ROS2 RealSense cameras get point cloud x,y,z coordinates

These are packages for using Intel RealSense cameras with ROS2 and get the point cloud x,y,z coordinates.
For more detail about Intenl RealSense cameras with ROS2. Please see realsense-ros

Enivorment/Equipment

• Ubuntu 20.04
• ROS2-foxy
• Intel® RealSense™ DEPTH CAMERA D435i

Installation

(If your already install the enviroment and realsense2-camera. Please jump to the Fourth step.)

First0

You should download ROS2. For me I'm using ROS2 foxy on Ubuntu 20.04.

Second

• Install realsense2_camera

sudo apt-get install ros-foxy-realsense2-camera

if you are using another ROS2 distro, just change "foxy" to which distro you are using.

Third

• Create a workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

• Clone the ROS2 Intel® RealSense™ Intel from IntelRealSense,realsense-ros

git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git

Fourth

• Clone the ROS2_get_point_cloud to ~/ros2_ws/src

cd ~/ros2_ws/src
git clone https://github.com/WZS666/ros2_get_point_cloud_xyz
cd ~/ros2_ws

Fifth

• Install dependencies:

sudo apt-get install python3-rosdep -y
sudo rosdep init
rosdep update
rosdep install -i --from-path src --rosdistro foxy -y
sudo apt purge ros-foxy-librealsense2 -y
sudo apt-get install ros-foxy-sensor-msgs-py

Sixth

• Build

source /opt/ros/foxy/setup.bash
colcon build

(If you got the error about Intel RealSense SDK 2.0 is missing, please check your SDK from installation here)

Seventh

• Source

you should do it at every new terminal

source install/local_setup.bash

if it pop out the ros2 can't found error please enter the source /opt/ros/foxy/setup.bash

Usage introduction

• First terminal start the camera node in ROS2:

ros2 launch realsense2_camera rs_launch.py enable_pointcloud:=true device_type:=d435

• Second terminal start to get_point_cloud's x,y,z coordinates.

ros2 run ros2_get_point_cloud_xyz get_point_cloud_xyz

Some demo

- ROS2 get point cloud xyz coordinates

- ROS2 get point cloud xyz coordinates with Rviz

Reference

https://github.com/intelrealsense/realsense-ros/tree/ros2
https://github.com/ros2/common_interfaces/blob/master/sensor_msgs_py/sensor_msgs_py/point_cloud2.py
https://answers.ros.org/question/379029/how-to-get-xyz-coordinates-of-pointcloud-using-intel-real-sense-d415/
https://docs.ros.org/en/foxy/Tutorials/Creating-Your-First-ROS2-Package.html