https://ess-wiki.advantech.com.tw/wiki/index.php?action=history&feed=atom&title=Advantech_Robotic_Suite%2FContainer%2Frealsense_ROS_Container
Advantech Robotic Suite/Container/realsense ROS Container - Revision history
2026-05-05T11:43:30Z
Revision history for this page on the wiki
MediaWiki 1.28.3
https://ess-wiki.advantech.com.tw/wiki/index.php?title=Advantech_Robotic_Suite/Container/realsense_ROS_Container&diff=37542&oldid=prev
Ray.zheng at 09:02, 11 December 2024
2024-12-11T09:02:45Z
<p></p>
<table class="diff diff-contentalign-left" data-mw="interface">
<col class='diff-marker' />
<col class='diff-content' />
<col class='diff-marker' />
<col class='diff-content' />
<tr style='vertical-align: top;' lang='en'>
<td colspan='2' style="background-color: white; color:black; text-align: center;">← Older revision</td>
<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 09:02, 11 December 2024</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l14" >Line 14:</td>
<td colspan="2" class="diff-lineno">Line 14:</td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>=== Modify config file ===</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>=== Modify config file ===</div></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">* realsense config file</del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">This file can be used to configure the camera's parameter. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.</del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"><syntaxhighlight lang="bash"></del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/params_1.yaml</del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"></syntaxhighlight></del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"></del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* realsense launch file</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* realsense launch file</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>This file can be used to configure how to launch realsense ros2 node. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>This file can be used to configure how to launch realsense ros2 node. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight lang="bash"></div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight lang="bash"></div></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/<del class="diffchange diffchange-inline">camera.launch</del>.py</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/<ins class="diffchange diffchange-inline">rs_launch</ins>.py</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div><br></div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div><br></div></td></tr>
</table>
Ray.zheng
https://ess-wiki.advantech.com.tw/wiki/index.php?title=Advantech_Robotic_Suite/Container/realsense_ROS_Container&diff=37540&oldid=prev
Ray.zheng: Created page with "= RealSense ROS Container = This container provides a ready-to-use ROS node for Intel RealSense cameras, simplifying the conversion of depth, color, and point cloud data into..."
2024-12-11T08:59:04Z
<p>Created page with "= RealSense ROS Container = This container provides a ready-to-use ROS node for Intel RealSense cameras, simplifying the conversion of depth, color, and point cloud data into..."</p>
<p><b>New page</b></p><div>= RealSense ROS Container =<br />
<br />
This container provides a ready-to-use ROS node for Intel RealSense cameras, simplifying the conversion of depth, color, and point cloud data into ROS2 messages. <br />
<br />
== How To ==<br />
<br />
=== Download and install container ===<br />
<syntaxhighlight lang="bash"><br />
$ wget https://iedgeblob.blob.core.windows.net/iedge-public/robotic_suite_extention_container/realsense-ros2-humble-1.0.0-Ubuntu_x86.run<br />
$ chmod +x realsense-ros2-humble-1.0.0-Ubuntu_x86.run<br />
$ sudo ./realsense-ros2-humble-1.0.0-Ubuntu_x86.run<br />
</syntaxhighlight><br />
<br><br />
<br />
=== Modify config file ===<br />
* realsense config file<br />
This file can be used to configure the camera's parameter. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.<br />
<syntaxhighlight lang="bash"><br />
$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/params_1.yaml<br />
</syntaxhighlight><br />
<br />
* realsense launch file<br />
This file can be used to configure how to launch realsense ros2 node. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.<br />
<syntaxhighlight lang="bash"><br />
$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/camera.launch.py<br />
</syntaxhighlight><br />
<br><br />
<br />
=== Start docker container ===<br />
'''Step1: Launch the docker container of realsense-ros2-humble'''<br />
<syntaxhighlight lang="bash"><br />
$ cd /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble<br />
$ ./launch.sh<br />
</syntaxhighlight><br />
<br />
'''Step2: Launch rviz2 in [[Advantech Robotic Suite/Container/Utility ROS Container#Launch_RViz2|util-ros2-humble]] container'''<br />
<syntaxhighlight lang="bash"><br />
$ cd /usr/local/Advantech/ros/container/docker<br />
$ ./launch.sh util-ros2-humble<br />
$ docker exec -it util-ros2-humble bash<br />
$ rviz2<br />
</syntaxhighlight><br />
[[File:ROS2 realsense rviz.png|none|ROS2 realsense rviz]]<br />
&nbsp;<br />
<br><br />
<br />
=== Quick start script ===<br />
A quickstart script for launch realsense node and RViz2. Users can customize this script for their own projects.<br />
<syntaxhighlight lang="bash"><br />
$ cd /usr/local/Advantech/ros/container/docker/user-quick-scripts<br />
$ ./realsense_rviz2.sh<br />
</syntaxhighlight></div>
Ray.zheng