# set another frame rate and resolution
# on AGX or in galaxis-dev docker:
$ ros2 run realsense_node realsense_node --ros-args -p color0.fps:=60
# in phth's docker:
$ ros2 run realsense2_camera realsense2_camera_node --ros-args -p rgb_camera.profile:='640x480x60'
# check the frame rate
# Note: "ros2 topic hz": Display the publishing rate of a topic. The rate reported is by default
# the average rate over the entire time rostopic has been running.
# (i.e. an n window size moving average)
# on AGX or in galaxis-dev docker:
$ ros2 topic hz /camera/color/image_raw
average rate: 56.733
min: 0.012s max: 0.038s std dev: 0.00448s window: 58
# in phth's docker:
$ ros2 topic hz /color/image_raw
average rate: 59.638
min: 0.015s max: 0.017s std dev: 0.00028s window: 61
# list all available rgb camera profiles
$ ros2 param describe /camera rgb_camera.profile
Parameter name: rgb_camera.profile
Type: string
Description: Available options are:
1280x720x15
1280x720x30
1280x720x6
1920x1080x15
1920x1080x30
1920x1080x6
320x180x30
320x180x6
320x180x60
320x240x30
320x240x6
320x240x60
424x240x15
424x240x30
424x240x6
424x240x60
640x360x15
640x360x30
640x360x6
640x360x60
640x480x15
640x480x30
640x480x6
640x480x60
848x480x15
848x480x30
848x480x6
848x480x60
960x540x15
960x540x30
960x540x6
960x540x60
Constraints:
# list all camera settings
$ ros2 param list /camera
# get a current parameter value
$ ros2 param get /camera color0.fps
# set multiple parameters when the node launches
$ ros2 run realsense2_camera realsense2_camera_node --ros-args -p color_fps:=60.0 -p depth_fps:=60.0 -p rgb_camera.power_line_frequency:=1 -p enable_infra:=False -p enable_pointcloud:=True