在rs_camera.launch文件中确保以下两个参数为true: <arg name="enable_sync" default="true"/> <arg name="align_depth" default="true"/> 前者是让不同传感器数据(depth, RGB, IMU)实现时间同步,即具有相同的 timestamp; 后者会增加若干 rostopic,其中我们比较关心的是/camera/aligned_depth_to_color/image...
在rs_camera.launch文件中确保以下两个参数为true: <arg name="enable_sync"default="true"/> <arg name="align_depth"default="true"/> 前者是让不同传感器数据(depth, RGB, IMU)实现时间同步,即具有相同的 timestamp; 后者会增加若干 rostopic,其中我们比较关心的是/camera/aligned_depth_to_color/image_r...
<arg name="enable_gyro" default="true"/> <arg name="enable_accel" default="true"/> <arg name="enable_sync" default="false"/> <arg name="unite_imu_method" default="linear_interpolation"/> 重新运行后查看是不是imu话题中同时包括加速度计和陀螺仪数据: rostopic echo /camera/imu 之后运行...
修改rs_t265.launch,一个是保持IMU和图像信息同步,另一个要确保输出IMU数据。 <arg name="enable_sync"default="true"/>,<arg name="unite_imu_method"default="copy"/> kalibr推荐IMU 200Hz,图像20Hz,参考上面用topic_tools throttle限制频率,然后录制bag。之后调用kalibr的算法计算IMU和camera外参。 kalibr_ca...
depth_topic:=/camera/aligned_depth_to_color/image_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info \ approx_sync:=false \ wait_imu_to_init:=true \ imu_topic:=/rtabmap/imu #delete memory rosservice call /rtabmap/reset [1] 参考...
enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_qos: Sets the QoS by which the topic is published. ...
Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime. ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version. While many of the parameter names remain as they were in version 3.2...
提交 realsense2_camera upgrade version: 2.2.11 5年前 realsense2_description upgrade version: 2.2.11 5年前 .gitignore use ddynamic_reconfigure and support D435i (#535) 6年前 .travis.yml fix point cloud test to work with outdorrs_1color.bag file. ...
For example: enable_infra1:=true enable_color:=false enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_qos: Sets the QoS by which...
Ubuntu 20.04打RT实时内核补丁 https://www.cnblogs.com/Pyrokine/p/16695196.html 编译环境 1 2 3 4 5 6Ubuntu 5.15.79-rt54 (非虚拟机) OpenCV 4.2.0 (由 ros-noetic 携带) ceres release 2.1.0 Pangolin commit 5f78f502117b2ff9238ed63768fd859a8fa78ffd - Tue Oct 18 10:29:50 2022 -0700 ...