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sensor_interface package from airspeed repo

data_collection_service robot_interface sensor_interface teleoperation_interface

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/airs-cuhk/airspeed.git
VCS Type	git
VCS Version	main
Last Updated	2025-11-06
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Realsense D435i camera node for ROS2

Additional Links

No additional links.

Maintainers

airspeedbox

Authors

No additional authors.

src/sensor_interface/README.md

Sensor Interface Package

Sensor Interface 是一个通用传感器接口ROS2节点包，用于发布Realsense D435i相机数据。

功能特性

支持Realsense D435i相机
发布RGB图像、深度图像和点云数据
支持相机参数配置
提供TF变换广播
与data_collection_service包集成

依赖安装

1. 安装Realsense SDK

# 注册服务器的公钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

# 将服务器添加到存储库列表中
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

# 安装SDK
sudo apt-get install librealsense2-utils librealsense2-dev

2. 验证安装

# 打开Realsense查看器
realsense-viewer

3. 安装Python依赖

pip install pyrealsense2 opencv-python

检查设备

python -c “import pyrealsense2 as rs; ctx = rs.context(); print(‘Devices:’, len(ctx.query_devices()))”

使用方法

1. 一键启动（推荐）

使用提供的shell脚本快速启动相机节点：

# 切换到工作空间根目录，运行一键启动脚本
cd /home/airspeedbox/code/vr_robot_control_ws
./src/sensor_interface/launch.sh

脚本功能：

自动检查工作空间环境
自动激活conda环境（如果存在）
自动设置ROS2环境
检查Realsense设备连接
验证Python依赖
启动相机节点

2. 手动启动相机节点

#先激活环境
conda activate ros2_env
cd /home/airspeedbox/code/vr_robot_control_ws
source install/setup.bash

# 启动相机节点
ros2 launch sensor_interface realsense_camera.launch.py

# 或使用自定义配置文件
ros2 launch sensor_interface realsense_camera.launch.py config_file:=/path/to/your/config.yaml

3. 启动完整系统

# 启动包含相机、机器人接口和数据存储的完整系统
ros2 launch data_collection_service complete_system.launch.py

发布的话题

/camera/color/image_raw (sensor_msgs/Image) - RGB图像
/camera/depth/image_raw (sensor_msgs/Image) - 深度图像
/camera/color/camera_info (sensor_msgs/CameraInfo) - RGB相机信息
/camera/depth/camera_info (sensor_msgs/CameraInfo) - 深度相机信息
/camera/depth/points (sensor_msgs/PointCloud2) - 点云数据

Shell脚本说明

launch.sh

位于 sensor_interface/launch.sh 的一键启动脚本，提供以下功能：

自动检查：

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	ament_lint_auto
	ament_lint_common
	rclpy
	std_msgs
	sensor_msgs
	geometry_msgs
	cv_bridge
	image_transport

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `sensor_interface` at Robotics Stack Exchange

API Docs Browse Code

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