realsenseai/realsense-ros

Features

• Depth Camera SDKs - Provides a full ROS2 driver and SDK for managing depth camera lifecycles, hardware resets, and health monitoring.
• ROS2 Hardware Integrations - Integrates Intel RealSense depth cameras into the ROS2 ecosystem to stream synchronized RGBD and IMU data.
• Sensor Drivers - Acts as a driver that streams synchronized RGB, depth, infrared, and IMU data from sensors as ROS2 topics.
• Sensor Data Streaming - Streams accelerometer and gyroscope samples from the IMU as ROS2 topics for motion tracking.
• Point Cloud Generators - Transforms raw depth data into 3D point clouds with optional color or infrared textures.
• Coordinate Frame Broadcasting - Publishes fixed spatial relationships between sensor optical frames and the camera base for coordinate reasoning.
• Depth-Color Alignment - Synchronizes depth maps with RGB images to ensure each depth pixel corresponds to the correct color pixel.
• RGB and Depth Synchronization - Combines aligned depth maps and color frames into a single data structure for efficient perception processing.
• RGBD Message Packaging - Combines synchronized RGB and depth data into single messages for efficient robotic perception processing.
• Real-time Sensor Streaming - Continuously streams depth, color, infrared, and IMU data from camera sensors for real-time processing.
• ROS2 Lifecycle Nodes - Implements managed camera interfaces using lifecycle nodes with explicit state transitions to ensure deterministic system startup.
• Perception Pipelines - Implements a modular sequence of data processing stages to transform depth data into point clouds for spatial analysis.
• Distributed Node Lifecycles - Controls camera node state transitions through explicit lifecycle stages for deterministic startup and shutdown.
• Camera Calibration - Reads and writes calibration parameters via service calls to perform precise on-device sensor adjustments.
• Zero-Copy - Passes large image and pointcloud buffers between intra-process nodes without copying to reduce latency.
• Spatial Vector Calculators - Calculates static and dynamic spatial relationships between sensor frames and the robot base for object positioning.
• Sensor Data Publishing - Publishes synchronized color and depth images as a single combined RGBD message for efficient consumption.
• Depth Image Filters - Applies spatial, temporal, and hole-filling filters to improve the quality and consistency of depth data.
• Post-Processing Pipelines - Applies spatial, temporal, hole-filling, and decimation filters to depth images to improve quality.
• RGBD Visualization Plugins - Provides a dedicated RViz2 plugin for the inspection and debugging of RGBD messages.
• Coordinate Frame Broadcasting - Broadcasts static transforms between sensor optical frames and camera base frames for spatial reasoning.
• Hardware Reset Controllers - Triggers a hardware-level reset via a service call to recover the device from firmware issues.
• 3D Spatial Reasoning - Provides capabilities for interpreting 3D visual information by broadcasting coordinate transforms between sensor frames and robot bases.
• Hardware Control Services - Exposes camera reset, calibration, and configuration operations through ROS2 services for external orchestration.
• Hardware Orchestration Services - Exposes low-level device resets and calibration routines via ROS2 services for external control.
• Sensor Configuration - Sets resolution, frame rate, and data formats for individual sensors at launch or during runtime.
• On-Device Calibration Triggers - Initiates a calibration action on supported devices to recalibrate internal sensors for better accuracy.
• Node Runtime State Machines - Uses a managed interface with explicit state transitions to ensure deterministic startup and shutdown of the camera node.
• Runtime Parameter Configurators - Adjusts resolution, frame rate, and depth stream parameters using configurable parameters during startup.
• Sensor Stream Parameters - Determines sensor resolution and frame rates at launch time using a centralized parameter system.