Installation

Linux

sudo apt-get install ros-foxy-realsense2-camera
sudo apt-get install ros-foxy-tf2-ros
sudo apt-get install ros-foxy-depthimage-to-laserscan

The tf2 and depthimage_to_laserscan packages should be installed automatically with a desktop ROS installation. However, these packages can also be installed separately with the above commands.

To ensure the realsense installation was successful, first make sure Realsense is plugged in. Then, test the package with the below commands. You should be able to echo a non empty message published to /camera/color/image_raw

Realsense Terminal 1Realsense Terminal 2

ros2 launch realsense2_camera realsense.launch.py

To ensure tf2_ros installation was successful, run the following commands. The tf echo (terminal 2) should be displaying the static transform.

Transform Terminal 1Transform Terminal 2

ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar

To ensure depthimage_to_laserscan installation was successful, run the following commands. Make sure the realsense is plugged in. The scan topic echo (terminal 3) should be non-empty.

Depth to Scan Terminal 1Depth to Scan Terminal 2Depth to Scan Terminal 3

ros2 launch depthimage_to_laserscan depthimage_to_laserscan.launch.py