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ros2 using ros1 freenect or realsense camera nodes with ros1_bridge

asked 2018-12-28 13:39:23 -0500

ChriMo gravatar image

updated 2019-01-23 12:29:36 -0500

Hello community, hello developers,

are there native ros2 nodes for Microsoft KINECT v1 (freenect) or Intel Realsense R200 available ?

OR

is it possible to use ros1 nodes for r200 and freenect with ros1_bridge from ros2 (crystal) ? Is ros1_bridge really a transparent gateway between ros1 and ros2 ?

Thanks for some feedback or suggestions

Cheers Chrimo

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I know that there is one for the D400: https://github.com/intel/ros2_intel_r...

mjcarroll gravatar imagemjcarroll ( 2019-01-02 09:29:40 -0500 )edit

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answered 2019-01-24 10:59:55 -0500

ChriMo gravatar image

updated 2019-01-24 11:03:18 -0500

First results:

I can access camera, tf and imu topics at my remote Intel Euclid device (ROS1) from my notebook running ROS2 now.

Bridge: $ ros2 run ros1_bridge dynamic_bridge

created 1to2 bridge for topic '/camera/color/image_raw' with ROS 1 type 'sensor_msgs/Image' and ROS 2 type 'sensor_msgs/Image'
[INFO] [ros1_bridge]: Passing message from ROS 1 sensor_msgs/Image to ROS 2 sensor_msgs/Image (showing msg only once per type)

Notebook: $ ros2 topic echo /camera/color/image_raw sensor_msgs/Image

header:
  stamp:
    sec: 1548348448
    nanosec: 697532930
  frame_id: camera_rgb_optical_frame
height: 240
width: 320
encoding: rgb8
is_bigendian: 0
step: 960
data: [50, 7, 0, 46, 3, 0, 45, 4, 0, 48, 7, 0, 54, 1, 0, 49, 0, 0, 40, 14, 0, 33, 7, 0, 48, 6, 0, 46, 4, 0, 42, 17, 0, 40, 15, 0, 48, 2, 0, 50, 4, 0, 50, 5, 0, 51, 6, 0, 47, 6, 0, 42, 1, 0, 27, 15, 0, 27, 15, 0, 49, 6, 0, 43, 0, 0, 41, 3, 0, 45, 7, 0, 49, 8, 0, 50, 9, 0, 37, 17, 0, 33, 13, 0, 55, 2, 0, 56, 3, 0, 48, 2, 0, 49, 3, 0, 38, 4, 0, 38, 4, 0, 38, 12, 0, 32, 6, 0, 36, 12, 0, 35, 11, 0, 31, 5, 0, 33, 7, 0, 32, 1, 0, 39, 8, 0, 40, 9, '...']

header:
  stamp:
    sec: 1548348468
    nanosec: 824151798
  frame_id: camera_rgb_optical_frame
height: 240
width: 320
encoding: rgb8
is_bigendian: 0
step: 960
data: [54, 2, 0, 49, 0, 0, 32, 6, 0, 38, 12, 0, 42, 14, 0, 44, 16, 0, 43, 9, 0, 38, 4, 0, 40, 6, 0, 44, 10, 0, 34, 4, 0, 39, 9, 2, 38, 7, 0, 42, 11, 0, 44, 6, 0, 45, 7, 0, 26, 9, 0, 27, 10, 0, 47, 9, 0, 50, 12, 1, 43, 5, 0, 40, 2, 0, 34, 3, 0, 34, 3, 0, 46, 3, 0, 46, 3, 0, 42, 11, 0, 43, 12, 0, 49, 3, 0, 48, 2, 0, 42, 11, 0, 42, 11, 0, 36, 10, 0, 32, 6, 0, 43, 9, 1, 43, 9, 1, 39, 1, 0, 47, 9, 0, 37, 17, 0, 36, 16, 0, 40, 20, 0, 35, 15, 0, 42, 13, '...']

Interesting stuff, now I have to check details :-)

Cheers Chrimo

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Asked: 2018-12-28 13:39:23 -0500

Seen: 110 times

Last updated: Jan 24