscpp_tutorials, rospy_tutorials and beginner_tutorials' Publisher and Subscriber Programs and I was able to make Publisher and Subscriber Programs communicating with different Devices, though I don't know about the theory of why they run. (how and where the executable files appears)

Environment

Device OS: ubuntu 18.04 Device HW: Jetson nano rosdistro: melodic python: Python 2.7.17 Realsense ROS Wrapper: 2.2.13 Realsense Viewer Version: 2.34.0 Camera: D435 D435 Firmware: 5.12.03.00

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ANSWER

Answered 2020-Jun-17 at 01:37

Thank you for your information.

I've been wandering why I couldn't get the D435's Data, but I solved it.

Starting "realsense-viewer" when "roslaunch" the ".launch file" and restarting the "Terminal" SEVERAL TIME can make "default .launch file" launch, so re-writing the "launch file" might be able to move the C++/Python file(s).

And I think your " include 'ing method" will make the problem simple to solve.

Source https://stackoverflow.com/questions/62295988

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install realsense-ros

Install librealsense2 debian package:. Windows Install using vcpkg.
Jetson users - use the Jetson Installation Guide
Otherwise, install from Linux Debian Installation Guide In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages.
Build from sources by downloading the latest Intel® RealSense™ SDK 2.0 and follow the instructions under Linux Installation
Create a catkin workspace Ubuntu
Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'
Make sure all dependent packages are installed. You can check .travis.yml file for reference.
Specifically, make sure that the ros package ddynamic_reconfigure is installed. If ddynamic_reconfigure cannot be installed using APT or if you are using Windows you may clone it into your workspace 'catkin_ws/src/' from here

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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