march_realsense_test_publisher

The march_realsense_test_publisher publishes fake realsense pointclouds to simulate the RealSense camera when running a simulation of the exoskeleton. This is a service (service_name = /camera/publish_test_cloud) so it will only be executed when called upon.

How to use

Run ROS1 simulation with RealSense:

march_run_ros1_sim realsense:=true

Call upon the service with arguments using the following format:

rosservice call /camera/publish_test_cloud "{selected_mode: 2, pointcloud_file_name: 'stairs1.ply', save_camera_back: false}"

Arguments

enum SelectedMode { next = 0, end = 1, custom = 2, save = 3 }

Select “next” to cycle through the pointcloud files.

Select “end” to stop publishing pointclouds.

Select “custom” to publish a custom pointcloud specified in the next argument.

Select “save” to save the current pointcloud as filename specified in the next argument.

string pointcloud_file_name: <file_from_config/datasets>

Specify which file to publish or specify the name of the file to save to.

bool save_camera_back

Whether to save the pointcloud from the back-RealSense instead of the front.