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Published 20 hours ago • verified publisher icon IntelRealSense

[ros2-beta] Inconsistent profile names depth_module.profile vs rgb_camera.profile

Open ravijo opened this issue 2 years ago • 7 comments

The ros2-beta branch has inconsistent profile names such as:

  • depth_module.profile
  • rgb_camera.profile

Source:

https://github.com/IntelRealSense/realsense-ros/blob/451147de3aaa9c5b05b1fb1f7a70f3f3f43c66f6/realsense2_camera/launch/rs_launch.py#L23-L30

Proposal: The rgb_camera.profile can be renamed to either on from below:

  1. rgb_module.profile
  2. color_module.profile

ravijo avatar May 18 '22 05:05 ravijo

Hi @ravijo I would speculate (as I am not involved in wrapper development) that the rgb_camera naming is used by the ros2_beta wrapper's profile system because it has been the familiar term that has been used for a long period of time to describe the RGB camera in RealSense ROS wrappers.

image

MartyG-RealSense avatar May 18 '22 07:05 MartyG-RealSense

@MartyG-RealSense

I understand your opinion.

However, this inconsistency made me check the source code of rs_launch.py. Before that, I was using the wrong command shown below:

ros2 launch realsense2_camera rs_launch.py depth_module.profile:=1280x720x15 rgb_module.profile:=1280x720x15

ravijo avatar May 18 '22 07:05 ravijo

I will forward your suggestion to the wrapper developers.

MartyG-RealSense avatar May 18 '22 07:05 MartyG-RealSense

Thank you very much

ravijo avatar May 18 '22 08:05 ravijo

Hi @ravijo I just wanted to update you that your request about a color_module.profile command is still being discussed by RealSense team members. I will update again when I have further information to report. Thanks very much for your patience!

MartyG-RealSense avatar May 30 '22 06:05 MartyG-RealSense

@MartyG-RealSense Thank you very much. I appreciate your kind support.

ravijo avatar May 30 '22 07:05 ravijo

Hi @ravijo Following discussions within Intel about creating a color_module.profile command, an official change request has been created so that Intel can investigate further regarding whether to implement this feature at a future date. Thanks very much for your suggestion!

MartyG-RealSense avatar Jun 24 '22 07:06 MartyG-RealSense

@ravijo

Please follow the latest Readme which include all information about these parameters, with new changes regarding there profiles https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#parameters-that-can-be-modified-during-runtime

The names of rgb_module and depth_module are coming from RealSense SDK, and representing the physical modules (Sensors) themselves, RGB and Depth.

@MartyG-RealSense Let me know if this enhancement still needed.

SamerKhshiboun avatar Mar 27 '24 07:03 SamerKhshiboun

Hi @SamerKhshiboun We have not received any further requests for the creation of a color_module profile since the June 2022 one in this issue, so it does not seem to be a priority for RealSense ROS users.

MartyG-RealSense avatar Mar 27 '24 09:03 MartyG-RealSense

@MartyG-RealSense Thanks for the update. I will close our internal ticket [RSDSO-18358] as I don't see any reason to implement this for now. Let me know if we should reopen it in the future.

SamerKhshiboun avatar Mar 29 '24 20:03 SamerKhshiboun

Thanks very much @SamerKhshiboun I will close this issue as it is not going to be implemented.

MartyG-RealSense avatar Mar 30 '24 11:03 MartyG-RealSense