How can we integrate Realsense camera instead of inbuild camers

[saqihk]

I want to know if we want to integrate it with the realsense camera D455, so for that what are the important changes that need to be done to run this with a robot,

I have already installed the library Realsense and these are my topics from Realsense camera

robot@ugv:~$ ros2 topic list
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/image_raw/compressed
/camera/camera/color/image_raw/compressedDepth
/camera/camera/color/image_raw/theora
/camera/camera/color/metadata
/camera/camera/depth/camera_info
/camera/camera/depth/image_rect_raw
/camera/camera/depth/image_rect_raw/compressed
/camera/camera/depth/image_rect_raw/compressedDepth
/camera/camera/depth/image_rect_raw/theora
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/parameter_events
/rosout
/tf_static

[DUDULRX]

What functions are you going to use the camera for

[saqihk]

What functions are you going to use the camera for

For SLAM and 3d reconstruction mapping. autonomous navigation

[DUDULRX]

You need to look at the structure of the corresponding launch file you use for the camera, the information topic, and then modify the corresponding launch file, such as rtabmap, and pay attention to the new camera coordinate system settings

[saqihk]

yes you are right,

i have remapping those topics to my new topics, but

and when i started launing it says

[DUDULRX]

Replace the camera's file

[saqihk]

okay so i have replaced the actual launch file here with parameters

after launching again

[saqihk]

sorry I accidentally/ closed, it was by mistake.

[DUDULRX]

Problems with your camera's boot file,
First, try to just turn on the camera and see the corresponding output topic

[saqihk]

all of these topics are giving proper output

("rgb/image", "/camera/camera/color/image_raw"),
("rgb/camera_info", "/camera/camera/color/camera_info"),
("depth/image", "/camera/camera/depth/image_rect_raw"),

[saqihk]

[DUDULRX]

set the camera's coordinate system so that it's attached to the car in tf_tree
ros2 run rqt_tf_tree rqt_tf_tree

for example

[saqihk]

[DUDULRX]

According to the error reported in the figure, the camera does not start successfully. Generally, after the camera is started, the camera has its own coordinate system.