realsense2_camera Namespace Reference

Classes
class	BaseRealSenseNode
struct	FrequencyDiagnostics
class	InterfaceRealSenseNode
class	NamedFilter
class	PipelineSyncer
class	RealSenseNodeFactory
class	SyncedImuPublisher
class	T265RealsenseNode
class	TemperatureDiagnostics

Typedefs
typedef std::pair< image_transport::Publisher, std::shared_ptr< FrequencyDiagnostics > >	ImagePublisherWithFrequencyDiagnostics
using	stream_index_pair = std::pair< rs2_stream, int >

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

Variables
const stream_index_pair	ACCEL {RS2_STREAM_ACCEL, 0}
const bool	ALIGN_DEPTH = false
const bool	ALLOW_NO_TEXTURE_POINTS = false
const stream_index_pair	COLOR {RS2_STREAM_COLOR, 0}
const stream_index_pair	CONFIDENCE {RS2_STREAM_CONFIDENCE, 0}
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 stream_index_pair	DEPTH {RS2_STREAM_DEPTH, 0}
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 stream_index_pair	FISHEYE {RS2_STREAM_FISHEYE, 0}
const stream_index_pair	FISHEYE1 {RS2_STREAM_FISHEYE, 1}
const stream_index_pair	FISHEYE2 {RS2_STREAM_FISHEYE, 2}
const stream_index_pair	GYRO {RS2_STREAM_GYRO, 0}
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 stream_index_pair	INFRA0 {RS2_STREAM_INFRARED, 0}
const stream_index_pair	INFRA1 {RS2_STREAM_INFRARED, 1}
const stream_index_pair	INFRA2 {RS2_STREAM_INFRARED, 2}
const bool	ORDERED_POINTCLOUD = false
const bool	POINTCLOUD = false
const stream_index_pair	POSE {RS2_STREAM_POSE, 0}
const bool	PUBLISH_ODOM_TF = true
const bool	PUBLISH_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	RS416_RGB_PID = 0x0B52
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	RS455_PID = 0x0B5C
const uint16_t	RS460_PID = 0x0b03
const uint16_t	RS465_PID = 0x0b4d
const uint16_t	RS_L515_PID = 0x0B64
const uint16_t	RS_L515_PID_PRE_PRQ = 0x0B3D
const uint16_t	RS_T265_PID = 0x0b37
const uint16_t	RS_USB2_PID = 0x0ad6
const uint16_t	SR300_PID = 0x0aa5
const uint16_t	SR300v2_PID = 0x0B48
const bool	SYNC_FRAMES = false
const double	TF_PUBLISH_RATE = 0

Typedef Documentation

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

Definition at line 53 of file base_realsense_node.h.

using realsense2_camera::stream_index_pair = typedef std::pair<rs2_stream, int>

Definition at line 98 of file constants.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 333 of file base_realsense_node.cpp.

Variable Documentation

const stream_index_pair realsense2_camera::ACCEL {RS2_STREAM_ACCEL, 0}

Definition at line 37 of file realsense_node_factory.h.

const bool realsense2_camera::ALIGN_DEPTH = false

Definition at line 44 of file constants.h.

const bool realsense2_camera::ALLOW_NO_TEXTURE_POINTS = false

Definition at line 46 of file constants.h.

const stream_index_pair realsense2_camera::COLOR {RS2_STREAM_COLOR, 0}

Definition at line 28 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::CONFIDENCE {RS2_STREAM_CONFIDENCE, 0}

Definition at line 39 of file realsense_node_factory.h.

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

Definition at line 84 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 88 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 91 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 89 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 90 of file constants.h.

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

Definition at line 70 of file constants.h.

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

Definition at line 75 of file constants.h.

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

Definition at line 82 of file constants.h.

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

Definition at line 72 of file constants.h.

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

Definition at line 79 of file constants.h.

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

Definition at line 94 of file constants.h.

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

Definition at line 76 of file constants.h.

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

Definition at line 83 of file constants.h.

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

Definition at line 85 of file constants.h.

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

Definition at line 77 of file constants.h.

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

Definition at line 86 of file constants.h.

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

Definition at line 73 of file constants.h.

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

Definition at line 80 of file constants.h.

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

Definition at line 74 of file constants.h.

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

Definition at line 81 of file constants.h.

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

Definition at line 71 of file constants.h.

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

Definition at line 95 of file constants.h.

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

Definition at line 93 of file constants.h.

const stream_index_pair realsense2_camera::DEPTH {RS2_STREAM_DEPTH, 0}

Definition at line 29 of file realsense_node_factory.h.

const bool realsense2_camera::ENABLE_COLOR = true

Definition at line 63 of file constants.h.

const bool realsense2_camera::ENABLE_DEPTH = true

Definition at line 60 of file constants.h.

const bool realsense2_camera::ENABLE_FISHEYE = true

Definition at line 64 of file constants.h.

const bool realsense2_camera::ENABLE_IMU = true

Definition at line 65 of file constants.h.

const bool realsense2_camera::ENABLE_INFRA1 = true

Definition at line 61 of file constants.h.

const bool realsense2_camera::ENABLE_INFRA2 = true

Definition at line 62 of file constants.h.

const stream_index_pair realsense2_camera::FISHEYE {RS2_STREAM_FISHEYE, 0}

Definition at line 33 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::FISHEYE1 {RS2_STREAM_FISHEYE, 1}

Definition at line 34 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::FISHEYE2 {RS2_STREAM_FISHEYE, 2}

Definition at line 35 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::GYRO {RS2_STREAM_GYRO, 0}

Definition at line 36 of file realsense_node_factory.h.

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

Definition at line 46 of file realsense_node_factory.h.

const bool realsense2_camera::HOLD_BACK_IMU_FOR_FRAMES = false

Definition at line 66 of file constants.h.

const int realsense2_camera::IMAGE_FPS = 30

Definition at line 55 of file constants.h.

const int realsense2_camera::IMAGE_HEIGHT = 480

Definition at line 54 of file constants.h.

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

Initial value:

= {DEPTH, INFRA0, INFRA1, INFRA2,
                                                          COLOR,
                                                          FISHEYE,
                                                          FISHEYE1, FISHEYE2, CONFIDENCE}

Definition at line 41 of file realsense_node_factory.h.

const int realsense2_camera::IMAGE_WIDTH = 640

Definition at line 53 of file constants.h.

const int realsense2_camera::IMU_FPS = 0

Definition at line 57 of file constants.h.

const stream_index_pair realsense2_camera::INFRA0 {RS2_STREAM_INFRARED, 0}

Definition at line 30 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::INFRA1 {RS2_STREAM_INFRARED, 1}

Definition at line 31 of file realsense_node_factory.h.

const stream_index_pair realsense2_camera::INFRA2 {RS2_STREAM_INFRARED, 2}

Definition at line 32 of file realsense_node_factory.h.

const bool realsense2_camera::ORDERED_POINTCLOUD = false

Definition at line 47 of file constants.h.

const bool realsense2_camera::POINTCLOUD = false

Definition at line 45 of file constants.h.

const stream_index_pair realsense2_camera::POSE {RS2_STREAM_POSE, 0}

Definition at line 38 of file realsense_node_factory.h.

const bool realsense2_camera::PUBLISH_ODOM_TF = true

Definition at line 67 of file constants.h.

const bool realsense2_camera::PUBLISH_TF = true

Definition at line 50 of file constants.h.

const float realsense2_camera::ROS_DEPTH_SCALE = 0.001

Definition at line 97 of file constants.h.

const uint16_t realsense2_camera::RS400_MM_PID = 0x0b00

Definition at line 30 of file constants.h.

const uint16_t realsense2_camera::RS400_PID = 0x0ad1

Definition at line 21 of file constants.h.

const uint16_t realsense2_camera::RS405_PID = 0x0b0c

Definition at line 37 of file constants.h.

const uint16_t realsense2_camera::RS410_MM_PID = 0x0aff

Definition at line 29 of file constants.h.

const uint16_t realsense2_camera::RS410_PID = 0x0ad2

Definition at line 22 of file constants.h.

const uint16_t realsense2_camera::RS415_PID = 0x0ad3

Definition at line 23 of file constants.h.

const uint16_t realsense2_camera::RS416_RGB_PID = 0x0B52

Definition at line 36 of file constants.h.

const uint16_t realsense2_camera::RS420_MM_PID = 0x0afe

Definition at line 28 of file constants.h.

const uint16_t realsense2_camera::RS420_PID = 0x0af6

Definition at line 27 of file constants.h.

const uint16_t realsense2_camera::RS430_MM_PID = 0x0ad5

Definition at line 25 of file constants.h.

const uint16_t realsense2_camera::RS430_MM_RGB_PID = 0x0b01

Definition at line 31 of file constants.h.

const uint16_t realsense2_camera::RS430_PID = 0x0ad4

Definition at line 24 of file constants.h.

const uint16_t realsense2_camera::RS435_RGB_PID = 0x0b07

Definition at line 33 of file constants.h.

const uint16_t realsense2_camera::RS435i_RGB_PID = 0x0B3A

Definition at line 34 of file constants.h.

const uint16_t realsense2_camera::RS455_PID = 0x0B5C

Definition at line 38 of file constants.h.

const uint16_t realsense2_camera::RS460_PID = 0x0b03

Definition at line 32 of file constants.h.

const uint16_t realsense2_camera::RS465_PID = 0x0b4d

Definition at line 35 of file constants.h.

const uint16_t realsense2_camera::RS_L515_PID = 0x0B64

Definition at line 41 of file constants.h.

const uint16_t realsense2_camera::RS_L515_PID_PRE_PRQ = 0x0B3D

Definition at line 40 of file constants.h.

const uint16_t realsense2_camera::RS_T265_PID = 0x0b37

Definition at line 39 of file constants.h.

const uint16_t realsense2_camera::RS_USB2_PID = 0x0ad6

Definition at line 26 of file constants.h.

const uint16_t realsense2_camera::SR300_PID = 0x0aa5

Definition at line 19 of file constants.h.

const uint16_t realsense2_camera::SR300v2_PID = 0x0B48

Definition at line 20 of file constants.h.

const bool realsense2_camera::SYNC_FRAMES = false

Definition at line 48 of file constants.h.

const double realsense2_camera::TF_PUBLISH_RATE = 0

Definition at line 51 of file constants.h.