All available topics

The names of the following topics already express their functions. However, it should be noted that the corresponding [ir|right_ir|left_ir|depth|color]/[image_raw|camera_info|metadata] topics are only available when enable[ir|right_ir|left_ir|depth|color] is set to true in the stream corresponding to the startup file parameters.

/camera/color/camera_info : The color camera info.
/camera/color/image_raw: The color stream image.
/camera/color/metadata: The color stream firmware data.
/camera/depth/camera_info: The depth camera info.
/camera/depth/image_raw: The depth stream image.
/camera/depth/metadata:The depth stream firmware data.
/camera/depth/points : The point cloud, only available when enable_point_cloud is true.
/camera/depth_registered/points: The colored point cloud, only available when enable_colored_point_cloud is true.
/camera/depth_filter_status: The depth sensor filter status.
/camera/ir/camera_info: The IR camera info.
/camera/ir/image_raw: The IR stream image.
/camera/ir/metadata: The IR stream firmware data.
/camera/accel/sample: Acceleration data stream enable_sync_output_accel_gyroturned off，enable_accelturned on
/camera/gyro/sample: Gyroscope data stream，enable_sync_output_accel_gyro turned off，enable_gyro`turned on
camera/gyro_accel/sample: Synchronized data stream of acceleration and gyroscope，enable_sync_output_accel_gyro turned on
/diagnostics: The diagnostic information of the camera, Currently, the diagnostic information only includes the temperature of the camera.

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All available topics

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