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Just came to know, Realsense can't be used with OpenNI. So 2nd option is ruled out. https://github.com/BlazingForests/realsense_camera/issues/20

Just came to know, Realsense can't be used with OpenNI. So 2nd option is ruled out. https://github.com/BlazingForests/realsense_camera/issues/20

<sensor name="color_sensor" type="depth">
  <always_on>true</always_on>
  <update_rate>1.0</update_rate>
  <camera>
    <horizontal_fov>1.221729444</horizontal_fov>
    <image>
      <format>R8G8B8</format>
      <width>480</width>
      <height>640</height>
    </image>
    <clip>
      <near>0.05</near>
      <far>4.0</far>
    </clip>
  </camera>
  <plugin filename="librealsense2_camera.so" name="color_sensor_conroller">
    <alwaysOn>true</alwaysOn>
    <updateRate>1.0</updateRate>
    <cameraName>color_sensor</cameraName>
    <imageTopicName>rgb/image_raw</imageTopicName>
    <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
    <pointCloudTopicName>rgb/points</pointCloudTopicName>
    <depthImageTopicName>depth/image_raw</depthImageTopicName>
    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
    <frameName>link6</frameName>
    <pointCloudCutoff>0.05</pointCloudCutoff>
    <pointCloudCutoffMax>5</pointCloudCutoffMax>
    <rangeMax>4.0</rangeMax>
  </plugin>
</sensor>

Just came to know, Realsense Realsense can't be used with OpenNI. OpenNI. So 2nd option is ruled out. https://github.com/BlazingForests/realsense_camera/issues/20

Then I tried to go with the 3rd option, again the very 1st method, i.e. to add camera's .so file as a <plugin> in <sensor> in URDF. So I added the required links in the URDF and launch the camera node separately. I got help from this camera as a sensor, link. It finally worked with below changes:

Adding 5 links in URDF as below:

<sensor name="color_sensor" type="depth">
  <always_on>true</always_on>
  <update_rate>1.0</update_rate>
  <camera>
    <horizontal_fov>1.221729444</horizontal_fov>
    <image>
      <format>R8G8B8</format>
      <width>480</width>
      <height>640</height>
    </image>
    <clip>
      <near>0.05</near>
      <far>4.0</far>
    </clip>
  </camera>
  <plugin filename="librealsense2_camera.so" name="color_sensor_conroller">
    <alwaysOn>true</alwaysOn>
    <updateRate>1.0</updateRate>
    <cameraName>color_sensor</cameraName>
    <imageTopicName>rgb/image_raw</imageTopicName>
    <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
    <pointCloudTopicName>rgb/points</pointCloudTopicName>
    <depthImageTopicName>depth/image_raw</depthImageTopicName>
    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
    <frameName>link6</frameName>
    <pointCloudCutoff>0.05</pointCloudCutoff>
    <pointCloudCutoffMax>5</pointCloudCutoffMax>
    <rangeMax>4.0</rangeMax>
  </plugin>
</sensor>
1. camera_link
2. camera_depth_frame
3. camera_color_frame
4. camera_depth_optical_frame
5. camera_color_optical_frame

I assume, And one more change, I added one nodelet in camera launch file, which is as below:

<!-- Start nodelet manager -->
    <node pkg="nodelet" 
          type="nodelet" 
          name="nodelet_manager" 
          args="manager"
          output="screen"/>

With these changes, I was able to get point clouds in RViz with moveit environment.

Please let me know, if I add the camera as a sensor in URDF itself, then we should not need to launch a node separately for camera. But with this, I was not getting camera related topics, so I launched the node for camera separately and replacing the frame_id's with my own link names.

I tried to see the output in RViz, but there it is telling same transformation error as in Option 1.

I think there is some somebody face problem with my implementation, but I am struglling to figure that out. Can somebody share their experience of adding an integrating Intel camera to ROS URDF.

Regards, Camera.

Saurabh

Just came to know, Realsense can't be used with OpenNI. So 2nd option is ruled out. https://github.com/BlazingForests/realsense_camera/issues/20

Then I tried again the very 1st method, i.e. to add the required links in the URDF and launch the camera node separately. I got help from this link. It finally worked with below changes:

Adding 5 links in URDF as below:

1. camera_link
2. camera_depth_frame
3. camera_color_frame
4. camera_depth_optical_frame
5. camera_color_optical_frame

And one more change, I added one nodelet in camera launch file, which is as below:

<!-- Start nodelet manager -->
    <node pkg="nodelet" 
          type="nodelet" 
          name="nodelet_manager" 
          args="manager"
          output="screen"/>

With these changes, I was able to get point clouds in RViz with moveit environment.

Please let me know, if somebody face problem with integrating Intel Camera.

Saurabh