warning
This page is describing the upcoming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.
Realsense
MRS has our own realsense wrapper package with custom launch files that provided the custom config mechanism.
Installation
The driver is part of the full installation of the mrs system (ros-jazzy-mrs-uav-system-full).
If missing, install it by running the following command:
sudo apt install ros-jazzy-mrs-realsense
Startup
ros2 launch mrs_realsense uav.launch.py
Custom configs
You can provide a custom config to the launch file as
... custom_config:=custom_config.yaml
The custom configs allow you to remap the outgoing topics:
/uav1/rgbd:
ros__parameters:
remappings:
'~/depth/image_rect_raw': ~/depth/image_raw
'~/depth/image_rect_raw/compressed': ~/depth/image_raw/compressed
'~/depth/image_rect_raw/compressedDepth': ~/depth/image_raw/compressedDepth
More info
Check the following sources