MQTT <-> ROS bridge for Intel© RealSense™ Cameras

Installation
Starting the ros-mqtt-bridge node
- ros2 run
- ros2 launch
Parameters
Client Usage
Supported Parameters For Set/Get
Supported Streams
Usage Example

Installation

This step assumes you have installed ROS environment and ROS Wrapper for Realsense Cameras (including RealSense SDK). For more info about these steps, click here

Install paho-mqtt from https://pypi.org/project/paho-mqtt/2.1.0/
```
sudo pip3 install paho-mqtt==2.1.0
```

Create a ROS2 workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/

Build
```
colcon build
```

Source environment

ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/ros2_ws
./install/local_setup.bash

Starting the ros-mqtt-bridge node

this step assumes there is a running and configured MQTT broker, and at least one running realsense2_camera node

ros2 run

ros2 run realsense2_ros_mqtt_bridge realsense2_ros_mqtt_bridge
# or, with parameters, for example
ros2 run realsense2_ros_mqtt_bridge realsense2_ros_mqtt_bridge --ros-args -p broker_ip:='localhost'

ros2 launch

ros2 launch realsense2_ros_mqtt_bridge rs_launch.py
# or, with parameters, for example
ros2 launch realsense2_ros_mqtt_bridge rs_launch.py broker_ip:='localhost'

Parameters

All parameters can be configured or overriden by the ros2 run and ros2 launch commands (see examples in above section), or from the rs_launch.py file

broker_ip
- description: MQTT broker ip address
- default value: 'localhost'
broker_port
- description: MQTT port
- default value: '1883'
log_level
- description: log level [DEBUG|INFO|WARN|ERROR|FATAL]
- default value: INFO

Client Usage

Enumerate Devices

mqtt request message example

  {
    "camera_namespace_prefix": "robot",
    "camera_names_prefix": "c_"
  }

request topic
```
enumrete_devices_request
```
response topic
```
enumerate_devices_response
```

mqtt response message example:

  {
    "success": True,
    "error_msg": "",
    "available_nodes_count": "1",
    "available_nodes":
      "[
        {camera_namespace: robot1, camera_name: c_333622320169}
      ]"
  }

Reset the Device

mqtt request message example

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic
```
send_hw_reset_request
```
response topic
```
send_hw_reset_response
```

mqtt response message example:

{
  "camera_namespace": "camera",
  "camera_name": "camera",
  "success": true, 
  "error_msg": ""
}

Get Device Info

mqtt request message example

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic
```
get_device_info_request
```
response topic
```
get_device_info_response
```

mqtt response message example:

{
  "camera_namespace": "camera",
  "camera_name": "camera",
  "device_name": "intel_realsense_d585s",
  "serial_number": "333622320169",
  "firmware_version": "8.17.15566.148",
  "usb_type_descriptor": "3.2",
  "firmware_update_id": "333622320169",
  "sensors": "depth_module,rgb_camera,safety_camera,depth_mapping_camera,motion_module",
  "physical_port": "/sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0",
}

Get Transformation

mqtt request message example

{
  "source": "c_353322320702_link",
  "destination": "c_353322320702_color_frame",
}

request topic
```
get_transformation_request
```
response topic
```
get_transformation_response
```

mqtt response message example:

{
  "rotation": {"x": -0.0022762807482196233, "y": -0.0011598517160371544, "z": -0.0011766824618274568, "w": 0.9999960443463445},
  "translation": {"x": -4.12423032685183e-05, "y": -0.04789295792579651, "z": 0.0005400447407737374},
  "success": true,
  "error_msg": ""
}

Send HWM Command

mqtt request message example (read of safety interface config table)

{
  "camera_namespace": "robot1",
  "camera_name": "c_353322320702",
  "opcode": 167,     # opcode of GET_HKR_CONFIG_TABLE 0xA7 
  "param1": 1,       # read from flash (1)
  "param2": 49372,   # table id (safety interface config) 0xC0DC
  "param3": 1,       # 0 dynamic, 1 gold
  "param4": 0,       # unused (ChunkId)
  "data": []
}

request topic
```
send_hwm_command_request
```
response topic
```
send_hwm_command_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_353322320702",
  "success": true,
  "result": [167, 0, 0, 0, 0, 5, 220, 192, 148, 0, 0, 0, 0, 0, 0, 0, 250, 239, 161, 49, 0, 1, 1, 3, 1, 2, 0, 12, 0, 13, 0, 14, 0, 9, 0, 8, 0, 16, 0, 17, 0, 19, 0, 18, 0, 11, 1, 20, 0, 10, 0, 15, 0, 0, 150, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 113, 61, 138, 62, 20, 0, 12, 6, 4, 100, 0, 20, 100, 0, 20, 10, 15, 10, 95, 23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "error_msg": ""
}

Get Parameter

See available parameters and their types

mqtt request message example

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "parameter_name": "rgb_camera.exposure"
}

request topic
```
get_param_request
```
response topic
```
get_param_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "parameter_name": "rgb_camera.exposure",
  "success": True,
  "error_msg": "",
  "parameter_type": "integer",
  "parameter_value": "6012"
}

Set Parameter

See available parameters and their types

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "parameter_name": "rgb_camera.exposure"
  "parameter_value": "6012",
  "parameter_type": "int"
}

request topic
```
set_param_request
```
response topic
```
set_param_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": ""
}

Get Frame

See Supported Streams

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "stream_name": "color"
}

request topic:
```
get_frame_request
```
response topic:
```
get_frame_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "stream_name": "color"
  "success": True,
  "error_msg": "",
  "frame": "[0, 118, 124, 0, 0, ...., 255]" # array of bytes
}

Get Safety Preset

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "index": "1"
}

request topic:
```
get_safety_preset_request
```
response topic:
```
get_safety_preset_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
  "safety_preset": "{safety preset as json}"
}

Set Safety Preset

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "safety_preset": "{safety preset as json}"
  "index": "1"
}

request topic:
```
set_safety_preset_request
```
response topic:

set_safety_preset_response

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
}

Get Safety Interface Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic:
```
get_safety_interface_config_request
```
response topic:
```
get_safety_interface_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "safety_inteface_config": "{safety interface config as JSON}",
  "success": True,
  "error_msg": "",
}

Set Safety Interface Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "safety_inteface_config": "{safety interface config as JSON}",
}

request topic:
```
set_safety_interface_config_request
```
response topic:
```
set_safety_interface_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
}

Get Calib Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic:
```
get_calib_config_request
```
response topic:
```
get_calib_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "calib_config": "{calib config as JSON}",
  "success": True,
  "error_msg": "",
}

Set Calib Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "calib_config": "{calib config as JSON}"
}

request topic:
```
set_calib_config_request
```
response topic:
```
set_calib_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
}

Get Application Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic:
```
get_application_config_request
```
response topic:
```
get_application_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "application_config": "{application config as JSON}",
  "success": True,
  "error_msg": "",
}

Set Application Config

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "application_config": "{application config as JSON}"
}

request topic:
```
set_application_config_request
```
response topic:
```
set_application_config_response
```

mqtt response message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
}

Triggered Calibration

Before calling triggered calibration, user should set the following parameters:
- safety_camera.safety_mode: 2 # switch to service mode
- depth_module.visual_preset: 1 # switch to visual preset #1 in depth module
- depth_module.emitter_enabled: true # enable emitter in depth module
- depth_module.enable_auto_exposure: true # enable AE in depth moudle
- enable_depth: false # turn off depth stream
- enable_infra1: false # turn off infra1 stream
- enable_infra2: false # turn off infra2 stream
- enable_safety: false # turn off safety stream
- enable_labeled_point_cloud: false # turn off labeled pointcloud stream
- enable_occupancy: false # turn off occupancy stream

mqtt request message example:

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
}

request topic:
```
triggered_calibration_request
```
response topic:
```
triggered_calibration_response
```

mqtt response message example: (user will get messages on the triggered_calibration_response on every progress update)

{
  "camera_namespace": "robot1",
  "camera_name": "c_333622320169",
  "success": True,
  "error_msg": "",
  "calibration": {calibration table as json}
  "health": 3.0
  "progress": 100.0   # [%0...%100]
}

Supported Parameters For Set/Get

  accel_fps (type: integer)
  accel_info_qos (type: string)
  accel_qos (type: string)

  align_depth.enable (type: boolean)
  align_depth.frames_queue_size (type: integer)

  angular_velocity_cov (type: double)
  base_frame_id (type: string)
  camera_name (type: string)
  clip_distance (type: double)
  color_info_qos (type: string)
  color_qos (type: string)

  colorizer.color_scheme (type: integer)
  colorizer.enable (type: boolean)
  colorizer.frames_queue_size (type: integer)
  colorizer.histogram_equalization_enabled (type: boolean)
  colorizer.max_distance (type: double)
  colorizer.min_distance (type: double)
  colorizer.stream_filter (type: integer)
  colorizer.stream_format_filter (type: integer)
  colorizer.stream_index_filter (type: integer)
  colorizer.visual_preset (type: integer)

  decimation_filter.enable (type: boolean)
  decimation_filter.filter_magnitude (type: integer)
  decimation_filter.frames_queue_size (type: integer)
  decimation_filter.stream_filter (type: integer)
  decimation_filter.stream_format_filter (type: integer)
  decimation_filter.stream_index_filter (type: integer)

  depth_info_qos (type: string)

  depth_mapping_camera.frames_queue_size (type: integer)
  depth_mapping_camera.global_time_enabled (type: boolean)
  depth_mapping_camera.labeled_point_cloud_format (type: string)
  depth_mapping_camera.labeled_point_cloud_profile (type: string)
  depth_mapping_camera.occupancy_format (type: string)
  depth_mapping_camera.occupancy_profile (type: string)

  depth_module.auto_exposure_roi.bottom (type: integer)
  depth_module.auto_exposure_roi.left (type: integer)
  depth_module.auto_exposure_roi.right (type: integer)
  depth_module.auto_exposure_roi.top (type: integer)
  depth_module.depth_format (type: string)
  depth_module.depth_profile (type: string)
  depth_module.emitter_always_on (type: boolean)
  depth_module.emitter_enabled (type: boolean)
  depth_module.enable_auto_exposure (type: boolean)
  depth_module.error_polling_enabled (type: boolean)
  depth_module.exposure (type: integer)
  depth_module.frames_queue_size (type: integer)
  depth_module.gain (type: integer)
  depth_module.global_time_enabled (type: boolean)
  depth_module.infra1_format (type: string)
  depth_module.infra2_format (type: string)
  depth_module.infra_profile (type: string)
  depth_module.inter_cam_sync_mode (type: integer)
  depth_module.laser_power (type: double)
  depth_module.visual_preset (type: integer)
  depth_qos (type: string)

  device_type (type: string)
  diagnostics_period (type: double)
  disparity_filter.enable (type: boolean)
  disparity_to_depth.enable (type: boolean)

  enable_accel (type: boolean)
  enable_color (type: boolean)
  enable_depth (type: boolean)
  enable_gyro (type: boolean)
  enable_infra1 (type: boolean)
  enable_infra2 (type: boolean)
  enable_labeled_point_cloud (type: boolean)
  enable_occupancy (type: boolean)
  enable_rgbd (type: boolean)
  enable_safety (type: boolean)
  enable_sync (type: boolean)

  filter_by_sequence_id.enable (type: boolean)
  filter_by_sequence_id.frames_queue_size (type: integer)
  filter_by_sequence_id.sequence_id (type: integer)

  gyro_fps (type: integer)
  gyro_info_qos (type: string)
  gyro_qos (type: string)

  hdr_merge.enable (type: boolean)
  hdr_merge.frames_queue_size (type: integer)

  hold_back_imu_for_frames (type: boolean)
  hole_filling_filter.enable (type: boolean)
  hole_filling_filter.frames_queue_size (type: integer)
  hole_filling_filter.holes_fill (type: integer)
  hole_filling_filter.stream_filter (type: integer)
  hole_filling_filter.stream_format_filter (type: integer)
  hole_filling_filter.stream_index_filter (type: integer)

  infra1_info_qos (type: string)
  infra1_qos (type: string)
  infra2_info_qos (type: string)
  infra2_qos (type: string)

  initial_reset (type: boolean)
  json_file_path (type: string)

  labeled_point_cloud_info_qos (type: string)
  labeled_point_cloud_qos (type: string)

  linear_accel_cov (type: double)

  motion_module.enable_motion_correction (type: boolean)
  motion_module.frames_queue_size (type: integer)
  motion_module.global_time_enabled (type: boolean)

  occupancy_info_qos (type: string)
  occupancy_qos (type: string)

  pointcloud.allow_no_texture_points (type: boolean)
  pointcloud.enable (type: boolean)
  pointcloud.filter_magnitude (type: integer)
  pointcloud.frames_queue_size (type: integer)
  pointcloud.ordered_pc (type: boolean)
  pointcloud.pointcloud_qos (type: string)
  pointcloud.stream_filter (type: integer)
  pointcloud.stream_format_filter (type: integer)
  pointcloud.stream_index_filter (type: integer)

  publish_tf (type: boolean)
  reconnect_timeout (type: double)

  rgb_camera.auto_exposure_priority (type: boolean)
  rgb_camera.auto_exposure_roi.bottom (type: integer)
  rgb_camera.auto_exposure_roi.left (type: integer)
  rgb_camera.auto_exposure_roi.right (type: integer)
  rgb_camera.auto_exposure_roi.top (type: integer)
  rgb_camera.brightness (type: integer)
  rgb_camera.color_format (type: string)
  rgb_camera.color_profile (type: string)
  rgb_camera.contrast (type: integer)
  rgb_camera.enable_auto_exposure (type: boolean)
  rgb_camera.enable_auto_white_balance (type: boolean)
  rgb_camera.exposure (type: integer)
  rgb_camera.frames_queue_size (type: integer)
  rgb_camera.gain (type: integer)
  rgb_camera.gamma (type: integer)
  rgb_camera.global_time_enabled (type: boolean)
  rgb_camera.hue (type: integer)
  rgb_camera.power_line_frequency (type: integer)
  rgb_camera.saturation (type: integer)
  rgb_camera.sharpness (type: integer)
  rgb_camera.white_balance (type: double)

  rosbag_filename (type: string)

  safety_camera.frames_queue_size (type: integer)
  safety_camera.global_time_enabled (type: boolean)
  safety_camera.safety_format (type: string)
  safety_camera.safety_mode (type: integer)
  safety_camera.safety_preset_active_index (type: integer)
  safety_camera.safety_profile (type: string)
  safety_info_qos (type: string)
  safety_qos (type: string)

  serial_no (type: string)

  spatial_filter.enable (type: boolean)
  spatial_filter.filter_magnitude (type: integer)
  spatial_filter.filter_smooth_alpha (type: double)
  spatial_filter.filter_smooth_delta (type: integer)
  spatial_filter.frames_queue_size (type: integer)
  spatial_filter.holes_fill (type: integer)
  spatial_filter.stream_filter (type: integer)
  spatial_filter.stream_format_filter (type: integer)
  spatial_filter.stream_index_filter (type: integer)

  temporal_filter.enable (type: boolean)
  temporal_filter.filter_smooth_alpha (type: double)
  temporal_filter.filter_smooth_delta (type: integer)
  temporal_filter.frames_queue_size (type: integer)
  temporal_filter.holes_fill (type: integer)
  temporal_filter.stream_filter (type: integer)
  temporal_filter.stream_format_filter (type: integer)
  temporal_filter.stream_index_filter (type: integer)

  tf_publish_rate (type: double)
  unite_imu_method (type: integer)
  usb_port_id (type: string)
  use_sim_time (type: boolean)
  wait_for_device_timeout (type: double)

Supported Streams

color
depth
infra1 (Left IR)
infra2 (Right IR)

Usage Example

Minimal Python MQTT Client Example

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MQTT <-> ROS bridge for Intel© RealSense™ Cameras

Table of contents

Installation

Starting the ros-mqtt-bridge node

ros2 run

ros2 launch

Parameters

Client Usage

Enumerate Devices

Reset the Device

Get Device Info

Get Transformation

Send HWM Command

Get Parameter

Set Parameter

Get Frame

Get Safety Preset

Set Safety Preset

Get Safety Interface Config

Set Safety Interface Config

Get Calib Config

Set Calib Config

Get Application Config

Set Application Config

Triggered Calibration

Supported Parameters For Set/Get

Supported Streams

Usage Example

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MQTT <-> ROS bridge for Intel© RealSense™ Cameras

Table of contents

Installation

Starting the ros-mqtt-bridge node

ros2 run

ros2 launch

Parameters

Client Usage

Enumerate Devices

Reset the Device

Get Device Info

Get Transformation

Send HWM Command

Get Parameter

Set Parameter

Get Frame

Get Safety Preset

Set Safety Preset

Get Safety Interface Config

Set Safety Interface Config

Get Calib Config

Set Calib Config

Get Application Config

Set Application Config

Triggered Calibration

Supported Parameters For Set/Get

Supported Streams

Usage Example