Realsense docker

This docker file can be used to setup automatically realsense and make it publish topics on ROS2 Humble.

1. Build docker

Digit the following command (in the folder where Dockerfile is located) to create the docker image:

docker build -t realsense_ros2 .

2. Access container

From the same folder, digit the following command:

./docker_run.sh

3. Start realsense

Installation guide for realsense:

https://github.com/IntelRealSense/realsense-ros

To check whether realsense is connected:

lsusb | grep RealSense

Once inside the container, you can start your ROS2 node by launching realsense node:

ros2 launch realsense2_camera rs_launch.py

ros2 launch realsense2_camera rs_launch.py \
    rgb_camera.color_profile:=640,480,15 \
    depth_module.depth_profile:=640,480,15 \
    enable_depth:=true \
    align_depth.enable:=true

Compute pointcloud:

ros2 launch realsense2_camera rs_launch.py \
    rgb_camera.color_profile:=640,480,15 \
    depth_module.depth_profile:=640,480,15 \
    align_depth.enable:=true \
    pointcloud.enable:=true

Note: To visualize the pointcloud in RViz, select the frame = camera_link.

Important topics:

ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw
ros2 topic hz /camera/camera/aligned_depth_to_color/image_raw/compressed

ros2 topic hz /camera/camera/color/image_raw
ros2 topic hz /camera/camera/color/image_raw/compressed

To visualize:

ros2 run rqt_image_view rqt_image_view

4. Additional info

For additional info, make reference to:

https://github.com/hucebot/ros2_ws_webcam