Updated the topics and services listed in the README

[louislelay]

I updated the topics and services listed in the README file. As when we run ros2 topic list and ros2 service list after launching the sames commands, the previous output displayed were out of date.

This came from conversation we had in the following issue (3208) : #3208

[sysrsbuild]

Can one of the admins verify this patch?

[louislelay]

Hi @sysrsbuild @SamerKhshiboun & @Nir-Az,
I noticed that this PR has been reviewed and updated with main, but it hasn't been merged yet. Is there anything else needed from my side to help move it forward? Let me know if there's anything I can do to assist. Thanks!

[Nir-Az]

Hi @sysrsbuild @SamerKhshiboun & @Nir-Az, I noticed that this PR has been reviewed and updated with main, but it hasn't been merged yet. Is there anything else needed from my side to help move it forward? Let me know if there's anything I can do to assist. Thanks!

Hi @louislelay ,

Sorry for that probably this fall between our tasks.
Let me add @remibettan to confirm the changes are still updated and we can later continue with merging it.
Thanks!

[louislelay]

No problem, @Nir-Az! Just following up. Thanks for the quick answer!

[remibettan]

Hi @louislelay - thanks for your contribution!
Working on the ros2-development branch, I had the following results:

ros2 topic list
/parameter_events
/robot1/D455_1/color/camera_info
/robot1/D455_1/color/image_raw
/robot1/D455_1/color/metadata
/robot1/D455_1/depth/camera_info
/robot1/D455_1/depth/image_rect_raw
/robot1/D455_1/depth/metadata
/robot1/D455_1/extrinsics/depth_to_color
/rosout
/tf_static

ros2 service list
/robot1/D455_1/calib_config_read
/robot1/D455_1/calib_config_write
/robot1/D455_1/describe_parameters
/robot1/D455_1/device_info
/robot1/D455_1/get_parameter_types
/robot1/D455_1/get_parameters
/robot1/D455_1/get_type_description
/robot1/D455_1/hw_reset
/robot1/D455_1/list_parameters
/robot1/D455_1/set_parameters
/robot1/D455_1/set_parameters_atomically

These results are slightly different from yours.
Please tell me if you can check and eventually fix it in your Pull Request.

Thanks!

[louislelay]

Hi @remibettan,

Thanks for your response! I did a fresh install and verified this on the ros2-development branch. While my results differ from what I initially proposed, they also don’t fully match yours.

I have an extra topic that you don’t /robot1/D455_1/extrinsics/depth_to_depth
You have a service that I don’t: /robot1/D455_1/get_type_description

These differences appear when running:

ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=D455_1

ros2 node list
/robot1/D455_1

ros2 topic list
/parameter_events
/robot1/D455_1/color/camera_info
/robot1/D455_1/color/image_raw
/robot1/D455_1/color/metadata
/robot1/D455_1/depth/camera_info
/robot1/D455_1/depth/image_rect_raw
/robot1/D455_1/depth/metadata
/robot1/D455_1/extrinsics/depth_to_color
/robot1/D455_1/extrinsics/depth_to_depth
/rosout
/tf_static

ros2 service list
/robot1/D455_1/calib_config_read
/robot1/D455_1/calib_config_write
/robot1/D455_1/describe_parameters
/robot1/D455_1/device_info
/robot1/D455_1/get_parameter_types
/robot1/D455_1/get_parameters
/robot1/D455_1/hw_reset
/robot1/D455_1/list_parameters
/robot1/D455_1/set_parameters
/robot1/D455_1/set_parameters_atomically

I also verified this using the ros2 run command, and I noticed that the following command from the README doesn’t work for me:

ros2 run realsense2_camera realsense2_camera_node --ros-args -r __node:=D455_1 -r __ns:=robot1

After investigating, I found that the __ns argument should be written as __ns:=/robot1

Additionally, the topics and services differ significantly depending on whether we use ros2 run or ros2 launch.

Using ros2 run, we get:

 ros2 node list
 /robot1/D455_1

ros2 topic list
/parameter_events
/robot1/D455_1/accel/imu_info
/robot1/D455_1/accel/metadata
/robot1/D455_1/accel/sample
/robot1/D455_1/color/camera_info
/robot1/D455_1/color/image_raw
/robot1/D455_1/color/metadata
/robot1/D455_1/depth/camera_info
/robot1/D455_1/depth/image_rect_raw
/robot1/D455_1/depth/metadata
/robot1/D455_1/extrinsics/depth_to_accel
/robot1/D455_1/extrinsics/depth_to_color
/robot1/D455_1/extrinsics/depth_to_depth
/robot1/D455_1/extrinsics/depth_to_gyro
/robot1/D455_1/extrinsics/depth_to_infra1
/robot1/D455_1/gyro/imu_info
/robot1/D455_1/gyro/metadata
/robot1/D455_1/gyro/sample
/robot1/D455_1/infra1/camera_info
/robot1/D455_1/infra1/image_rect_raw
/robot1/D455_1/infra1/metadata
/rosout
/tf_static

ros2 service list
/robot1/D455_1/calib_config_read
/robot1/D455_1/calib_config_write
/robot1/D455_1/describe_parameters
/robot1/D455_1/device_info
/robot1/D455_1/get_parameter_types
/robot1/D455_1/get_parameters
/robot1/D455_1/hw_reset
/robot1/D455_1/list_parameters
/robot1/D455_1/set_parameters
/robot1/D455_1/set_parameters_atomically

Would you like me to update my PR to include these observations? Let me know what you think!

[remibettan]

Hi @louislelay - sorry for the delay!
Answering your previous comment:

1. Regarding the discrepancies between my results and yours, using the ros2-development branch:
   These may be caused by the fact that I am using our librealsense development branch, and you may be using the latest master for it. Anyway, your output is already a great improvement, so let's use it.

2. Regarding the differences between running ros2 run or ros2 launch, these may be caused by the params that are updated in the rs_launch.py file when using ros2 launch.
   Please use the ros2 launch results, and add some note that using ros2 run, the results will slightly differ because of params that are not initialized with the values they are assigned to in the rs_launch.py file.

Thanks a lot for your contribution!

[louislelay]

Hi @remibettan, thanks for your feedback! I’ve updated the README as recommended. Just to clarify—I was also on the development branch for librealsense, not the master branch. So the differences we observed might stem from other factors rather than the branch version.

[remibettan]

Great - thanks @louislelay