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Realsense Camera

Installation

We have configured the devcontainer to install the drivers required during the build process. If you are setting this up yourself (outside the devcontainer) and using a Realsense camera, follow the official instructions here: https://github.com/realsenseai/realsense-ros#installation-on-ubuntu

Configuration and Customization

We are using a D435 camera in our system and the configurations we provide in d435.launch.py match that.

To introduce a different Realsense camera model, create a separate launch file and change the parameters accordingly.

Important configuration

The launch file is a thin wrapper around the upstream realsense2_camera node, exposed as launch arguments.

Below are the most common parameters you’ll want to tune for grasping:

  • Device selection

    • serial_no: Select a specific camera by serial number (recommended if you may have multiple cameras connected).
    • usb_port_id: Select by physical USB port.
    • device_type: Select by model (e.g. D435). Useful when you only ever have one connected.

  • Stream enable/disable

    • enable_color (default true)
    • enable_depth (default true)
    • enable_infra, enable_infra1, enable_infra2 (defaults false)
    • enable_gyro, enable_accel, enable_motion (IMU; defaults false)

  • Stream profiles (resolution, fps)

    • rgb_camera.color_profile: e.g. 640,480,30
    • depth_module.depth_profile: e.g. 640,480,30

  • Depth alignment + point cloud

    • align_depth.enable: Align depth to the color optical frame. Commonly enabled for RGB-D grasping.
    • pointcloud.enable: Enable point cloud publishing.
    • pointcloud.stream_filter: Which stream to texture the point cloud with (see launch arg description; common is color).

  • TF / frames

    • publish_tf: Enable publishing TF.
    • base_frame_id: Root frame id for the camera TF tree (default link).
    • tf_prefix: Optional prefix prepended to all frame ids (useful with multiple cameras).

  • Filters (often useful in noisy scenes)

    • decimation_filter.enable
    • spatial_filter.enable
    • temporal_filter.enable
    • hole_filling_filter.enable

Starting the camera

Use the following command to start the camera

source install/setup.bash
ros2 launch grasping_camera d435.launch.py

Troubleshooting

  • No device found / device disconnects

    • Try re-plugging the camera and use a USB 3 port/cable.
    • If you are running inside a container, confirm the device is passed through.

  • Permissions issues (Linux)

    • If you see permission errors accessing the USB device, install the upstream udev rules from the RealSense ROS installation instructions.

  • Topics / frames don’t match expectations

    • By default, the node is launched in the camera_namespace namespace (default: camera), so topics typically appear under /camera/....
    • If you use multiple cameras, set tf_prefix and/or change camera_namespace to avoid collisions.