• launch/demo_pointcloud.launch
  • • serial_no [default: ]
    • json_file_path [default: ]
    • camera [default: camera]
• launch/demo_t265.launch
• launch/opensource_tracking.launch
  • • offline [default: false]
• launch/rs_aligned_depth.launch
  • • serial_no [default: ]
    • json_file_path [default: ]
    • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • fisheye_width [default: 640]
    • fisheye_height [default: 480]
    • enable_fisheye [default: true]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • enable_depth [default: true]
    • infra_width [default: 640]
    • infra_height [default: 480]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 640]
    • color_height [default: 480]
    • enable_color [default: true]
    • fisheye_fps [default: 30]
    • depth_fps [default: 30]
    • infra_fps [default: 30]
    • color_fps [default: 30]
    • gyro_fps [default: 400]
    • accel_fps [default: 250]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • enable_sync [default: true]
    • align_depth [default: true]
    • filters [default: ]
• launch/rs_camera.launch
  • • serial_no [default: ]
    • usb_port_id [default: ]
    • device_type [default: ]
    • json_file_path [default: ]
    • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • external_manager [default: false]
    • manager [default: realsense2_camera_manager]
    • fisheye_width [default: 640]
    • fisheye_height [default: 480]
    • enable_fisheye [default: true]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • enable_depth [default: true]
    • infra_width [default: 640]
    • infra_height [default: 480]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 640]
    • color_height [default: 480]
    • enable_color [default: true]
    • fisheye_fps [default: 30]
    • depth_fps [default: 30]
    • infra_fps [default: 30]
    • color_fps [default: 30]
    • gyro_fps [default: 400]
    • accel_fps [default: 250]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
    • pointcloud_texture_index [default: 0]
    • enable_sync [default: false]
    • align_depth [default: false]
    • publish_tf [default: true]
    • tf_publish_rate [default: 0]
    • filters [default: ]
    • clip_distance [default: -2]
    • linear_accel_cov [default: 0.01]
    • initial_reset [default: false]
    • unite_imu_method [default: ]
    • topic_odom_in [default: odom_in]
    • calib_odom_file [default: ]
    • publish_odom_tf [default: true]
    • allow_no_texture_points [default: false]
• launch/rs_d400_and_t265.launch
  • • device_type_camera1 [default: t265]
    • device_type_camera2 [default: d4.5]
    • serial_no_camera1 [default: ]
    • serial_no_camera2 [default: ]
    • camera1 [default: t265]
    • camera2 [default: d400]
    • tf_prefix_camera1 [default: $(arg camera1)]
    • tf_prefix_camera2 [default: $(arg camera2)]
    • initial_reset [default: false]
    • enable_fisheye [default: false]
    • color_width [default: 640]
    • color_height [default: 480]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • clip_distance [default: -2]
    • topic_odom_in [default: odom_in]
    • calib_odom_file [default: ]
• launch/rs_d435_camera_with_model.launch
  • • serial_no [default: ]
    • json_file_path [default: ]
    • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • external_manager [default: false]
    • manager [default: realsense2_camera_manager]
    • fisheye_width [default: 640]
    • fisheye_height [default: 480]
    • enable_fisheye [default: true]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • enable_depth [default: true]
    • infra_width [default: 640]
    • infra_height [default: 480]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 640]
    • color_height [default: 480]
    • enable_color [default: true]
    • fisheye_fps [default: 30]
    • depth_fps [default: 30]
    • infra_fps [default: 30]
    • color_fps [default: 30]
    • gyro_fps [default: 400]
    • accel_fps [default: 250]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
    • pointcloud_texture_index [default: 0]
    • enable_sync [default: false]
    • align_depth [default: false]
    • filters [default: pointcloud]
    • clip_distance [default: -2]
    • linear_accel_cov [default: 0.01]
    • initial_reset [default: false]
    • unite_imu_method [default: ]
    • topic_odom_in [default: odom_in]
    • calib_odom_file [default: ]
    • publish_odom_tf [default: true]
    • allow_no_texture_points [default: false]
• launch/rs_from_file.launch
  • • serial_no [default: ]
    • json_file_path [default: ]
    • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • rosbag_filename [default: ]
    • fisheye_width [default: 0]
    • fisheye_height [default: 0]
    • enable_fisheye [default: true]
    • depth_width [default: 0]
    • depth_height [default: 0]
    • enable_depth [default: true]
    • infra_width [default: 0]
    • infra_height [default: 0]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 0]
    • color_height [default: 0]
    • enable_color [default: true]
    • fisheye_fps [default: 0]
    • depth_fps [default: 0]
    • infra_fps [default: 0]
    • color_fps [default: 0]
    • gyro_fps [default: 0]
    • accel_fps [default: 0]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • enable_sync [default: false]
    • align_depth [default: false]
    • filters [default: ]
• launch/rs_multiple_devices.launch
  • • serial_no_camera1 [default: ]
    • serial_no_camera2 [default: ]
    • serial_no_camera3 [default: ]
    • camera1 [default: camera1]
    • camera2 [default: camera2]
    • camera3 [default: camera3]
    • tf_prefix_camera1 [default: $(arg camera1)]
    • tf_prefix_camera2 [default: $(arg camera2)]
    • tf_prefix_camera3 [default: $(arg camera3)]
    • initial_reset [default: false]
• launch/rs_rgbd.launch
  • Copyright (c) 2018 Intel Corporation Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
  • • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • external_manager [default: false]
    • manager [default: realsense2_camera_manager]
    • serial_no [default: ]
    • usb_port_id [default: ]
    • device_type [default: ]
    • json_file_path [default: ]
    • fisheye_width [default: 640]
    • fisheye_height [default: 480]
    • enable_fisheye [default: true]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • enable_depth [default: true]
    • infra_width [default: 640]
    • infra_height [default: 480]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 640]
    • color_height [default: 480]
    • enable_color [default: true]
    • fisheye_fps [default: 30]
    • depth_fps [default: 30]
    • infra_fps [default: 30]
    • color_fps [default: 30]
    • gyro_fps [default: 400]
    • accel_fps [default: 250]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • enable_sync [default: true]
    • align_depth [default: true]
    • filters [default: ]
    • rgb [default: color]
    • ir [default: infra1]
    • depth [default: depth]
    • depth_registered_pub [default: depth_registered]
    • depth_registered [default: depth_registered]
    • depth_registered [default: aligned_depth_to_color]
    • depth_registered_filtered [default: $(arg depth_registered)]
    • projector [default: projector]
    • bond [default: false]
    • respawn [default: $(arg bond)]
    • rgb_processing [default: true]
    • debayer_processing [default: false]
    • ir_processing [default: false]
    • depth_processing [default: false]
    • depth_registered_processing [default: true]
    • disparity_processing [default: false]
    • disparity_registered_processing [default: false]
    • hw_registered_processing [default: $(arg align_depth)]
    • sw_registered_processing [default: true]
    • sw_registered_processing [default: false]
• launch/rs_rtabmap.launch
  • • device_type_camera1 [default: t265]
    • device_type_camera2 [default: d4.5]
    • serial_no_camera1 [default: ]
    • serial_no_camera2 [default: ]
    • camera1 [default: t265]
    • camera2 [default: d400]
    • clip_distance [default: -2]
    • use_rviz [default: true]
    • use_rtabmapviz [default: false]
• launch/rs_t265.launch
  • Important Notice: For wheeled robots, odometer input is a requirement for robust and accurate tracking. The relevant APIs will be added to librealsense and ROS/realsense in upcoming releases. Currently, the API is available in the https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/libtm/include/TrackingDevice.h#L508-L515.
  • • serial_no [default: ]
    • usb_port_id [default: ]
    • device_type [default: t265]
    • json_file_path [default: ]
    • camera [default: camera]
    • tf_prefix [default: $(arg camera)]
    • fisheye_width [default: 848]
    • fisheye_height [default: 800]
    • enable_fisheye1 [default: true]
    • enable_fisheye2 [default: true]
    • fisheye_fps [default: 30]
    • gyro_fps [default: 200]
    • accel_fps [default: 62]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_sync [default: false]
    • linear_accel_cov [default: 0.01]
    • initial_reset [default: false]
    • unite_imu_method [default: ]
    • publish_odom_tf [default: true]
• launch/includes/nodelet.launch.xml
  • • external_manager [default: false]
    • manager [default: realsense2_camera_manager]
    • serial_no [default: ]
    • usb_port_id [default: ]
    • device_type [default: ]
    • tf_prefix [default: ]
    • json_file_path [default: ]
    • rosbag_filename [default: ]
    • required [default: false]
    • fisheye_width [default: 0]
    • fisheye_height [default: 0]
    • enable_fisheye [default: true]
    • enable_fisheye1 [default: true]
    • enable_fisheye2 [default: true]
    • depth_width [default: 640]
    • depth_height [default: 480]
    • enable_depth [default: true]
    • infra_width [default: 640]
    • infra_height [default: 480]
    • enable_infra1 [default: true]
    • enable_infra2 [default: true]
    • color_width [default: 640]
    • color_height [default: 480]
    • enable_color [default: true]
    • fisheye_fps [default: 30]
    • depth_fps [default: 30]
    • infra_fps [default: 30]
    • color_fps [default: 30]
    • gyro_fps [default: 0]
    • accel_fps [default: 0]
    • enable_gyro [default: true]
    • enable_accel [default: true]
    • enable_pointcloud [default: false]
    • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
    • pointcloud_texture_index [default: 0]
    • enable_sync [default: false]
    • align_depth [default: false]
    • base_frame_id [default: $(arg tf_prefix)_link]
    • depth_frame_id [default: $(arg tf_prefix)_depth_frame]
    • infra1_frame_id [default: $(arg tf_prefix)_infra1_frame]
    • infra2_frame_id [default: $(arg tf_prefix)_infra2_frame]
    • color_frame_id [default: $(arg tf_prefix)_color_frame]
    • fisheye_frame_id [default: $(arg tf_prefix)_fisheye_frame]
    • fisheye1_frame_id [default: $(arg tf_prefix)_fisheye1_frame]
    • fisheye2_frame_id [default: $(arg tf_prefix)_fisheye2_frame]
    • accel_frame_id [default: $(arg tf_prefix)_accel_frame]
    • gyro_frame_id [default: $(arg tf_prefix)_gyro_frame]
    • pose_frame_id [default: $(arg tf_prefix)_pose_frame]
    • depth_optical_frame_id [default: $(arg tf_prefix)_depth_optical_frame]
    • infra1_optical_frame_id [default: $(arg tf_prefix)_infra1_optical_frame]
    • infra2_optical_frame_id [default: $(arg tf_prefix)_infra2_optical_frame]
    • color_optical_frame_id [default: $(arg tf_prefix)_color_optical_frame]
    • fisheye_optical_frame_id [default: $(arg tf_prefix)_fisheye_optical_frame]
    • fisheye1_optical_frame_id [default: $(arg tf_prefix)_fisheye1_optical_frame]
    • fisheye2_optical_frame_id [default: $(arg tf_prefix)_fisheye2_optical_frame]
    • accel_optical_frame_id [default: $(arg tf_prefix)_accel_optical_frame]
    • gyro_optical_frame_id [default: $(arg tf_prefix)_gyro_optical_frame]
    • imu_optical_frame_id [default: $(arg tf_prefix)_imu_optical_frame]
    • pose_optical_frame_id [default: $(arg tf_prefix)_pose_optical_frame]
    • aligned_depth_to_color_frame_id [default: $(arg tf_prefix)_aligned_depth_to_color_frame]
    • aligned_depth_to_infra1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra1_frame]
    • aligned_depth_to_infra2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_infra2_frame]
    • aligned_depth_to_fisheye_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye_frame]
    • aligned_depth_to_fisheye1_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye1_frame]
    • aligned_depth_to_fisheye2_frame_id [default: $(arg tf_prefix)_aligned_depth_to_fisheye2_frame]
    • publish_tf [default: true]
    • tf_publish_rate [default: 0]
    • odom_frame_id [default: $(arg tf_prefix)_odom_frame]
    • topic_odom_in [default: $(arg tf_prefix)/odom_in]
    • calib_odom_file [default: ]
    • publish_odom_tf [default: true]
    • filters [default: ]
    • clip_distance [default: -1]
    • linear_accel_cov [default: 0.01]
    • initial_reset [default: false]
    • unite_imu_method [default: none]
    • allow_no_texture_points [default: false]

• Extrinsics [Source]
• IMUInfo [Source]

• nodelet

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