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⚙️ vS-Graphs Launch Arguments

This file documents the available launch-time arguments that can be passed when launching vS-Graphs. Default values mainly represent RealSense D435 camera settings.

📦 Default Launch Arguments

Argument Default Value Description
offline true Choose between offline (rosbag-based) and live sensor modes.
launch_rviz true Launch RViz automatically with configured visual settings.
colored_pointcloud true Apply artificial color for point clouds or use their real RGB values.
visualize_segmented_scene true Toggle the visualization of segmented scenes in RViz.
sensor_config SMapper_RealSense Choose a predefined sensor configuration
camera_frame camera Set the reference frame name for the camera.
rgb_image_topic /camera/realsense/color/image_raw Topic name for the RGB image stream.
rgb_camera_info_topic /camera/realsense/color/camera_info Topic name for RGB camera intrinsics.
depth_image_topic /camera/realsense/aligned_depth_to_color/image_raw Topic name for the aligned depth image.

To launch the system with default parameters, use the following command:

ros2 launch vs_graphs rgbd.launch.py
# Or 'rgbd-imu.launch.py' for visual-inertial version

📸 Live Mode - RealSense D435(i)

Read more about running RealSense as the live feed to vS-Graphs here.

ros2 launch vs_graphs rgbd.launch.py offline:=false

🛎️ Tip: Setting offline argument avoids TF conflicts by using live RealSense TF instead of the one from the framework.

Next, launch the RealSense camera driver:

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"
# [Optional] enable IMU data: enable_accel:=true enable_gyro:=true gyro_fps:=200 accel_fps:=63 unite_imu_method:=0

🛎️ Tip: If you intend to use IR images instead of RGB, you will need to disable the RealSense emitter. While the launch file includes related arguments, they may not always take effect. The simplest method is to open realsense-viewer and manually set Emitter Enabled to False.

🧪 Using the ICL-NUIM Dataset

To use the ICL dataset rosbags with vS-Graphs, set the appropriate parameters as shown below:

Argument Value
sensor_config ICL
rgb_image_topic /camera/color/image_raw
rgb_camera_info_topic /camera/color/camera_info
depth_image_topic /camera/depth/image_raw

Or simply launch:

ros2 launch vs_graphs rgbd.launch.py sensor_config:=ICL rgb_image_topic:=/camera/color/image_raw rgb_camera_info_topic:=/camera/color/camera_info depth_image_topic:=/camera/depth/image_raw

🧪 Using the OpenLoris Dataset

To use the OpenLoris dataset rosbags with vS-Graphs, set the appropriate parameters as shown below:

Argument Value
camera_frame d400_color
sensor_config OpenLorisScene
rgb_image_topic /d400/color/image_raw
rgb_camera_info_topic /d400/color/camera_info
depth_image_topic /d400/aligned_depth_to_color/image_raw

Or simply launch:

ros2 launch vs_graphs rgbd.launch.py sensor_config:=OpenLorisScene rgb_image_topic:=/d400/color/image_raw depth_image_topic:=/d400/aligned_depth_to_color/image_raw rgb_camera_info_topic:=/d400/color/camera_info camera_frame:=d400_color

🧪 Using the ScanNet Dataset

To use the ScanNet dataset rosbags with vS-Graphs, set the appropriate parameters as shown below:

Argument Value
sensor_config ScanNet
depth_image_topic /camera/depth/image_raw
rgb_image_topic /camera/color/image_raw
rgb_camera_info_topic /camera/color/camera_info

Or simply launch:

ros2 launch vs_graphs rgbd.launch.py sensor_config:=ScanNet depth_image_topic:=/camera/depth/image_raw rgb_image_topic:=/camera/color/image_raw rgb_camera_info_topic:=/camera/color/camera_info

🧪 Using the TUM RGB-D Dataset

To use the TUM RGB-D dataset rosbags with vS-Graphs, set the appropriate parameters as shown below:

Argument Value
camera_frame kinect
sensor_config TUM1 / TUM2 / TUM3
rgb_image_topic /camera/rgb/image_color
depth_image_topic /camera/depth/image
rgb_camera_info_topic /camera/rgb/camera_info

Or simply launch:

ros2 launch vs_graphs rgbd.launch.py rgb_image_topic:=/camera/rgb/image_color depth_image_topic:=/camera/depth/image rgb_camera_info_topic:=/camera/rgb/camera_info sensor_config:=TUM3 camera_frame:=kinect

🧪 Using the AutoSense (in-house) Dataset

To use the AutoSense dataset rosbags with vS-Graphs, set the appropriate parameters as shown below:

Argument Value
camera_frame camera
sensor_config RealSense_D435i
rgb_image_topic /camera/realsense/color/image_raw
rgb_camera_info_topic /camera/realsense/color/camera_info
depth_image_topic /camera/realsense/aligned_depth_to_color/image_raw

Or simply launch:

ros2 launch vs_graphs autosense.launch.py