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c++devicecommunicationrosrealsense

How to transfer realsense data via ROS to other Device(s)

I want to make the program under

" catkin_ws/src/realsense-ros-3.2.13/realsense2_camera "

directory from the "ros wrapper site" transfer realsense data to other devices.

I've chosen to use ".cpp file" since I've already made the program which uses C++ and realsense camera.

I want to know the relationships of the files inside " realsense2_camera/src " directory and how and where the executable files appears after catkin_make etc., because I want to remodel that file(s),if it's able to transfer the realsense data to other Devices to do it.

I think it's related with roscpp_tutorials, rospy_tutorials and beginner_tutorials' Publisher and Subscriber Programs and I was able to make Publisher and Subscriber Programs communicating with different Devices, though I don't know about the theory of why they run. (how and where the executable files appears)

Environment

Device OS: ubuntu 18.04 Device HW: Jetson nano rosdistro: melodic python: Python 2.7.17 Realsense ROS Wrapper: 2.2.13 Realsense Viewer Version: 2.34.0 Camera: D435 D435 Firmware: 5.12.03.00

Solution

  • Thank you for your information.

    I've been wandering why I couldn't get the D435's Data, but I solved it.

    Starting "realsense-viewer" when "roslaunch" the ".launch file" and restarting the "Terminal" SEVERAL TIME can make "default .launch file" launch, so re-writing the "launch file" might be able to move the C++/Python file(s).

    And I think your " include 'ing method" will make the problem simple to solve.