How to set exposure and framerate on D455 from ROS launch file?

[20221869]

How to set exposure and framerate on D455 from ROS launch file?

[MartyG-RealSense]

Hello, are you using ROS1 or ROS2 please?

[MartyG-RealSense]

Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.

[Hanning-Liu]

@MartyG-RealSense Hi, I have a similar issue about this topic.

I find that there is only launch files about T265 and D435 in the realsense2_camera/launch path of the ros1-legacy branch of this repository.

However I'm using D455. Can u provide users a ready-to-use launch file for D455 camera?

I'm using Ubuntu 20.04.6 LTS with ROS 1 noetic installed.

[MartyG-RealSense]

There should be a launch file called rs_camera.launch that you can launch a D455 with.

roslaunch realsense2_camera rs_camera.launch

[Hanning-Liu]

@MartyG-RealSense Thank you for your reply. Yeah, I made some changes based on that file. It successfully run but there are some other issue about the rostopic echo not getting any new message. I will open another issue to ask for help.

<launch>
  <arg name="serial_no"           default="242422302661"/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default="d455"/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="d455_242422302661"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>
  <arg name="output"              default="screen"/>
  <arg name="respawn"              default="true"/>

  <arg name="fisheye_width"       default="-1"/>
  <arg name="fisheye_height"      default="-1"/>
  <arg name="enable_fisheye"      default="false"/>

  <arg name="depth_width"         default="848"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="confidence_width"    default="-1"/>
  <arg name="confidence_height"   default="-1"/>
  <arg name="enable_confidence"   default="true"/>
  <arg name="confidence_fps"      default="-1"/>

  <arg name="infra_width"         default="848"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="false"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>
  <arg name="infra_rgb"           default="false"/>

  <arg name="color_width"         default="848"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="-1"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="200"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>

  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>
  <arg name="allow_no_texture_points"   default="false"/>
  <arg name="ordered_pc"                default="false"/>

  <arg name="enable_sync"               default="false"/>
  <arg name="align_depth"               default="true"/>

  <arg name="publish_tf"                default="true"/>
  <arg name="tf_publish_rate"           default="0"/>

  <arg name="filters"                   default="pointcloud"/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="reconnect_timeout"         default="6.0"/>
  <arg name="wait_for_device_timeout"   default="-1.0"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>
  <arg name="publish_odom_tf"           default="true"/>

  <arg name="stereo_module/exposure/1"  default="7500"/>
  <arg name="stereo_module/gain/1"      default="16"/>
  <arg name="stereo_module/exposure/2"  default="1"/>
  <arg name="stereo_module/gain/2"      default="16"/>
  
  

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="external_manager"         value="$(arg external_manager)"/>
      <arg name="manager"                  value="$(arg manager)"/>
      <arg name="output"                   value="$(arg output)"/>
      <arg name="respawn"                  value="$(arg respawn)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="usb_port_id"              value="$(arg usb_port_id)"/>
      <arg name="device_type"              value="$(arg device_type)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="confidence_width"         value="$(arg confidence_width)"/>
      <arg name="confidence_height"        value="$(arg confidence_height)"/>
      <arg name="enable_confidence"        value="$(arg enable_confidence)"/>
      <arg name="confidence_fps"           value="$(arg confidence_fps)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra"             value="$(arg enable_infra)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
      <arg name="infra_rgb"                value="$(arg infra_rgb)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>

      <arg name="publish_tf"               value="$(arg publish_tf)"/>
      <arg name="tf_publish_rate"          value="$(arg tf_publish_rate)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="reconnect_timeout"        value="$(arg reconnect_timeout)"/>
      <arg name="wait_for_device_timeout"  value="$(arg wait_for_device_timeout)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
      <arg name="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/>
      <arg name="stereo_module/gain/1"     value="$(arg stereo_module/gain/1)"/>
      <arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/>
      <arg name="stereo_module/gain/2"     value="$(arg stereo_module/gain/2)"/>

      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
      <arg name="ordered_pc"               value="$(arg ordered_pc)"/>
      
    </include>
  </group>
</launch>