장비 사용 설명서

Realsense 기기괴괴

짓호 2025. 4. 16. 20:54

그냥 Launch 파일로 켰을 때:

꼬락서니가

특급 Launch 파일로 켰을 때:

O_O;;

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>