Custom launch file for d435i

To run algorithms live, run the following command to launch the custom rs_camera launch file (/cam/realsense_ws/src/realsense-ros/launch/rs_camera_custom.launch) after sourcing the realsense_ws catkin workspace.

roslaunch realsense2_camera rs_camera_custom.launch

This launch file is a modified version of the rs_camera.launch file with the stereo module cameras enabled, IR emitter disabled, camera-imu sync and IMU publishing.

Changes

For VIO algorithms it is necessary to publish a topic with IMU data combining the messages from the acceloremeter and gyroscope. This can be done by setting the "unite_imu_method" argument to copy (constant rate) or linear interpolation.

<arg name="unite_imu_method"          default="linear_interpolation"/>

Resolution and frame-rate of each camera stream can also be modified. I find 480p @ 30fps to be the sweet spot for most algorithms

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="250"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>

To disable the IR blaster a .json file is used and can be changed by replacing the path in the argument:

  <arg name="json_file_path"      default="/cam/cfg/30fps_noIR_480p.json"/>

Additional .json configuration files can be obtained using realsense-viewer

roslaunch realsense2_camera realsense-viewer