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Physical Port:： /sys/devices/pci0000:00/0000:00:11.0/0000:02:03.0/usb1/1-1/1-1:1.0/video4linux

Start the camera node
To start the camera node in ROS：

通过下面命令所有相关信息通过ros topic的方式发布出去

roslaunch realsense2_camera rs_camera.launch

rosnode查看

/camera/realsense2_camera
/camera/realsense2_camera_manager
/rosout

rqt_graph查看

rostopic查看

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

/camera/color/camera_info的话题消息内容

---
header: seq: 121stamp: secs: 1701757644nsecs: 890126705frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [-0.05529118701815605, 0.06646831333637238, 0.00021844496950507164, 8.94237746251747e-05, -0.021805301308631897]
K: [386.3393859863281, 0.0, 324.54986572265625, 0.0, 385.8198547363281, 241.42041015625, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [386.3393859863281, 0.0, 324.54986572265625, 0.0, 0.0, 385.8198547363281, 241.42041015625, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: x_offset: 0y_offset: 0height: 0width: 0do_rectify: False
---

/camera/depth/camera_info的话题消息内容

---
header: seq: 41stamp: secs: 1701757805nsecs: 683720589frame_id: "camera_depth_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [386.1236267089844, 0.0, 323.4205322265625, 0.0, 386.1236267089844, 240.564453125, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [386.1236267089844, 0.0, 323.4205322265625, 0.0, 0.0, 386.1236267089844, 240.564453125, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: x_offset: 0y_offset: 0height: 0width: 0do_rectify: False
---

/camera/motion_module/parameter_descriptions /摄像机运动模块参数说明的消息内容

groups: - name: "Default"type: ''parameters: - name: "frames_queue_size"type: "int"level: 0description: "Max number of frames you can hold at a given time. Increasing this number will reduce\\ frame drops but increase latency, and vice versa"edit_method: ''- name: "enable_motion_correction"type: "bool"level: 0description: "Enable/Disable Automatic Motion Data Correction"edit_method: ''- name: "global_time_enabled"type: "bool"level: 0description: "Enable/Disable global timestamp"edit_method: ''parent: 0id: 0
max: bools: - name: "enable_motion_correction"value: True- name: "global_time_enabled"value: Trueints: - name: "frames_queue_size"value: 32strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
min: bools: - name: "enable_motion_correction"value: False- name: "global_time_enabled"value: Falseints: - name: "frames_queue_size"value: 0strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
dflt: bools: - name: "enable_motion_correction"value: True- name: "global_time_enabled"value: Trueints: - name: "frames_queue_size"value: 16strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
---

/camera/stereo_module/auto_exposure_roi/parameter_descriptions 相机立体模块自动曝光roi参数说明的消息内容

groups: - name: "Default"type: ''parameters: - name: "left"type: "int"level: 0description: "auto-exposure left coordinate"edit_method: ''- name: "right"type: "int"level: 0description: "auto-exposure right coordinate"edit_method: ''- name: "top"type: "int"level: 0description: "auto-exposure top coordinate"edit_method: ''- name: "bottom"type: "int"level: 0description: "auto-exposure bottom coordinate"edit_method: ''parent: 0id: 0
max: bools: []ints: - name: "left"value: 639- name: "right"value: 639- name: "top"value: 479- name: "bottom"value: 479strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
min: bools: []ints: - name: "left"value: 0- name: "right"value: 0- name: "top"value: 0- name: "bottom"value: 0strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
dflt: bools: []ints: - name: "left"value: 0- name: "right"value: 639- name: "top"value: 0- name: "bottom"value: 479strs: []doubles: []groups: - name: "Default"state: Trueid: 0parent: 0
---

/tf_static的话题消息内容

 - header: seq: 0stamp: secs: 1701759021nsecs: 810140552frame_id: "camera_color_frame"child_frame_id: "camera_color_optical_frame"transform: translation: x: 0.0y: -0.0z: -0.0rotation: x: -0.5y: 0.4999999999999999z: -0.5w: 0.5000000000000001
---

通过下面命令直接查看RVIZ中点云信息

roslaunch realsense2_camera demo_pointcloud.launch

rosnode查看

/camera/realsense2_camera
/camera/realsense2_camera_manager
/camera/rviz
/rosout

rqt_graph查看

rostopic查看

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/clicked_point
/diagnostics
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

比之前运行多了一些话题

/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/clicked_point
/initialpose
/move_base_simple/goal