Tutorials

Launching depth_image_proc Components

While each of the components is available as a ROS 2 node, the recommended way to build pipelines is using the components as this will save overhead by not having to serialize messages between components.

from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():

    container = ComposableNodeContainer(
        name='depth_image_proc_container',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='depth_image_proc',
                plugin='depth_image_proc::PointCloudXyzrgbNode',
                name='point_cloud_xyzrgb_node',
                remappings=[
                    ('rgb/image_rect_color', 'rgb/image'),
                    ('depth_registered/image_rect', 'depth_registered/image'),
                    ('points', 'depth_registered/points'),
                ],
            ),
        ]
    )

    return LaunchDescription([container])

Using Compressed Image Transport

All of the components and nodes in depth_image_proc support image_transport. This allows a subscriber to specify the transport to be used. By default, this is raw, which means an uncompressed sensor_msgs/Image. When transmitting images over limited bandwidth networks, such as WiFi, it can be helpful to use compressed format.

For the depth images, use the depth_image_transport parameter. For setting the transport for intensity or rgb images, the image_transport parameter is used:

$ ros2 run depth_image_proc point_cloud_xyz_node --ros-args -p depth_image_transport:=compressed

Remapping camera_info Topics

See tutorial in image_pipline.