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4. Application Guide

This chapter introduces application development with the SDK, including launch parameter configuration, ROS1 services, and topics usage.

• 4.1. Launch parameters
  • 4.1.1. Core & Stream Configuration
  • 4.1.2. Sensor Controls
  • 4.1.3. Device, Sync & Advanced Features
  • 4.1.4. Basic & General Parameters
  • 4.1.5. IMU
  • 4.1.6. Depth Filters
• 4.2. Available services
  • 4.2.1. Color Stream
  • 4.2.2. Depth Stream
  • 4.2.3. IR Stream
  • 4.2.4. Sensor & Emitter Control
  • 4.2.5. Device Information & Management
  • 4.2.6. Synchronization
  • 4.2.7. Depth Filter Configuration
  • 4.2.8. Data Capture & Calibration Management
• 4.3. Available Topics
  • 4.3.1. Image Streams
  • 4.3.2. Point Cloud Topics
  • 4.3.3. Device Status & Diagnostics
• 4.4. Coordinate Systems and TF Transforms
  • 4.4.1. Camera sensor structure
  • 4.4.2. ROS Robot Coordinate System vs Camera Optical Coordinate System
  • 4.4.3. Using ROS1 TF Tools
  • 4.4.4. ROS1 Camera TF Calculation and Publication Mechanism
• 4.5. Enabling and Visualizing Point Cloud in ROS 1
  • 4.5.1. Enabling Depth Point Cloud
  • 4.5.2. Enabling Colored Point Cloud