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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. How to modify launch parameters
  • 4.1.2. Core & Stream Configuration
  • 4.1.3. Sensor Controls
  • 4.1.4. Device, Sync & Advanced Features
  • 4.1.5. Basic & General Parameters
  • 4.1.6. IMU
  • 4.1.7. Depth Filters
• 4.2. Available services
  • 4.2.1. Color Stream
  • 4.2.2. Color Queue Diagnostics
  • 4.2.3. Depth Stream
  • 4.2.4. IR Stream
  • 4.2.5. Runtime Stream Configuration
  • 4.2.6. Sensor & Emitter Control
  • 4.2.7. Device Information & Management
  • 4.2.8. Synchronization
  • 4.2.9. Disparity Configuration
  • 4.2.10. AE Configuration
  • 4.2.11. Depth Filter Configuration
  • 4.2.12. Data Capture & Calibration Management
• 4.3. Available Topics
  • 4.3.1. Image Streams
  • 4.3.2. LRM Obstacle Distance
  • 4.3.3. Point Cloud Topics
  • 4.3.4. IMU Topics
  • 4.3.5. Extrinsics Topics
  • 4.3.6. Device Status & Diagnostics
• 4.4. Runtime Modifiable Parameters
• 4.5. Coordinate Systems and TF Transforms
  • 4.5.1. Camera sensor structure
  • 4.5.2. ROS Robot Coordinate System vs Camera Optical Coordinate System
  • 4.5.3. Using ROS1 TF Tools
  • 4.5.4. ROS1 Camera TF Calculation and Publication Mechanism
• 4.6. Enabling and Visualizing Point Cloud in ROS 1
  • 4.6.1. Enabling Depth Point Cloud
  • 4.6.2. Enabling Colored Point Cloud
• 4.7. Compressed Image
  • 4.7.1. Publishing Behavior
  • 4.7.2. Common Compressed Image Topics
  • 4.7.3. color_format:=MJPG Scenario
  • 4.7.4. Troubleshooting