ros2_rs_pcl

ROS 2 sample of Realsense with PCL library

Supported ROS 2 distributions

・Foxy (master)

・Humble (humble-devel is in development)

Requirements

• Laptop PC
  • Ubuntu 20.04 Foxy
• Realsense D435/D435i

Installation

sudo apt install ros-$ROS_DISTRO-pcl-*

Install the ROS2 wrapper for realsense

ros2_intel_realsense

and configure Realsense to work with ROS2

Usage

PCL filter

Open two shells. In the first shell, run the ros2_intel_realsense node

ros2 launch realsense_examples rs_camera.launch.py

In the second shell, run the pcl_filter node:

ros2 run ros2_rs_pcl rs_pcl_filter

PCL clustering

Open two shells. In the first shell, run the ros2_intel_realsense node

ros2 launch realsense_examples rs_camera.launch.py

In the second shell, run the pcl_clustering node:

ros2 run ros2_rs_pcl rs_pcl_clustering

PCL and visualization marker sample

Open two shells. In the first shell, run the ros2_intel_realsense node

ros2 launch realsense_examples rs_camera.launch.py

In the second shell, run the pcl_clustering node:

ros2 run ros2_rs_pcl rs_pcl_marker

License

This repository is licensed under the MIT license, see LICENSE.