To start the T265 camera node in ROS:
roslaunch realsense2_camera rs_t265.launch
This will stream all camera sensors and publish the appropriate ROS topics.
Check the T265 topics table for further information, specifically for odometry, accelerometer, gyroscope and the 2 fisheye sensors.
To visualize the pose output and frames in RViz, start:
roslaunch realsense2_camera demo_t265.launch
Updated over 1 year ago