Setting visual presets for D435i in ROS 2

[hello-chintan]

Hello,

I am using a D435i camera with ROS 2 Galactic and looking to launch the realsense ROS 2 driver with the HighAccuracyPreset visual preset. How do I apply this preset while launching the driver? I also want to know if there is a way to change the visual preset to its default values while the camera is running without having to relaunch the driver.

Thank you!

[MartyG-RealSense]

Hi @hello-chintan You could first obtain the json preset file for HighAccuracyPreset from the link below if you do not have it already.

https://dev.intelrealsense.com/docs/d400-series-visual-presets#preset-table

You could then load and apply the json file during launch by defining a path to it in the ROS2 rs_launch.py launch file's json_file_path parameter.

https://github.com/IntelRealSense/realsense-ros/blob/ros2-beta/realsense2_camera/launch/rs_launch.py#L20

I am not aware of a method for changing the preset in ROS2 without stopping the session and relaunching.

[hello-chintan]

Hey @MartyG-RealSense. Thank you for the response! I got the camera to use the HighAccuracyPreset through the .json file. I have just one follow-up question on this. I understand that in ROS 1 we can switch the visual preset parameter using the dynamic_reconfigure package while the camera is active. Since dynamic_reconfigure has not been ported to ROS 2, is there an alternative to achieving this through other means, possibly by using a similar ROS 2 package? I think I am just confused that if it was possible in ROS 1, is it just the absence of the right ROS 2 package that is the hurdle?

[MartyG-RealSense]

In the Galactic-compatible ros2 wrapper branch (the previous generation of ROS2 wrapper before the current ros2_beta one) you can access the parameters during runtime with ros2 run rqt_reconfigure rqt_reconfigure

https://github.com/IntelRealSense/realsense-ros/tree/ros2#view-and-modify-camera-controls-params-in-runtime

The ros2 wrapper version that matches with librealsense 2.50.0 is 3.2.3

https://github.com/IntelRealSense/realsense-ros/releases/tag/3.2.3

[MartyG-RealSense]

Hi @hello-chintan Do you require further assistance with this case, please? Thanks!

[hello-chintan]

Hey, @MartyG-RealSense. Thank you for pointing me to the resources. I'm closing the issue.

[MartyG-RealSense]

You are very welcome, @hello-chintan - thanks very much for the update!