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clearpathrobotics / clearpath_robot

BSD 3-Clause "New" or "Revised" License
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Clearpath Realsense integration has incorrect parameter fields in configuration file #66

Open SteveMacenski opened 1 week ago

SteveMacenski commented 1 week ago

The robot was shipped with the following fields set https://github.com/clearpathrobotics/clearpath_robot/blob/main/clearpath_sensors/config/intel_realsense.yaml#L12-L14 as 640,240,30, yet when I modified them nothing happened.

It turned out this is fundamentally the incorrect parameter name. It is depth_module.depth_profile and rgb_camera.color_profile.

SteveMacenski commented 1 week ago

Not bug, but just for clarity for those that come later with googlefo, since this took me an hour to figure out myself in addition to the above:

If you enable the decimation filter, you can modify the kernal with the filter_magnitude field to get it down to a reasonable size for navigation usage

    decimation_filter.enable: True
    decimation_filter.filter_magnitude: 6

Additionally, remove all stream_filter and stream_index_filter's to 0 to get rid of the color which adds to the transport size, if not using the color directly for applications.