[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2 Intel® RealSense™ RGB-D Camera - Initial Release

[Sharron LIU]

Hi All,
Were happy to announce the initial release of [ros2_intel_realsense](https://github.com/intel/ros2_intel_realsense), a ROS2 package for Intel RealSense D400 series RGB-D camera. This node, derived from its ROS package [realsense_ros_camera](https://github.com/intel-ros/realsense/tree/2.0.1) (tag v2.0.1), publishes ROS2 topics for **depth** images, **color** images, **infrared** (left/right) images, and **RGB-D PointCloud2** images. It provides below features, verified with [ROS2 Ardent Apalone](https://github.com/ros2/ros2/wiki/Release-Ardent-Apalone) release, and visible via rviz and [ros1_bridge](https://github.com/ros2/ros1_bridge/blob/master/README.md):

* Publishing ROS2 messages on the topics of
  * [/camera/depth/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
  * [/camera/color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
  * [/camera/infra1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
  * [/camera/infra2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
  * [/camera/depth/color/points](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg)
* Sharing same topics name in both ROS2 and ROS
* Sharing same version of native driver, [Intel RealSense SDK 2.0](https://github.com/IntelRealSense/librealsense/tree/v2.9.1) (tag v2.9.1), in both ROS2 and ROS

Even though [ROS Image Pipeline](http://wiki.ros.org/image_pipeline) still absence in ROS2, RGB-D point cloud is supported in this release, thanks to a built-in algorithm in the ROS/ROS2 Realsense node, with color image registered to depth camera.
![ros2|690x351](upload://9jSxYUOUC68Z5ejcgoeukBoxG34.png)

Have a try and feel free to contribute in our github. Thanks!





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