C++ API

Class Hierarchy

• • Namespace realsense2_camera
    • Class AlignDepthFilter
    • Class BaseRealSenseNode
      • Class BaseRealSenseNode::CimuData
      • Class BaseRealSenseNode::float3
    • Class FrequencyDiagnostics
    • Class image_publisher
    • Class image_rcl_publisher
    • Class image_transport_publisher
    • Class MotionProfilesManager
    • Class NamedFilter
    • Class Parameters
    • Class ParametersBackend
    • Class PipelineSyncer
    • Class PointcloudFilter
    • Class ProfilesManager
    • Class RealSenseNodeFactory
    • Class RosSensor
    • Class SensorParams
    • Class SyncedImuPublisher
    • Class VideoProfilesManager

File Hierarchy

• • Directory include
    • File base_realsense_node.h
    • File constants.h
    • File dynamic_params.h
    • File gl_window.h
    • File image_publisher.h
    • File named_filter.h
    • File profile_manager.h
    • File realsense_node_factory.h
    • File ros_param_backend.h
    • File ros_sensor.h
    • File ros_utils.h
    • File sensor_params.h

Full C++ API

Namespaces

• Namespace rclcpp

• Namespace realsense2_camera

• Namespace rs2

Classes and Structs

• Class AlignDepthFilter

• Class BaseRealSenseNode

• Class BaseRealSenseNode::CimuData

• Class BaseRealSenseNode::float3

• Class FrequencyDiagnostics

• Class image_publisher

• Class image_rcl_publisher

• Class image_transport_publisher

• Class MotionProfilesManager

• Class NamedFilter

• Class Parameters

• Class ParametersBackend

• Class PipelineSyncer

• Class PointcloudFilter

• Class ProfilesManager

• Class RealSenseNodeFactory

• Class RosSensor

• Class SensorParams

• Class SyncedImuPublisher

• Class VideoProfilesManager

Functions

• Function realsense2_camera::create_graph_resource_name

• Function realsense2_camera::isValidCharInName

• Function realsense2_camera::list_available_qos_strings

• Function realsense2_camera::qos_string_to_qos

• Function realsense2_camera::ros_stream_to_string

• Function realsense2_camera::rs2_to_ros

• Function realsense2_camera::string_to_rs2_format

Variables

• Variable realsense2_camera::ACCEL

• Variable realsense2_camera::ALLOW_NO_TEXTURE_POINTS

• Variable realsense2_camera::COLOR

• Variable realsense2_camera::DEFAULT_BASE_FRAME_ID

• Variable realsense2_camera::DEFAULT_IMU_OPTICAL_FRAME_ID

• Variable realsense2_camera::DEFAULT_QOS

• Variable realsense2_camera::DEPTH

• Variable realsense2_camera::DIAGNOSTICS_PERIOD

• Variable realsense2_camera::ENABLE_RGBD

• Variable realsense2_camera::GYRO

• Variable realsense2_camera::HID_QOS

• Variable realsense2_camera::HOLD_BACK_IMU_FOR_FRAMES

• Variable realsense2_camera::IMAGE_QOS

• Variable realsense2_camera::INFRA0

• Variable realsense2_camera::INFRA1

• Variable realsense2_camera::INFRA2

• Variable realsense2_camera::ORDERED_PC

• Variable realsense2_camera::PUBLISH_TF

• Variable realsense2_camera::rmw_qos_profile_latched

• Variable realsense2_camera::ROS_DEPTH_SCALE

• Variable realsense2_camera::RS400_MM_PID

• Variable realsense2_camera::RS400_PID

• Variable realsense2_camera::RS405_PID

• Variable realsense2_camera::RS410_MM_PID

• Variable realsense2_camera::RS410_PID

• Variable realsense2_camera::RS415_PID

• Variable realsense2_camera::RS416_RGB_PID

• Variable realsense2_camera::RS420_MM_PID

• Variable realsense2_camera::RS420_PID

• Variable realsense2_camera::RS430_MM_PID

• Variable realsense2_camera::RS430_MM_RGB_PID

• Variable realsense2_camera::RS430_PID

• Variable realsense2_camera::RS430i_PID

• Variable realsense2_camera::RS435_RGB_PID

• Variable realsense2_camera::RS435i_RGB_PID

• Variable realsense2_camera::RS455_PID

• Variable realsense2_camera::RS457_PID

• Variable realsense2_camera::RS460_PID

• Variable realsense2_camera::RS_USB2_PID

• Variable realsense2_camera::SYNC_FRAMES

• Variable realsense2_camera::TF_PUBLISH_RATE

Defines

• Define ALIGNED_DEPTH_TO_FRAME_ID

• Define FRAME_ID

• Define IMU_FRAME_ID

• Define IMU_OPTICAL_FRAME_ID

• Define OPTICAL_FRAME_ID

• Define REALSENSE_ROS_MAJOR_VERSION

• Define REALSENSE_ROS_MINOR_VERSION

• Define REALSENSE_ROS_PATCH_VERSION

• Define REALSENSE_ROS_VERSION_STR

• Define ROS_DEBUG

• Define ROS_DEBUG_STREAM

• Define ROS_DEBUG_STREAM_ONCE

• Define ROS_ERROR

• Define ROS_ERROR_STREAM

• Define ROS_FATAL_STREAM

• Define ROS_INFO

• Define ROS_INFO_STREAM

• Define ROS_INFO_STREAM_ONCE

• Define ROS_WARN

• Define ROS_WARN_COND

• Define ROS_WARN_ONCE

• Define ROS_WARN_STREAM

• Define ROS_WARN_STREAM_COND

• Define STREAM_NAME

• Define STRINGIFY

• Define VAR_ARG_STRING

Typedefs

• Typedef realsense2_camera::stream_index_pair

Directories

• Directory include

Files

• File base_realsense_node.h

• File constants.h

• File dynamic_params.h

• File gl_window.h

• File image_publisher.h

• File named_filter.h

• File profile_manager.h

• File realsense_node_factory.h

• File ros_param_backend.h

• File ros_sensor.h

• File ros_utils.h

• File sensor_params.h