4.3. Available Topics

Topics are organized by stream and function. By default, all topics are published under the /camera namespace, which can be changed with the camera_name launch parameter.

Note: Topics for a specific stream (e.g., /camera/color/...) are only published if their corresponding launch parameter (e.g., enable_color) is set to true.

4.3.1. Image Streams

These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for color, depth, left_ir, and right_ir streams.

/camera/color/image_raw
- Raw image data from the color stream.
/camera/color/camera_info
- Camera calibration data and metadata for the color stream.
/camera/depth/image_raw
- Raw image data from the depth stream.
/camera/depth/camera_info
- Camera calibration data and metadata for the depth stream.
/camera/left_ir/image_raw
- Raw image data from the left infrared (IR) stream.
/camera/left_ir/camera_info
- Camera calibration data and metadata for the left IR stream.
/camera/right_ir/image_raw
- Raw image data from the right infrared (IR) stream.
/camera/right_ir/camera_info
- Camera calibration data and metadata for the right IR stream.

4.3.2. Point Cloud Topics

/camera/depth/points
- Point cloud data generated from the depth stream.
- Condition: Published only when enable_point_cloud is true.
/camera/depth_registered/points
- Colored point cloud data, where the depth points are registered to the color image frame.
- Condition: Published only when enable_colored_point_cloud is true.

4.3.3. Device Status & Diagnostics

/diagnostics
- Publishes diagnostic information about the camera node. Currently, this includes the device temperature.