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intel / ros2_intel_realsense

This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.
Apache License 2.0
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Many SDK parameters are missing or not exposed in ROS2 #104

Open ruffsl opened 4 years ago

ruffsl commented 4 years ago

As compared to the ROS1 wrapper for the realsense, many of the original parameters for the SDK remain missing or not exposed as dynamic or runtime parameters in ROS2. For example, the boolean options for enabling/disabling the IR projector are not made available, making it inconvenient to use the stereo IR stream for visual inertial SLAM.

https://github.com/IntelRealSense/realsense-ros/blob/88f73074ba00c7826c9e48249b33237b54d78ea5/realsense2_camera/launch/rs_rgbd.launch#L96

https://github.com/intel/ros2_intel_realsense/blob/47b313c0ceb3b9c977211ebdb095c3c8ab9cad1f/realsense_examples/config/d435i.yaml#L5-L7

ruffsl commented 4 years ago

This would be something I'd be willing to help port over; suggestions from any maintainers is welcome.

It looks like the ROS1 wrapper has a ferry involved method for procedurally registering all ofthe realsense SKD options as node parameters, so I'd like to ask if we'd perser to replicate this behavior in the ROS2 wrapper, or go with a different approach. E.g.

https://github.com/IntelRealSense/realsense-ros/blob/ec68bddb042abeba820421835c8b3e968c1016c7/realsense2_camera/src/base_realsense_node.cpp#L384-L388

https://github.com/intel/ros2_intel_realsense/blob/47b313c0ceb3b9c977211ebdb095c3c8ab9cad1f/realsense_ros/src/rs_d435i.cpp#L57-L60