iory/docker-ros-realsense

Docker for d415/d435 using ROS

Connect d415 or d435 to your pc and enter following command in your terminal.

docker run --rm --net=host --privileged --volume=/dev:/dev -it iory/realsense-ros-docker:kinetic /bin/bash -i -c 'roslaunch realsense2_camera rs_rgbd.launch enable_pointcloud:=true align_depth:=false depth_registered_processing:=true align_depth:=true'

If you would like to change ROS_MASTER_URI,

docker run --rm --net=host --privileged --volume=/dev:/dev -it iory/realsense-ros-docker:kinetic /bin/bash -i -c 'rossetmaster TARGET_IP; roslaunch realsense2_camera rs_rgbd.launch enable_pointcloud:=true align_depth:=false depth_registered_processing:=true align_depth:=true'

docker-ros-realsense's Issues

Having an issue with camera connection

Hello I ran the command docker run --rm --net=host --privileged --volume=/dev:/dev -it iory/realsense-ros-docker:kinetic /bin/bash -i -c 'roslaunch realsense2_camera rs_rgbd.launch enable_pointcloud:=true align_depth:=false depth_registered_processing:=true align_depth:=true' and it gave me the following output. Do you know any reason why it cant find the camera? Thanks!

`
set ROS_IP and ROS_HOSTNAME to 192.168.65.9
... logging to /root/.ros/log/c04386f8-7356-11ed-b39e-525400123456/roslaunch-docker-desktop-1.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.65.9:59299/

SUMMARY

PARAMETERS

• /camera/realsense2_camera/accel_fps: 250
• /camera/realsense2_camera/accel_frame_id: camera_accel_frame
• /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
• /camera/realsense2_camera/align_depth: True
• /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/allow_no_texture_points: False
• /camera/realsense2_camera/base_frame_id: camera_link
• /camera/realsense2_camera/calib_odom_file:
• /camera/realsense2_camera/clip_distance: -1.0
• /camera/realsense2_camera/color_fps: 30
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: 480
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
• /camera/realsense2_camera/color_width: 640
• /camera/realsense2_camera/depth_fps: 30
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: 480
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
• /camera/realsense2_camera/depth_width: 640
• /camera/realsense2_camera/device_type:
• /camera/realsense2_camera/enable_accel: True
• /camera/realsense2_camera/enable_color: True
• /camera/realsense2_camera/enable_depth: True
• /camera/realsense2_camera/enable_fisheye1: True
• /camera/realsense2_camera/enable_fisheye2: True
• /camera/realsense2_camera/enable_fisheye: True
• /camera/realsense2_camera/enable_gyro: True
• /camera/realsense2_camera/enable_infra1: True
• /camera/realsense2_camera/enable_infra2: True
• /camera/realsense2_camera/enable_pointcloud: True
• /camera/realsense2_camera/enable_sync: True
• /camera/realsense2_camera/filters:
• /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
• /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
• /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
• /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
• /camera/realsense2_camera/fisheye_fps: 30
• /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
• /camera/realsense2_camera/fisheye_height: 480
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /camera/realsense2_camera/fisheye_width: 640
• /camera/realsense2_camera/gyro_fps: 400
• /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
• /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
• /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
• /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
• /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
• /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
• /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
• /camera/realsense2_camera/infra_fps: 30
• /camera/realsense2_camera/infra_height: 480
• /camera/realsense2_camera/infra_width: 640
• /camera/realsense2_camera/initial_reset: False
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/odom_frame_id: camera_odom_frame
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/pose_frame_id: camera_pose_frame
• /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
• /camera/realsense2_camera/publish_odom_tf: True
• /camera/realsense2_camera/publish_tf: True
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/tf_publish_rate: 0.0
• /camera/realsense2_camera/topic_odom_in: camera/odom_in
• /camera/realsense2_camera/unite_imu_method: none
• /camera/realsense2_camera/usb_port_id:
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [87]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c04386f8-7356-11ed-b39e-525400123456
process[rosout-1]: started with pid [100]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [117]
[ INFO] [1670105195.791664314]: Initializing nodelet with 6 worker threads.
process[camera/realsense2_camera-3]: started with pid [118]
[ INFO] [1670105195.943507774]: RealSense ROS v2.2.11
[ INFO] [1670105195.943549407]: Running with LibRealSense v2.31.0
process[camera/color_rectify_color-4]: started with pid [140]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [179]
[ WARN] [1670105196.274766001]: No RealSense devices were found!
[ WARN] [1670105202.275304524]: No RealSense devices were found!
[ WARN] [1670105208.275899890]: No RealSense devices were found!

`