enable l515 depth filter

[robopassio]

Hi,

Is there anyway to enable filtering of depth data using ros command to obtain similar result like here?
There is a line in rs_rgbd.launch file:

      <arg name="filters"                  value="$(arg filters)"/>

is this related to my scope or what should I do to enable?

[MartyG-RealSense]

Hi @robopassio It is possible to enable post-processing filters in the RealSense ROS wrapper (though it does not support all of the filters that are available in librealsense). However, the L515 camera model only supports the Temporal depth post-processing filter and the Decimation RGB post-processing filter for downsampling the resolution.

I cannot recall a previous case of these filters being used with L515 in the ROS wrapper.

#583 though provides advice about configuring the Decimation filter, by first adding filters:=decimation to the roslaunch instruction and then configuring the filter's magnitude setting with a rosrun instruction during runtime after launch has completed.

Adding filters:=temporal to the roslaunch instruction should enable the temporal filter for depth whilst #501 (comment) has an example of defining it as an arg in the launch file.

[robopassio]

Thanks @MartyG-RealSense! is there any way to configurate parameters of the temporal filter during running? which ros topic I can communicate to?

[MartyG-RealSense]

The Intel RealSense developer who created the ROS1 wrapper advises at #742 (comment) how to get a list of parameters for the temporal filter.

[MartyG-RealSense]

Hi @robopassio Do you require further assistance with this case, please? Thanks!