# How to use the RealSense2 camera

## Installation

Go to the intel-ros github page. Clone the realsense repository in your catkin workspace inside src:

```bash
git clone git@github.com:intel-ros/realsense.git
```

## Camera Output

Run the following to get access to the camera:

```bash
roslaunch realsense2_camera rs_rgbd.launch
```

Open rviz to visualize the camera output.

## Configure camera output (OPTIONAL)

Run the following to open the rviz configuration window:

```bash
rosrun rqt_reconfigure rqt_reconfigure
```

You can also try to change the "octree\_resolution" value:

```bash
cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/config
gedit scene_segmentation_constraints.yaml
```

## Setup Base Frame

Run the following:

```bash
rosrun tf static_transform_publisher x y z roll pitch yaw base_link camera_link 100
```

where x, y, z are the distances and roll, pitch, yaw are the rotations from the base\_link to the camera\_link.

To visualize your frames in rzviz, add the TF feature in the rviz menu.

## Save Point Clouds

If it's your first time saving point clouds, you need to choose where you want to save them and enable data collection:

```bash
cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/launch
gedit scene_segmentation.launch
```

Change the value of "dataset\_collection" from "false" to "true". Change value of "logdir" from "/temp/ to the path in your computer where you want to save the files.

Run the following to get access to the point clouds given by the camera:

```bash
roslaunch mcr_scene_segmentation scene_segmentation.launch input_pointcloud_topic:=/camera/depth_registered/points
```

Publish the message 'e-start':

```bash
rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_start'"
```

Publish the message 'e-add-cloud-start':

```bash
rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_add_cloud_start'"
```

This last one will save the current point cloud of the observed object in your system.

**BEWARE!!** Sometimes the camera won't save the point cloud (don't worry, not your fault). Just try a different position for the object until it works.

## Visualize Point Cloud

Run the following in the folder where you saved the point clouds:

```bash
pcl_viewer *.pcd file you want to open*
```
