Intel® RealSense™ Developer Documentation

PointCloud ROS Examples

1. PointCloud visualization

This example demonstrates how to start the camera node and make it publish point cloud using the pointcloud option.

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

Then open rviz to watch the pointcloud:

The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud. It performs the 2 examples above.

roslaunch realsense2_camera demo_pointcloud.launch 

2. Ordered PointCloud using rgbd

The following example demonstrates using rgbd that builds an ordered pointcloud from the streams (as opposed to the un-ordered pointcloud we currently publish). This example doesn't open a GUI for visualization. Running it requires the installation of rgbd package (as described in the file).

roslaunch realsense2_camera rs_rgbd.launch 

3. PointCloud with different coordinate systems

This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together.

roslaunch realsense2_camera rs_d435_camera_with_model.launch

Updated 9 months ago

PointCloud ROS Examples


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