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Support D435i with IMU
IMU topics on /camera/gyro/sample and /camera/accel/sample.
If united using unite_imu_method:=copy or unite_imu_method:=linear_interpolation, topic is /camera/imu.
Add linear accel covariance - Default: 0.01. modify using option: linear_accel_cov
Add option to sync imu and frame messages. Longer processing time for frames cause the latest IMU messages to be sent before frame messages. You can use option hold_back_imu_for_frames to hold back the publishing of imu messages until publication of frame messages.
The time tags show the measuring time so usually there is no need to cause bursts of IMU messages, hence the default value is false.
Set accel_fps to 250 as this is the new maximal rate in librealsense v2.17.0
Changed dynamic reconfigure options as seen in rqt_reconfigure.
All the options available by the underlying librealsense objects are now reflected. This means previously existing options may have changed names.
Add NOTICE file, to emphasize the contribution of the ddynamic_reconfigure project.
Add SLAM demo
Add opensource_tracking.launch - demo that runs realsense2_camera, imu_filter_madgwick, rtabmap and robot_localization to demonstrate Slam with realsense D435i
Option for toggling sensor on and off while running is missing.
It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.