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Update deps and fix support for older versions of librealsense2 #2

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Merged
eholum-nasa merged 2 commits into from
Jan 29, 2026
Merged

Update deps and fix support for older versions of librealsense2 #2

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0bb92d9
Add dependency on librealsense2
eholum-nasa Dec 16, 2025
f66412e
Use enable_device instead of set_device
eholum-nasa Dec 16, 2025
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2 changes: 2 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@
<depend>image_geometry</depend>
<depend>pcl_ros</depend>
<depend>pcl_conversions</depend>
<depend>librealsense2</depend>

<exec_depend>ros2launch</exec_depend>

<export>
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7 changes: 6 additions & 1 deletion src/RealSensePolledCameraNode.cpp
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Expand Up @@ -113,9 +113,11 @@ void RealSensePolledCameraNode::initializeCamera()
{
rs2::context ctx;
rs2::device_list devices = ctx.query_devices();
std::string selected_serial;
if (m_serialNumber.empty())
{
m_device = devices.front();
selected_serial = m_device.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
}
else
{
Expand All @@ -127,14 +129,17 @@ void RealSensePolledCameraNode::initializeCamera()
if (sn == m_serialNumber)
{
m_device = dev;
selected_serial = sn;
break;
}
}
}
if (!m_device)
{
RCLCPP_FATAL(this->get_logger(), "Camera with serial number %s not found", m_serialNumber.c_str());
}
m_pipe.set_device(&m_device);
m_rsConfig.enable_device(selected_serial);

if (get_parameter("enable_color").as_bool())
{
std::string colorStreamFormat = get_parameter("rgb_camera.color_profile").as_string();
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