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, ir, 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/color/metadata
- Low-level metadata from the color stream firmware.
/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/depth/metadata
- Low-level metadata from the depth stream firmware.
/camera/ir/image_raw
- Raw image data from the infrared (IR) stream.
/camera/ir/camera_info
- Camera calibration data and metadata for the IR stream.
/camera/ir/metadata
- Low-level metadata from the IR stream firmware.

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. IMU Topics

The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.

/camera/accel/sample
- Individual accelerometer data stream.
- Condition: Published when enable_accel is true AND enable_sync_output_accel_gyro is false.
/camera/gyro/sample
- Individual gyroscope data stream.
- Condition: Published when enable_gyro is true AND enable_sync_output_accel_gyro is false.
/camera/gyro_accel/sample
- Synchronized data stream containing both accelerometer and gyroscope data in a single message.
- Condition: Published when enable_sync_output_accel_gyro is true.

4.3.4. Device Status & Diagnostics

/camera/device_status
- Reports the current status of the camera device.
/camera/depth_filter_status
- Reports the status of the depth sensor’s post-processing filters.
/diagnostics
- Publishes diagnostic information about the camera node. Currently, this includes the device temperature.