{"id":13800154,"url":"https://github.com/intel/ros2_intel_realsense","last_synced_at":"2025-05-13T09:31:08.465Z","repository":{"id":45514541,"uuid":"118040870","full_name":"intel/ros2_intel_realsense","owner":"intel","description":"This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.","archived":true,"fork":false,"pushed_at":"2023-01-07T00:12:12.000Z","size":1107,"stargazers_count":140,"open_issues_count":78,"forks_count":96,"subscribers_count":8,"default_branch":"master","last_synced_at":"2024-11-18T15:01:55.874Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/intel.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-01-18T21:33:25.000Z","updated_at":"2024-11-11T19:19:38.000Z","dependencies_parsed_at":"2023-02-06T10:02:13.345Z","dependency_job_id":null,"html_url":"https://github.com/intel/ros2_intel_realsense","commit_stats":null,"previous_names":[],"tags_count":11,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/intel%2Fros2_intel_realsense","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/intel%2Fros2_intel_realsense/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/intel%2Fros2_intel_realsense/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/intel%2Fros2_intel_realsense/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/intel","download_url":"https://codeload.github.com/intel/ros2_intel_realsense/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":253913027,"owners_count":21983244,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-04T00:01:09.926Z","updated_at":"2025-05-13T09:31:06.906Z","avatar_url":"https://github.com/intel.png","language":"C++","funding_links":[],"categories":["Network and Middleware","Packages"],"sub_categories":["Sensor and Acuator Interfaces","Driver layer"],"readme":"DISCONTINUATION OF PROJECT\n\nThis project will no longer be maintained by Intel.\n\nIntel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.  \n\nIntel no longer accepts patches to this project.\n\nIf you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.  \n\nContact: webadmin@linux.intel.com\n# ROS2 Wrapper for Intel\u0026reg; RealSense\u0026trade; Devices\nThese are packages for using Intel RealSense cameras (D400 series) with ROS2.\n\n**Note: If you want T265 supported, please check out [this branch](https://github.com/intel/ros2_intel_realsense/tree/refactor)**\n\n## Installation Instructions\n\nThe following instructions were verified with ROS2 Dashing on **Ubutnu 18.04**.\n\n### Dependencies\n#### Install ROS2 packages [ros-dashing-desktop](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians)\n\n#### Install ROS2 dependences\n  ```bash\n  sudo apt-get install ros-dashing-cv-bridge ros-dashing-librealsense2 ros-dashing-message-filters ros-dashing-image-transport\n  ```\n  Or you may install from sources:\n  * [cv_bridge](https://github.com/ros-perception/vision_opencv/tree/ros2/cv_bridge)\n  * [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense.git) Currently, we support librealsense master branch.\n  * [ros2_message_filters](https://github.com/ros2/message_filters)\n  * [ros2 image_transport](https://github.com/ros-perception/image_common/tree/ros2)\n  \n#### Install Other non-ROS debian packages\n  ```\n  sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev\n  sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev\n  ```\n  * libssl-dev\n  * libusb-1.0-0-dev\n  * pkg-config\n  * libgtk-3-dev\n  * libglfw3-dev\n  * libgl1-mesa-dev\n  * libglu1-mesa-dev\n\n### Install ros2_intel_realsense binary packages\n  ```\n  sudo apt-get install ros-dashing-realsense-camera-msgs ros-dashing-realsense-ros2-camera\n  ```\n  The ros2_intel_realsense packages installation have been completed. You could jump to [Usage Instructions](https://github.com/intel/ros2_intel_realsense#usage-instructions) for executing, you could also install ros2_intel_realsense from source for more features. \n\n### Install ros2_intel_realsense from source\n```bash\n#get code\nmkdir -p ~/ros2_ws/src\ncd ~/ros2_ws/src\ngit clone https://github.com/intel/ros2_intel_realsense.git\n\n#build\ncd ~/ros2_ws\nsource /opt/ros/dashing/setup.bash\ncolcon build --base-paths src/ros2_intel_realsense\n```\n\n## Usage Instructions\n\n### Start the camera node\nTo start the camera node in ROS2, plug in the camera, then type the following command:\n\n```bash\nsource /opt/ros/dashing/setup.bash\nsource ~/ros2_ws/install/local_setup.bash\n# To launch with \"ros2 run\"\nros2 run realsense_ros2_camera realsense_ros2_camera\n# OR, to invoke the executable directly\nrealsense_ros2_camera\n```\n\nThis will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.\n\n### Published Topics\nRectified depth image: [/camera/depth/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)\n\nColor image: [/camera/color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)\n\nRectified infra1 image: [/camera/infra1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)\n\nRectified infra2 image: [/camera/infra2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)\n\nDepth registered point cloud: [/camera/aligned_depth_to_color/color/points](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg)\n\n### Visualize Depth Aligned (i.e. Depth Registered) Point Cloud\n\nTo start the camera node in ROS2 and view the depth aligned pointcloud in rviz:\n```bash\nsource /opt/ros/dashing/setup.bash\nsource ~/ros2_ws/install/local_setup.bash\n# console #1 launch rviz2\nros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz\n# console #2 launch realsense_ros2_camera\nros2 run realsense_ros2_camera realsense_ros2_camera\n```\n\nThis will launch [RViz](http://wiki.ros.org/rviz) and display the five streams: color, depth, infra1, infra2, pointcloud.\n\n![realsense_ros2_camera visualization results](https://github.com/intel/ros2_intel_realsense/raw/master/realsense_ros2_camera/rviz/ros2_rviz.png \"realsense_ros2_camera visualization results\")\n\n### Run tests\n```Shell\ncolcon test --base-paths src/ros2_intel_realsense\n```\n\n## Known Issues\n* This ROS2 node does not currently provide any dynamic reconfigure support for camera properties/presets.\n* We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.\n\n## Todo\nA few features to be ported from the latest ROS [realsense](https://github.com/intel-ros/realsense.git)\n* Preset/Controls\n\n## License\nCopyright 2018 Intel Corporation\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this project except in compliance with the License.\nYou may obtain a copy of the License at\n\n    http://www.apache.org/licenses/LICENSE-2.0\n\nUnless required by applicable law or agreed to in writing, software\ndistributed under the License is distributed on an \"AS IS\" BASIS,\nWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\nSee the License for the specific language governing permissions and\nlimitations under the License.\n\n**Other names and brands may be claimed as the property of others*\n\nAny security issue should be reported using process at https://01.org/security\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fintel%2Fros2_intel_realsense","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fintel%2Fros2_intel_realsense","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fintel%2Fros2_intel_realsense/lists"}