Filters parameters for Foxy

[rafaelRinconFo]

According to the Foxy documentation, the filters parameters can launch the following filters during the ros2 launch process:

• disparity
• spatial
• temporal
• hole_filling
• decimation

However, as far as can be seen in the documentation, there is no direct way to modify the filters' parameters considered in the librealsense documentation, such as the Persistency index in the Temporal filter among others.

Is there an easy way to modify the filter parameters? Is this considered to be included in future releases?

Thanks in advance.

[MartyG-RealSense]

Hi @rafaelRinconFo In the ROS1 wrapper at least, you could define a filter generally in the roslaunch instruction and then apply specific settings for the filter if that filter supported it using a rosrun dynamic_reconfigure dynparam set instruction.

#583

In the ROS2 wrapper though, instead of using dynamic_reconfigure you would use rqt with the parameter reconfigure plugin.

IntelRealSense/librealsense#5825 (comment)

I will tag @doronhi the RealSense ROS wrapper developer into this discussion to seek advice.

Hi @doronhi Could you provide advice please about how to apply specific filter settings such as magnitude to a post-processing filter in the ROS2 Foxy wrapper if possible to do so, please? Thanks!

[rafaelRinconFo]

Hi @rafaelRinconFo In the ROS1 wrapper at least, you could define a filter generally in the roslaunch instruction and then apply specific settings for the filter if that filter supported it using a rosrun dynamic_reconfigure dynparam set instruction.

#583

In the ROS2 wrapper though, instead of using dynamic_reconfigure you would use rqt with the parameter reconfigure plugin.

IntelRealSense/librealsense#5825 (comment)

I will tag @doronhi the RealSense ROS wrapper developer into this discussion to seek advice.

Hi @doronhi Could you provide advice please about how to apply specific filter settings such as magnitude to a post-processing filter in the ROS2 Foxy wrapper if possible to do so, please? Thanks!

Thank you so much for you answer @MartyG-RealSense , I'm really looking forward to know what could be done.

[doronhi]

while running the node with the filter on, you can list the parameters in a different console.
For this example, I'll use the temporal filter:
ros2 param list | grep temporal
yeilds:

  temporal.filter_smooth_alpha
  temporal.filter_smooth_delta
  temporal.frames_queue_size
  temporal.holes_fill
  temporal.stream_filter
  temporal.stream_format_filter
  temporal.stream_index_filter

The names of the arguments are sometimes different from those seen in the "realsense-viewer" app but they are the same controls.
For enum arguments, the values are documented in the description. For example:
ros2 param describe /camera/camera temporal.holes_fill
yeilds:

Parameter name: temporal.holes_fill
  Type: integer
  Description: Persistency mode
Disabled          - 0
Valid in 8/8      - 1
Valid in 2/last 3 - 2
Valid in 2/last 4 - 3
Valid in 2/8      - 4
Valid in 1/last 2 - 5
Valid in 1/last 5 - 6
Valid in 1/8      - 7
Always on         - 8

So now you can get the current value using:
ros2 param get /camera/camera temporal.holes_fill
of set a new one:
ros2 param set /camera/camera temporal.holes_fill 0

You can also set the value in the launch file. Add the following element to the "configurable_parameters" list in your rs_launch.py file:

 {'name': 'temporal.holes_fill',          'default': '0', 'description': 'Persistency mode'},

Note: If you build from source, don't forget to colcon build again, to copy the fixed launch file to the "install" library.
Now starting the node with the following command will set the value of "temporal.holes_fill" to 0:
ros2 launch realsense2_camera rs_launch.py filters:=temporal,colorizer depth_qos:=SYSTEM_DEFAULT
or you can set it as you see fit:
ros2 launch realsense2_camera rs_launch.py filters:=temporal,colorizer depth_qos:=SYSTEM_DEFAULT temporal.holes_fill:=8

[MartyG-RealSense]

Thanks so much @doronhi :)

[rafaelRinconFo]

Thank you so much @doronhi and @MartyG-RealSense . This will be really helpfull