장비 사용 설명서
Realsense 기기괴괴
짓호
2025. 4. 16. 20:54
그냥 Launch 파일로 켰을 때:
특급 Launch 파일로 켰을 때:
json
{
"device": {
"fw version": "05.13.00.50",
"name": "Intel RealSense D435I",
"product line": "D400"
},
"parameters": {
"aux-param-autoexposure-setpoint": "1536",
"aux-param-colorcorrection1": "0.298828",
"aux-param-colorcorrection10": "-0",
"aux-param-colorcorrection11": "-0",
"aux-param-colorcorrection12": "-0",
"aux-param-colorcorrection2": "0.293945",
"aux-param-colorcorrection3": "0.293945",
"aux-param-colorcorrection4": "0.114258",
"aux-param-colorcorrection5": "-0",
"aux-param-colorcorrection6": "-0",
"aux-param-colorcorrection7": "-0",
"aux-param-colorcorrection8": "-0",
"aux-param-colorcorrection9": "-0",
"aux-param-depthclampmax": "65536",
"aux-param-depthclampmin": "0",
"aux-param-disparityshift": "0",
"controls-autoexposure-auto": "True",
"controls-autoexposure-manual": "8500",
"controls-color-autoexposure-auto": "True",
"controls-color-autoexposure-manual": "166",
"controls-color-backlight-compensation": "0",
"controls-color-brightness": "0",
"controls-color-contrast": "50",
"controls-color-gain": "64",
"controls-color-gamma": "300",
"controls-color-hue": "0",
"controls-color-power-line-frequency": "3",
"controls-color-saturation": "64",
"controls-color-sharpness": "50",
"controls-color-white-balance-auto": "True",
"controls-color-white-balance-manual": "4600",
"controls-depth-gain": "16",
"controls-laserpower": "150",
"controls-laserstate": "off",
"ignoreSAD": "0",
"param-amplitude-factor": "0",
"param-autoexposure-setpoint": "1536",
"param-censusenablereg-udiameter": "9",
"param-censusenablereg-vdiameter": "9",
"param-censususize": "9",
"param-censusvsize": "9",
"param-depthclampmax": "65536",
"param-depthclampmin": "0",
"param-depthunits": "1000",
"param-disableraucolor": "0",
"param-disablesadcolor": "0",
"param-disablesadnormalize": "0",
"param-disablesloleftcolor": "0",
"param-disableslorightcolor": "0",
"param-disparitymode": "0",
"param-disparityshift": "0",
"param-lambdaad": "800",
"param-lambdacensus": "26",
"param-leftrightthreshold": "24",
"param-maxscorethreshb": "2047",
"param-medianthreshold": "500",
"param-minscorethresha": "1",
"param-neighborthresh": "7",
"param-raumine": "1",
"param-rauminn": "1",
"param-rauminnssum": "3",
"param-raumins": "1",
"param-rauminw": "1",
"param-rauminwesum": "3",
"param-regioncolorthresholdb": "0.0499022",
"param-regioncolorthresholdg": "0.0499022",
"param-regioncolorthresholdr": "0.0499022",
"param-regionshrinku": "3",
"param-regionshrinkv": "1",
"param-robbinsmonrodecrement": "10",
"param-robbinsmonroincrement": "10",
"param-rsmdiffthreshold": "4",
"param-rsmrauslodiffthreshold": "1",
"param-rsmremovethreshold": "0.375",
"param-scanlineedgetaub": "72",
"param-scanlineedgetaug": "72",
"param-scanlineedgetaur": "72",
"param-scanlinep1": "60",
"param-scanlinep1onediscon": "105",
"param-scanlinep1twodiscon": "70",
"param-scanlinep2": "342",
"param-scanlinep2onediscon": "190",
"param-scanlinep2twodiscon": "130",
"param-secondpeakdelta": "325",
"param-texturecountthresh": "0",
"param-texturedifferencethresh": "0",
"param-usersm": "1",
"param-zunits": "1000"
},
"schema version": 1,
"viewer": {
"stream-fps": "30",
"stream-height": "480",
"stream-ir-format": "R8L8",
"stream-width": "640"
}
launch
<launch>
<arg name="serial_no_camera" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="json_file_path_laser_off" default="/home/quad/ros/device_ws/src/realsense-ros-2.3.2/realsense2_camera/launch/Go1.json"/>
<arg name="camera" default="go1_d435"/>
<arg name="tf_prefix_camera" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="output" default="screen"/>
<arg name="respawn" default="false"/>
<arg name="fisheye_width" default="-1"/>
<arg name="fisheye_height" default="-1"/>
<arg name="enable_fisheye" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
<arg name="confidence_width" default="-1"/>
<arg name="confidence_height" default="-1"/>
<arg name="enable_confidence" default="true"/>
<arg name="confidence_fps" default="-1"/>
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra" default="true"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra2" default="true"/>
<arg name="infra_rgb" default="false"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
<arg name="fisheye_fps" default="-1"/>
<arg name="depth_fps" default="15"/>
<arg name="infra_fps" default="15"/>
<arg name="color_fps" default="15"/>
<arg name="gyro_fps" default="-1"/>
<arg name="accel_fps" default="-1"/>
<arg name="enable_gyro" default="false"/>
<arg name="enable_accel" default="false"/>
<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_INFRARED"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="allow_no_texture_points" default="false"/>
<arg name="ordered_pc" default="false"/>
<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="0"/>
<arg name="filters" default=""/>
<arg name="clip_distance" default="-2"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="reconnect_timeout" default="6.0"/>
<arg name="wait_for_device_timeout" default="-1.0"/>
<arg name="unite_imu_method" default=""/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="stereo_module/exposure/1" default="7500"/>
<arg name="stereo_module/gain/1" default="16"/>
<arg name="stereo_module/exposure/2" default="1"/>
<arg name="stereo_module/gain/2" default="16"/>
<group ns="$(arg camera)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="tf_prefix" value="$(arg tf_prefix_camera)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="output" value="$(arg output)"/>
<arg name="respawn" value="$(arg respawn)"/>
<arg name="serial_no" value="$(arg serial_no_camera)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="device_type" value="$(arg device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path_laser_off)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="fisheye_width" value="$(arg fisheye_width)"/>
<arg name="fisheye_height" value="$(arg fisheye_height)"/>
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="confidence_width" value="$(arg confidence_width)"/>
<arg name="confidence_height" value="$(arg confidence_height)"/>
<arg name="enable_confidence" value="$(arg enable_confidence)"/>
<arg name="confidence_fps" value="$(arg confidence_fps)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra" value="$(arg enable_infra)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra2" value="$(arg enable_infra2)"/>
<arg name="infra_rgb" value="$(arg infra_rgb)"/>
<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>
<arg name="publish_tf" value="$(arg publish_tf)"/>
<arg name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<arg name="filters" value="$(arg filters)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/>
<arg name="wait_for_device_timeout" value="$(arg wait_for_device_timeout)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<arg name="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/>
<arg name="stereo_module/gain/1" value="$(arg stereo_module/gain/1)"/>
<arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/>
<arg name="stereo_module/gain/2" value="$(arg stereo_module/gain/2)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
<arg name="ordered_pc" value="$(arg ordered_pc)"/>
</include>
</group>
</launch>