- Ubuntu 22.04
- ROS 2 Humble
In your workspace, you should have the realsense-ros package in your src folder. Clone this repository into the same src folder and run colcon build in your workspace directory.
Edit multi_camera_launch.py where required.
ros2 launch realsense_camera_stats multi_camera_launch.py should work... I'll make a more detailed README when I'm not as busy D:
Running ROS2 params to find out all the configurations you can set in the launch file:
ros2 param describe <node> depth_module.profile
ros2 param describe <node> rgb_camera.profile
and we will find these configurations:
| Resolution | Frame Rate (fps) | Available In |
|---|---|---|
| 1280x720 | 5, 10*, 15, 30 | Both (*RGB Camera only) |
| 1280x800 | 5, 10*, 15, 25*, 30 | Both (*RGB Camera only) |
| 256x144 | 90 | Depth Module only |
| 424x240 | 5, 15, 30, 60, 90 | Both |
| 480x270 | 5, 15, 30, 60, 90 | Both |
| 640x360 | 5, 15, 30, 60, 90 | Both |
| 640x400 | 15, 25 | Depth Module only |
| 640x480 | 5, 15, 30, 60, 90 | Both |
| 848x100 | 100 | Depth Module only |
| 848x480 | 5, 15, 30, 60, 90 | Both |
From this, you can mix and match the configurations and test out which are stable or not. Perhaps I should've written an algorithm to determine "stability" but for now I'm relying on 30 second tests to see how bad the frame drops are.