ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)

[doronhi]

Beta release - version 4.0.0

Based upon the ROS2 3.2.3 version, controlling the camera parameters in this version is meant to be more dynamic:

• Allows starting and stopping separate sensors in runtime using the "enable_" parameters.
• Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime.
  ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version.

While many of the parameter names remain as they were in version 3.2.3, many were slightly modified to match the new hierarchy. For instance, in the D400 series, the depth, infrared1, and infrared2 streams belong to one stereo sensor. Therefore, there are no longer infra1_width, infra1_height, infra1_fps, infra2_width, depth_width etc. all of which should have always been set to the same value. Instead, there is a single, depth_module.profile parameter that combines all 3 parameters into one and can also be changed in runtime.

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515, L535
• Intel® RealSense™ Tracking Module T265
• Intel® RealSense™ Camera D400-Series:
  • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
  • Intel® RealSense™ Depth Modules D400, D410, D420, D430
  • Intel® RealSense™ Vision Processor D4m
• Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model	Firmware
D400	5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300	3.10.10.0 +
**L500	1.5.8.1 +

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This discussion was created from the release ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0).

[doronhi]

This version was inspired by the following issues:

1. The inability to enable and disable streams during runtime.
2. The need to specify the profile parameters, width, height, and fps, for depth, infrared1, and infrared2 separately while making sure they all specify the same parameters. For instance, a command line like so I considered long and prone to errors: ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=false enable_infra1:=true infra_width:=640 infra_height:=480 infra_fps:=30. depth_width:=640 depth_height:=480 depth_fps:=30.
   In this version it is replaced with this: ros2 launch realsense2_camera rs_launch.py depth_module.profile:=640x480x30 enable_infra1:=true
   This is both simpler and saves errors.

In addition, the fact that it is now possible to toggle sensors and filters on and off should make it easier to find the right combination and even alter combinations based on a changed scene or current robot task.

I am still wondering about the right name for the enable_ parameter.
Currently, they are named enable_depth, enable_infra1, enable_color etc.
It might not be clear that depth, infra1, and infra2 all belong to the depth_module, and therefore that the depth_module.profile parameter affects them all.
I thought of changing them to be depth_module.enable_depth, depth_module.enable_infra1, rgb_camera.enable_color but am not sure if it is too long.

Any thoughts regarding this issue or others are most welcome!