存在问题: Intel RealSense D435相机,运行 rs_camera.launch驱动后,在RVIZ中不显示点云.
->若强行添加PointCloud2的插件,并且订阅相机发布的Depth的Topic, 在Console中会报错:
[ERROR] 1260927377.348922000: Received error message in header for connection to [TCPROS connection to [10.0.0.136:39531 on socket 17]]: [Client [/image_view_1260927377013984000] wants topic /image/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection.]
-> 解决方法:
1.在rs_camera.launch文件中,修改以下内容即可开启点云发布功能,之后再次运行rs_camera.launch文件,即可在RVIZ中订阅格式为PointCloud2的点云,同时,以下代码也将点云修改为单色点云, 以节省计算资源.
<!-- Intel Realsense D435 driver -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="pointcloud_texture_stream" default="RS2_STREAM_ANY"/>
<arg name="enable_pointcloud" default="true"/>
<arg name="enable_color" default="false"/>
<arg name="enable_depth" default="true"/>
<arg name="enable_infra2" default="false"/>
<arg name="enable_infra1" default="false"/>
<arg name="align_depth" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
</include>
2. 在RVIZ中订阅Pointcloud2格式的点云时,需要将RVIZ的reference frame修改为 camera_depth_optical_frame/camera_depth_frame,以便显示点云.
另附IntelRealsense相机ROS相关官方支持网页,里面的内容比较全,可以用来日常资料检查:
IntelRealSense ROS
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