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📹 Using RealSense Cameras in vS-Graphs

RealSense

If you want to use RealSense cameras to collect data or run vS-Graphs in the live mode, take a look at the notes below (valid for RealSense D400 Series):

⚙️ Installation

The fastest solution is to use realsense-ros wrapper, available in this link. A quick guide is also available below. Please note that this guide is prepared based on ROS2 Jazzy version of the library, compatible with vS-Graphs:

# Catkin workspace directory
mkdir -p ~/workspace/src
cd ~/workspace/src/

# Install required libraries
sudo apt-get update && apt-get install -y \
    ros-jazzy-rviz-visual-tools \
    ros-jazzy-depth-image-proc \
    ros-jazzy-backward-ros \
    ros-jazzy-rmw-cyclonedds-cpp \
    ros-jazzy-diagnostic-updater \
    ros-jazzy-pcl-ros

# Clone the repository
git clone -b ros2-master git@github.com:IntelRealSense/realsense-ros.git

# Build the workspace
cd ~/workspace/
source /opt/ros/jazzy/setup.bash && rosdep install --from-paths src --ignore-src -r -y
source /opt/ros/jazzy/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

# Run a simple test
source /opt/ros/jazzy/setup.bash && source ~/workspace/install/setup.bash
ros2 launch realsense2_camera rs_launch.py

📝 Launch File Modification

You can also modify the launch file provided for launching RealSense to capture proper topics required in vS-Graphs. A sample of such file is available here.

Alternatively, you can directly fuse proper topics while running the RealSense, as below:

ros2 launch realsense2_camera rs_launch.py \
  pointcloud.enable:=true \
  align_depth.enable:=true \
  rgb_camera.color_profile:="640,480,30" \
  depth_camera.depth_profile:="640,480,30" \
  enable_accel:=true \
  enable_gyro:=true \
  gyro_fps:=200 \
  accel_fps:=63 \
  unite_imu_method:=0

⚠️ Using Presets

RealSense D400 series contain various presets, well-adapted for different applications, such as hand gesture recognition or robotics. The argument json_file_path in the launch files described above keeps the path to these presets (if not provided, it uses the default preset). In vS-Graphs, high-accuracy preset can provide high confidence threshold value of depth and lower fill factor. You can read more about the available presets in this link.

Accordingly, you can download a preset (also available here) and set the link to the preset file as the json_file_path argument.

# (Option 1) Inside the launch file
{
  'name': 'json_file_path',
  'default': "YOUR_DOWNLOADED_FILE_PATH", # e.g., ~/HighAccuracyPreset.json
  'description': 'allows advanced configuration'
}

# (Option 2) Through arguments
ros2 launch realsense2_camera rs_launch.py json_file_path:='YOUR_DOWNLOADED_FILE_PATH'

🔨 Calibration

Generally, no calibration process is required for D400 seriers RGB cameras.

Calibrating IMU

In case you need to use the IMU sensor, you first need to calibrate it according to the guideline provided here. Accordingly, you need to run the Python Script, follow the steps shown in the terminal, and save the calibration parameters into the camera.

💽 Data Collection

The type of data fed to vS-Graphs is either a ros2 bag file or live camera feed. For recording a ros2 bag using a RealSense D400 series camera, follow the steps provided below:

  1. Make sure you have installed the required libraries for RealSense and ROS2 Jazzy.
  2. Run the using ros2 launch realsense2_camera rs_launch.launch [params].
  3. Navigate to the directory where you plan to save the ros2 bag files.
  4. Finally, run the below and record the topics of interest:
ros2 bag record /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/aligned_depth_to_color/camera_info /camera/imu