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
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
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 over 1 year ago