How to make viso2_ros work with realsense r200?

Question

I have been trying to make viso2_ros work with intel realsense r200. But there is a problem with the synchronisation(I think) and viso2_ros is not getting any image data. I get the following warning:

Following is my launch file:

<launch>
<arg name="camera" default="stereo_forward"/> <node ns="$(arg camera)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/> --> <node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">

    <remap from ="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_rect"/>
    <remap from="/$(arg camera)/left/image_rect"           to="/camera/ir/image_raw"/>
    <remap from="/$(arg camera)/left/camera_info"  to="/camera/ir/camera_info"/>
    <remap from="/$(arg camera)/right/image_rect"       to="/camera/ir2/image_raw"/>
    <remap from="/$(arg camera)/right/camera_info" to="/camera/ir2/camera_info"/>
        <remap from="odom" to="/stereo_odometer/odometry"/>
            <param name="queue_size" type="int" value="100"/>
    <param name="approximate_sync" type="bool" value="true"/>
    <param name="base_link_frame_id" value="$(arg camera)"/>
    <param name="odom_frame_id" value="/odom"/>
</node>
</launch>

The rqt_graph:

which does not show a connection for /stereo_forward/right/image_rect. I am using Ubuntu 16.04 with ROS Kinetic. If anyone has any idea or suggestion about a resolution, I would really appreciate that. Thanks in advance!

Answer 1

通过Google的快速搜索，看来Intel R200仅具有1个RGB相机。因此，我认为您必须使用单眼VO。