Classes
class	BaseRealSenseNode
struct	FrequencyDiagnostics
class	InterfaceRealSenseNode
class	NamedFilter
class	PipelineSyncer
class	RealSenseNodeFactory
class	SyncedImuPublisher
class	T265RealsenseNode
Typedefs
typedef std::pair < image_transport::Publisher, std::shared_ptr < FrequencyDiagnostics > >	ImagePublisherWithFrequencyDiagnostics
Functions
template<typename K , typename V >
std::ostream &	operator<< (std::ostream &os, const std::map< K, V > &m)
Variables
const bool	ALIGN_DEPTH = false
const bool	ALLOW_NO_TEXTURE_POINTS = false
const std::string	DEFAULT_ACCEL_OPTICAL_FRAME_ID = "camera_accel_optical_frame"
const std::string	DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID = "camera_aligned_depth_to_color_frame"
const std::string	DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID = "camera_aligned_depth_to_fisheye_frame"
const std::string	DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID = "camera_aligned_depth_to_infra1_frame"
const std::string	DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID = "camera_aligned_depth_to_infra2_frame"
const std::string	DEFAULT_BASE_FRAME_ID = "camera_link"
const std::string	DEFAULT_COLOR_FRAME_ID = "camera_color_frame"
const std::string	DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_color_optical_frame"
const std::string	DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"
const std::string	DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"
const std::string	DEFAULT_FILTERS = ""
const std::string	DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame"
const std::string	DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame"
const std::string	DEFAULT_GYRO_OPTICAL_FRAME_ID = "camera_gyro_optical_frame"
const std::string	DEFAULT_IMU_FRAME_ID = "camera_imu_frame"
const std::string	DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame"
const std::string	DEFAULT_INFRA1_FRAME_ID = "camera_infra1_frame"
const std::string	DEFAULT_INFRA1_OPTICAL_FRAME_ID = "camera_infra1_optical_frame"
const std::string	DEFAULT_INFRA2_FRAME_ID = "camera_infra2_frame"
const std::string	DEFAULT_INFRA2_OPTICAL_FRAME_ID = "camera_infra2_optical_frame"
const std::string	DEFAULT_ODOM_FRAME_ID = "odom_frame"
const std::string	DEFAULT_TOPIC_ODOM_IN = ""
const std::string	DEFAULT_UNITE_IMU_METHOD = ""
const bool	ENABLE_COLOR = true
const bool	ENABLE_DEPTH = true
const bool	ENABLE_FISHEYE = true
const bool	ENABLE_IMU = true
const bool	ENABLE_INFRA1 = true
const bool	ENABLE_INFRA2 = true
const std::vector < stream_index_pair >	HID_STREAMS = {GYRO, ACCEL, POSE}
const bool	HOLD_BACK_IMU_FOR_FRAMES = false
const int	IMAGE_FPS = 30
const int	IMAGE_HEIGHT = 480
const std::vector < stream_index_pair >	IMAGE_STREAMS
const int	IMAGE_WIDTH = 640
const int	IMU_FPS = 0
const bool	POINTCLOUD = false
const bool	PUBLISH_ODOM_TF = true
const float	ROS_DEPTH_SCALE = 0.001
const uint16_t	RS400_MM_PID = 0x0b00
const uint16_t	RS400_PID = 0x0ad1
const uint16_t	RS405_PID = 0x0b0c
const uint16_t	RS410_MM_PID = 0x0aff
const uint16_t	RS410_PID = 0x0ad2
const uint16_t	RS415_PID = 0x0ad3
const uint16_t	RS420_MM_PID = 0x0afe
const uint16_t	RS420_PID = 0x0af6
const uint16_t	RS430_MM_PID = 0x0ad5
const uint16_t	RS430_MM_RGB_PID = 0x0b01
const uint16_t	RS430_PID = 0x0ad4
const uint16_t	RS435_RGB_PID = 0x0b07
const uint16_t	RS435i_RGB_PID = 0x0B3A
const uint16_t	RS460_PID = 0x0b03
const uint16_t	RS_T265_PID = 0x0b37
const uint16_t	RS_USB2_PID = 0x0ad6
const uint16_t	SR300_PID = 0x0aa5
const bool	SYNC_FRAMES = false

Typedef Documentation

typedef std::pair<image_transport::Publisher, std::shared_ptr<FrequencyDiagnostics> > realsense2_camera::ImagePublisherWithFrequencyDiagnostics

Definition at line 47 of file base_realsense_node.h.

Function Documentation

template<typename K , typename V >

std::ostream& realsense2_camera::operator<<	(	std::ostream &	os,
		const std::map< K, V > &	m
	)

Definition at line 229 of file base_realsense_node.cpp.

Variable Documentation

const bool realsense2_camera::ALIGN_DEPTH = false

Definition at line 38 of file constants.h.

const bool realsense2_camera::ALLOW_NO_TEXTURE_POINTS = false

Definition at line 40 of file constants.h.

const std::string realsense2_camera::DEFAULT_ACCEL_OPTICAL_FRAME_ID = "camera_accel_optical_frame"

Definition at line 74 of file constants.h.

const std::string realsense2_camera::DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID = "camera_aligned_depth_to_color_frame"

Definition at line 78 of file constants.h.

const std::string realsense2_camera::DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID = "camera_aligned_depth_to_fisheye_frame"

Definition at line 81 of file constants.h.

const std::string realsense2_camera::DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID = "camera_aligned_depth_to_infra1_frame"

Definition at line 79 of file constants.h.

const std::string realsense2_camera::DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID = "camera_aligned_depth_to_infra2_frame"

Definition at line 80 of file constants.h.

const std::string realsense2_camera::DEFAULT_BASE_FRAME_ID = "camera_link"

Definition at line 60 of file constants.h.

const std::string realsense2_camera::DEFAULT_COLOR_FRAME_ID = "camera_color_frame"

Definition at line 65 of file constants.h.

const std::string realsense2_camera::DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_color_optical_frame"

Definition at line 72 of file constants.h.

const std::string realsense2_camera::DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"

Definition at line 62 of file constants.h.

const std::string realsense2_camera::DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"

Definition at line 69 of file constants.h.

const std::string realsense2_camera::DEFAULT_FILTERS = ""

Definition at line 84 of file constants.h.

const std::string realsense2_camera::DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame"

Definition at line 66 of file constants.h.

const std::string realsense2_camera::DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame"

Definition at line 73 of file constants.h.

const std::string realsense2_camera::DEFAULT_GYRO_OPTICAL_FRAME_ID = "camera_gyro_optical_frame"

Definition at line 75 of file constants.h.

const std::string realsense2_camera::DEFAULT_IMU_FRAME_ID = "camera_imu_frame"

Definition at line 67 of file constants.h.

const std::string realsense2_camera::DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame"

Definition at line 76 of file constants.h.

const std::string realsense2_camera::DEFAULT_INFRA1_FRAME_ID = "camera_infra1_frame"

Definition at line 63 of file constants.h.

const std::string realsense2_camera::DEFAULT_INFRA1_OPTICAL_FRAME_ID = "camera_infra1_optical_frame"

Definition at line 70 of file constants.h.

const std::string realsense2_camera::DEFAULT_INFRA2_FRAME_ID = "camera_infra2_frame"

Definition at line 64 of file constants.h.

const std::string realsense2_camera::DEFAULT_INFRA2_OPTICAL_FRAME_ID = "camera_infra2_optical_frame"

Definition at line 71 of file constants.h.

const std::string realsense2_camera::DEFAULT_ODOM_FRAME_ID = "odom_frame"

Definition at line 61 of file constants.h.

const std::string realsense2_camera::DEFAULT_TOPIC_ODOM_IN = ""

Definition at line 85 of file constants.h.

const std::string realsense2_camera::DEFAULT_UNITE_IMU_METHOD = ""

Definition at line 83 of file constants.h.

const bool realsense2_camera::ENABLE_COLOR = true

Definition at line 53 of file constants.h.

const bool realsense2_camera::ENABLE_DEPTH = true

Definition at line 50 of file constants.h.

const bool realsense2_camera::ENABLE_FISHEYE = true

Definition at line 54 of file constants.h.

const bool realsense2_camera::ENABLE_IMU = true

Definition at line 55 of file constants.h.

const bool realsense2_camera::ENABLE_INFRA1 = true

Definition at line 51 of file constants.h.

const bool realsense2_camera::ENABLE_INFRA2 = true

Definition at line 52 of file constants.h.

const std::vector<stream_index_pair> realsense2_camera::HID_STREAMS = {GYRO, ACCEL, POSE}

Definition at line 43 of file realsense_node_factory.h.

const bool realsense2_camera::HOLD_BACK_IMU_FOR_FRAMES = false

Definition at line 56 of file constants.h.

const int realsense2_camera::IMAGE_FPS = 30

Definition at line 45 of file constants.h.

const int realsense2_camera::IMAGE_HEIGHT = 480

Definition at line 44 of file constants.h.

const std::vector<stream_index_pair> realsense2_camera::IMAGE_STREAMS

Initial value:

 {DEPTH, INFRA1, INFRA2,
                                                          COLOR,
                                                          FISHEYE,
                                                          FISHEYE1, FISHEYE2}

Definition at line 38 of file realsense_node_factory.h.

const int realsense2_camera::IMAGE_WIDTH = 640

Definition at line 43 of file constants.h.

const int realsense2_camera::IMU_FPS = 0

Definition at line 47 of file constants.h.

const bool realsense2_camera::POINTCLOUD = false

Definition at line 39 of file constants.h.

const bool realsense2_camera::PUBLISH_ODOM_TF = true

Definition at line 57 of file constants.h.

const float realsense2_camera::ROS_DEPTH_SCALE = 0.001

Definition at line 87 of file constants.h.

const uint16_t realsense2_camera::RS400_MM_PID = 0x0b00