How to specify parameters using lauch file

Hi.
I am using RealSense D435i.

There are places where the wrong depth calculation will misidentify.
I checked using Viewer.
I was able to eliminate the error by setting the [DS SecondPeak Threshold].

I don't know how to specify this parameter in the ROS lauch file.
Do you know anyone?

thank you.

• MartyX Grover

  • June 06, 2022 05:51

  Hi Makoto Terabayashi

  You cannot define an Advanced Mode parameter such as Second Peak Threshold (also known as Second Peak Delta) in a launch file directly.  You could though define it in a json camera configuration file and load the json at launch using the launch file or the roslaunch instruction.  An example of an instruction for this setting to place in the json file is:

  "param-secondpeakdelta": "325"

   

  
  If you are not familiar with json files, also called Visual Presets, you can read their official documentation page at the link below.

  https://dev.intelrealsense.com/docs/d400-series-visual-presets

   

  
  A json file can be loaded from the launch file by defining a path to the file with the json_file_path parameter.

  https://github.com/IntelRealSense/realsense-ros/blob/development/realsense2_camera/launch/rs_camera.launch#L5

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• Makoto Terabayashi

  • June 08, 2022 04:34

  Hello MartyG
  Thank you for your prompt reply.

  I was able to create and load a json file.
  However, the setting value cannot be changed by this procedure.
  Is there no choice but to recreate the json file to change the settings?

  thank you.

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• MartyX Grover

  • June 08, 2022 07:42
  • Edited

  Typically when setting different Advanced Mode values with a json after a json has already been loaded, you would have to stop the pipeline, load a different json file and then restart the pipeline to apply the change.

   

  I would speculate that instead of using a json file, you may be able to access Advanced Mode directly to make a change to the Second Peak Threshold during ROS runtime by launching a Python pyrealsense2 node script in ROS.  The link below suggests code for doing so.

  https://github.com/IntelRealSense/librealsense/issues/10224#issuecomment-1060412603

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• Makoto Terabayashi

  • June 16, 2022 04:47

  Hello Marty G
  Sorry for the late reply.

  I am considering how to reload the json file after changing it.

  Thanks to you, I was able to achieve my goal.

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• MartyX Grover

  • June 16, 2022 06:08

  That's great news that you were successful.  Thanks very much for the update!

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