publish_test_rgbd_data_config.yaml

# Configuration for `pub_rgbd_and_cloud.py`.

ros_topic_namespace: ""
publish_rate: 1.0 # How many data to publish per second.
is_loop_forever: True # After publishing all images, loop back to the 1st one.
frame_id: "camera_link" # Name of the camera frame.

color:
  is_publish: True
  # folder: "data/image_i1/color"
  folder: "data/images_n76/color"
  ros_topic: "camera/color/image_raw"

depth:
  is_publish: True
  # folder: "data/image_i1/depth"
  folder: "data/images_n76/depth"
  depth_unit: 0.001 # If depth[i,j]=D, then this pixel's depth is (depth_unit*D) meters.
  depth_trunc: 5.0 # Depth value larger than ${depth_trunc} meters gets truncated to zero.
  ros_topic: "camera/aligned_depth_to_color/image_raw"

camera_info:
  is_publish: True
  file: "data/images_n76/cam_params_realsense.json"
  ros_topic: "camera/color/camera_info"

point_cloud:
  is_publish: True
  ros_topic: "camera/depth/color/points"