#Intel® RealSense™ Camera Driver for ROS

Please reference the documentation on the ROS realsense_camera wiki.

##Unit Tests: The Unit Tests can be executed using either of the methods:

Using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_nodelet_disable_color.test 

Using rosrun command

$ roslaunch realsense_camera r200_nodelet_modify_params.launch

$ rosrun realsense_camera realsense_camera_test <args>
E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920

Both these methods first starts the nodelet and then executes all the unit tests.

Sample test files are available in "realsense_camera/test" directory

##Bat Tests: The bat tests can be executed using rostest command with test files

$ rostest realsense_camera <test_filename>
E.g. rostest realsense_camera r200_camera_info_matrix_check.test

Sample test files are available in "realsense_camera/test/files/bat-tests" directory.

Bat tests include its executable python scripts, they will be copied to specific directory when build realsense_camera. If will not run the bat tests again or want to clean realsense_camera, please remove the bat python scripts by additional running catkin_make clean-script command.

##Errata: See the GitHub Issues Bugs for a complete list.

• F200/SR300 cameras: [Multiple cameras can only be started from a single launch file for F200 and SR300 camera types.] (IntelRealSense#92)

• F200/SR300 cameras: [Native pointcloud is not generated even after enabling pointcloud.] (IntelRealSense#89) This is unlikely to be fixed as current plan is to [remove native point cloud generation] (IntelRealSense#47) from the node.