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68 lines
2.8 KiB
Plaintext
68 lines
2.8 KiB
Plaintext
# Available Topics
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Topics are organized by stream and function. By default, all topics are published under the `/camera` namespace, which can be changed with the `camera_name` launch parameter.
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> **Note:** Topics for a specific stream (e.g., `/camera/color/...`) are only published if their corresponding launch parameter (e.g., `enable_color`) is set to `true`.
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### Image Streams
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These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.
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* `/camera/color/image_raw`
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* Raw image data from the color stream.
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* `/camera/color/camera_info`
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* Camera calibration data and metadata for the color stream.
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* `/camera/color/metadata`
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* Low-level metadata from the color stream firmware.
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* `/camera/depth/image_raw`
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* Raw image data from the depth stream.
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* `/camera/depth/camera_info`
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* Camera calibration data and metadata for the depth stream.
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* `/camera/depth/metadata`
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* Low-level metadata from the depth stream firmware.
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* `/camera/ir/image_raw`
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* Raw image data from the infrared (IR) stream.
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* `/camera/ir/camera_info`
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* Camera calibration data and metadata for the IR stream.
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* `/camera/ir/metadata`
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* Low-level metadata from the IR stream firmware.
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### Point Cloud Topics
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* `/camera/depth/points`
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* Point cloud data generated from the depth stream.
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* **Condition:** Published only when `enable_point_cloud` is `true`.
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* `/camera/depth_registered/points`
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* Colored point cloud data, where the depth points are registered to the color image frame.
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* **Condition:** Published only when `enable_colored_point_cloud` is `true`.
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### IMU Topics
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The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.
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* `/camera/accel/sample`
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* Individual accelerometer data stream.
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* **Condition:** Published when `enable_accel` is `true` AND `enable_sync_output_accel_gyro` is `false`.
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* `/camera/gyro/sample`
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* Individual gyroscope data stream.
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* **Condition:** Published when `enable_gyro` is `true` AND `enable_sync_output_accel_gyro` is `false`.
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* `/camera/gyro_accel/sample`
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* Synchronized data stream containing both accelerometer and gyroscope data in a single message.
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* **Condition:** Published when `enable_sync_output_accel_gyro` is `true`.
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### Device Status & Diagnostics
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* `/camera/device_status`
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* Reports the current status of the camera device.
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* `/camera/depth_filter_status`
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* Reports the status of the depth sensor's post-processing filters.
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* `/diagnostics`
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* Publishes diagnostic information about the camera node. Currently, this includes the device temperature.
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