PointCloud Examples

1. PointCloud visualization

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

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true

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.

ros2 launch realsense2_camera rs_pointcloud_launch.py

2. 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.

ros2 launch realsense2_camera rs_d455_point_cloud_launch.py