How to use the RealSense2 camera

Installation

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

git clone [e-mail]:intel-ros/realsense.git

Camera Output

Run the following to get access to the camera:

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:

rosrun rqt_reconfigure rqt_reconfigure

You can also try to change the "octree_resolution" value:

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

Setup Base Frame

Run the following:

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:

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:

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

Publish the message 'e-start':

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

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

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:

pcl_viewer *.pcd file you want to open*