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RealSense logo RealSense logo

Native ROS2 Interface for RealSense D555 Camera
Driverless, Embedded ROS2 — No Host Wrapper Required

humble ubuntu22 ubuntu24

Table of Contents

  • Overview
  • Key Differences from realsense-ros Wrapper
  • Installation
  • Usage
    • Device Discovery
    • Camera Name and Namespace
    • Parameters
    • ROS2/Robot vs Optical/Camera Coordination Systems
    • TF from coordinate A to coordinate B
    • Extrinsics from sensor A to sensor B
    • Published Topics
    • Metadata Topic
    • Available Services
  • Troubleshooting
  • Contributing
  • License

Overview

The RealSense D555 camera includes a native ROS2 interface implemented directly in the device firmware (FreeRTOS). Unlike the traditional D400-series workflow that requires librealsense + the realsense-ros wrapper on the host, the D555 communicates directly over DDS via Ethernet — no host-side driver or wrapper node is needed.

Key Advantages:

  • Zero Host-Side Dependencies: No librealsense, no realsense-ros package to install or maintain.
  • Plug-and-Play: Connect via Ethernet, set ROS_DOMAIN_ID, and start using standard ROS2 CLI tools immediately.
  • Reduced Latency: Data travels directly from firmware to the DDS network with no intermediate processing layer.
  • Embedded Reliability: The ROS2 node runs on the device's real-time OS (FreeRTOS), ensuring deterministic behavior.
  • Standard Compliance: Fully compatible with ros2 topic, ros2 service, ros2 param, and rqt.

Key Differences from realsense-ros Wrapper

Aspect D4xx (realsense-ros wrapper) D5XX (Native Firmware)
Connection USB 3.x / GMSL / MIPI Ethernet (Gigabit)
Host dependencies librealsense + realsense-ros None
ROS2 node runs on Host PC Device firmware (FreeRTOS)
Launch mechanism ros2 launch realsense2_camera rs_launch.py Automatic on device power-on
Parameter syntax depth_module.emitter_enabled Depth.option.Emitter_Enabled
Topic namespace /camera/camera/<stream>/... /realsense/<DeviceModel>_<Serial>_<Stream>/...
Image streams Depth, Color, IR1, IR2, IMU Depth, Color, IR1, IR2, CompressedColor, IMU
Camera Info ✅ Published ✅ Published
TF / Extrinsics ✅ Published (/tf, /tf_static) ✅ Published (/tf_static)
Metadata ✅ realsense2_camera_msgs/msg/Metadata ✅ std_msgs/msg/String (JSON) + realsense2_camera_msgs/msg/Metadata (legacy)
Point Cloud ✅ Host-generated ❌ Not yet (use depth_image_proc on host)
ROS Version Humble, Jazzy, Kilted, Rolling Humble

Installation

Prerequisites

  • Network: The D555 device must be on the same network subnet as the host PC (e.g., 192.168.11.x/24, subnet mask 255.255.255.0).
  • Multicast: The network must support UDP multicast for DDS discovery.
  • ROS2 Distribution: Humble.
  • MTU: 9000 (this is the factory default and can be changed via device configuration). Jumbo frames are required on both host and device.

Step 1: Install a ROS2 Distribution

Follow the official installation guide for your platform:

  • Ubuntu 22.04: ROS2 Humble installation guide at https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
  • Ubuntu 24.04: ROS2 Humble is not natively packaged for Ubuntu 24.04. Use a Docker container with Ubuntu 22.04 and ROS2 Humble installed.

Step 1.5: Update Device Firmware

For the best experience, ensure your D555 is running the latest firmware:

  1. Download the latest firmware from the RealSense D500 firmware releases page: https://dev.realsenseai.com/docs/firmware-release-d500 (including early-access builds when available).
  2. Use realsense-viewer or rs-fw-update (from librealsense) to flash the firmware via USB.
  3. After updating, the device will reboot and reconnect automatically.

Step 2: Connect the D555 Camera

  1. Connect the D555 to the host PC (or switch) via Ethernet cable. The D555 requires Power over Ethernet (PoE) — use a PoE-capable switch or PoE injector.
  2. Ensure both host and device are on the same subnet (e.g., 192.168.11.x). Default D555 IP is 192.168.11.55.
  3. Set the ROS_DOMAIN_ID to match the device's configured domain (default 0): 
    export ROS_DOMAIN_ID=0

Step 3: Verify Device Discovery

No additional packages are needed. Verify the device is visible:

ros2 node list
# Expected output:
# /D555_343122300393

Note: Unlike realsense-ros, there is no ros2 launch or ros2 run command to start the camera node. The node starts automatically when the device boots.

DDS Discovery: If the device does not appear immediately, allow up to 30 seconds for DDS discovery to complete. In some network configurations, you may need to increase the DDS discovery timeout. Refer to your DDS middleware documentation (e.g., FastDDS, CycloneDDS) for details on configuring discovery-related timeouts.

Usage

Device Discovery

After connecting the D555 via Ethernet, verify discovery:

# List ROS2 nodes
ros2 node list
# /D555_343122300393

# List all topics
ros2 topic list

# List all services
ros2 service list | grep D555
Detailed ROS interface reference

Camera Name and Namespace

The D555 firmware automatically names its ROS2 node and topics based on the device model and serial number.

Naming Convention:

  • Node name: /<DeviceModel>_<SerialNumber> (e.g., /D555_343122300393)
  • Topic prefix: /realsense/<DeviceModel>_<SerialNumber>_<StreamName>/ (e.g., /realsense/D555_343122300393_Depth/)

Example output:

> ros2 node list
/D555_343122300393

> ros2 topic list
/realsense/D555_343122300393_Color
/realsense/D555_343122300393_Color/camera_info
/realsense/D555_343122300393_Color/metadata
/realsense/D555_343122300393_CompressedColor
/realsense/D555_343122300393_Depth
/realsense/D555_343122300393_Depth/camera_info
/realsense/D555_343122300393_Depth/metadata
/realsense/D555_343122300393_Infrared_1
/realsense/D555_343122300393_Infrared_1/camera_info
/realsense/D555_343122300393_Infrared_1/metadata
/realsense/D555_343122300393_Infrared_2
/realsense/D555_343122300393_Infrared_2/camera_info
/realsense/D555_343122300393_Infrared_2/metadata
/realsense/D555_343122300393_Motion
/realsense/D555_343122300393_Motion/metadata
/realsense/D555_343122300393/tf_static

> ros2 service list | grep D555
/D555_343122300393/describe_parameters
/D555_343122300393/get_device_info_std
/D555_343122300393/get_parameter_types
/D555_343122300393/get_parameters
/D555_343122300393/help
/D555_343122300393/hw_reset
/D555_343122300393/list_parameters
/D555_343122300393/set_parameters
/D555_343122300393/set_parameters_atomically

Mapping to realsense-ros: In realsense-ros, topics appear as /camera/camera/depth/image_rect_raw. In D555 native mode, the equivalent topic is /realsense/D555_<Serial>_Depth (type sensor_msgs/msg/Image).

Parameters

Note: Parameter names and values may change in future firmware updates.

Available Parameters

  • For the entire list of parameters: ros2 param list /D555_<Serial>
  • For reading a parameter value: ros2 param get /D555_<Serial> <parameter_name>
    • For example: ros2 param get /D555_343122300393 Depth.option.Emitter_Enabled
  • For setting a new value: ros2 param set /D555_<Serial> <parameter_name> <value>
    • For example: ros2 param set /D555_343122300393 Depth.option.Emitter_Enabled 1

Parameter Naming Convention

Parameters follow the format: <Sensor>.<Group>.<Name>

Component Values Description
Sensor Depth, RGB, Motion Target sensor module
Group option, Profile option for controls, Profile for stream configuration
Name e.g., Gain, Exposure, Emitter_Enabled Specific control name

Compatibility Note: The system accepts ONLY dot (.) and underscore (_) as the group separator. For example, Depth.option.Gain and Depth.option_Gain are both valid.

Mapping from realsense-ros Parameters

realsense-ros (D4xx) D555 Native Description
depth_module.emitter_enabled Depth.option.Emitter_Enabled Enable/disable laser emitter
depth_module.gain Depth.option.Gain Depth sensor gain
depth_module.exposure Depth.option.Exposure Depth sensor exposure (μs)
depth_module.enable_auto_exposure Depth.option.Enable_Auto_Exposure Auto exposure on/off
depth_module.laser_power Depth.option.Laser_Power Laser power [0–360]
depth_module.depth_profile Depth.Profile Stream profile (e.g., "z16, 896, 504, 30")
rgb_camera.color_profile RGB.Profile RGB profile (e.g., "yuv, 896, 504, 30")
rgb_camera.gain RGB.option.Gain RGB sensor gain
rgb_camera.exposure RGB.option.Exposure RGB sensor exposure (μs)
rgb_camera.enable_auto_exposure RGB.option.Enable_Auto_Exposure Auto exposure on/off
rgb_camera.brightness RGB.option.Brightness Brightness [-64–64]
rgb_camera.contrast RGB.option.Contrast Contrast [0–100]
rgb_camera.saturation RGB.option.Saturation Saturation [0–100]
rgb_camera.sharpness RGB.option.Sharpness Sharpness [0–100]
rgb_camera.white_balance RGB.option.White_Balance White balance [2800–6500] K
rgb_camera.enable_auto_white_balance RGB.option.Enable_Auto_White_Balance Auto WB on/off

Depth Sensor Parameters

Parameter Type Range Default Description
Depth.option.Gain Integer 16–248 16 Sensor gain
Depth.option.Exposure Integer 1–200000 Auto Exposure time (μs)
Depth.option.Emitter_Enabled Integer 0–1 1 Laser emitter on/off
Depth.option.Laser_Power Integer 0–360 150 Laser power level
Depth.option.Enable_Auto_Exposure Integer 0–1 1 Auto-exposure on/off
Depth.Profile String — "z16, 896, 504, 30" Profile: <format>, <W>, <H>, <FPS>

RGB Sensor Parameters

Parameter Type Range Default Description
RGB.option.Gain Integer 16–248 Auto Sensor gain
RGB.option.Exposure Integer 1–10000 Auto Exposure time (μs)
RGB.option.Brightness Integer -64–64 0 Brightness adjustment
RGB.option.Contrast Integer 0–100 50 Contrast level
RGB.option.Saturation Integer 0–100 64 Saturation level
RGB.option.Sharpness Integer 0–100 50 Sharpness level
RGB.option.White_Balance Integer 2800–6500 Auto White balance (K)
RGB.option.Enable_Auto_White_Balance Integer 0–1 1 Auto white balance
RGB.option.Enable_Auto_Exposure Integer 0–1 1 Auto-exposure on/off
RGB.Profile String — "yuv, 896, 504, 30" Profile: <format>, <W>, <H>, <FPS>

Validation

When set_parameters is called, the firmware validates each parameter:

  1. Existence: Does the parameter name exist?
  2. Type: Does the value type match the parameter definition?
  3. Read-Only: Is the parameter read-only?
  4. Range: Is the value within [min, max]?
  5. Step: (Optional) Is (value - min) % step == 0?

If validation fails, the response includes a descriptive reason string:

  • "Out of range" — Value below min or above max.
  • "Read only" — Attempted to write a read-only parameter.
  • "Type mismatch" — Wrong value type.
  • "Unsupported" — Parameter not supported in current mode.
  • "Internal error" — Hardware communication failure.

Example: Setting Manual Exposure

# 1. Disable Auto Exposure
ros2 param set /D555_343122300393 Depth.option.Enable_Auto_Exposure 0

# 2. Set Exposure Value (microseconds)
ros2 param set /D555_343122300393 Depth.option.Exposure 5000

# 3. Verify
ros2 param get /D555_343122300393 Depth.option.Exposure

ROS2/Robot vs Optical/Camera Coordination Systems

  • Point of View: Imagine standing behind the camera, looking forward.
  • ROS2 Coordinate System: (X: Forward, Y: Left, Z: Up)
  • Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
  • References: REP-0103 and REP-0105
  • All image/depth data is published in the optical coordinate frame.
  • The /tf_static topic provides transforms between the optical and ROS coordinate frames.

TF from coordinate A to coordinate B

  • A TF message expresses a transform from coordinate frame header.frame_id (source) to child_frame_id (destination). Reference: http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Transform.html.
  • In RealSense cameras, the origin point (0,0,0) is at the left IR (Infrared_1) sensor, named camera_link.
  • Depth, left IR, and camera_link coordinates converge together.
  • The D555 firmware publishes static TFs to /tf_static between each sensor coordinate frame and the camera base (camera_link), as well as from each sensor's ROS coordinates to its optical coordinates.

TF Tree:

camera_link (base)
├── camera_depth_frame
│   └── camera_depth_optical_frame
├── camera_color_frame
│   └── camera_color_optical_frame
├── camera_infra1_frame
│   └── camera_infra1_optical_frame
├── camera_infra2_frame
│   └── camera_infra2_optical_frame
└── camera_imu_frame
    └── camera_imu_optical_frame

View static transforms:

ros2 topic echo /realsense/D555_343122300393/tf_static --once

Extrinsics from sensor A to sensor B

"Extrinsic from A to B" means: a transform that converts coordinates expressed in frame A into coordinates expressed in frame B.

The D555 factory-calibrated extrinsics are encoded in the static TF transforms published on /tf_static.

Published Topics

The published topics differ based on the device configuration and active streams. After device discovery, the following topics are typically available:

Topic Type QoS Description
/realsense/<SN>_Depth sensor_msgs/msg/Image Best Effort 16-bit depth map
/realsense/<SN>_Color sensor_msgs/msg/Image Best Effort RGB color image
/realsense/<SN>_Infrared_1 sensor_msgs/msg/Image Best Effort Left IR image
/realsense/<SN>_Infrared_2 sensor_msgs/msg/Image Best Effort Right IR image
/realsense/<SN>_CompressedColor sensor_msgs/msg/CompressedImage Best Effort JPEG-compressed color
/realsense/<SN>_Motion sensor_msgs/msg/Imu Best Effort IMU (gyro + accel) data
/realsense/<SN>_<Stream>/camera_info sensor_msgs/msg/CameraInfo Best Effort Camera intrinsics & calibration
/realsense/<SN>_<Stream>/metadata std_msgs/msg/String Best Effort Per-frame metadata (JSON)
/realsense/<SN>_<Stream>/metadata_legacy realsense2_camera_msgs/msg/Metadata Best Effort D4xx-compatible metadata (Header + JSON)
/realsense/<SN>/tf_static tf2_msgs/msg/TFMessage Reliable, Transient Local Static coordinate transforms

Where <SN> = D555_<SerialNumber> (e.g., D555_343122300393).

Mapping to realsense-ros topics:

realsense-ros (D4xx) D555 Native Type
/camera/camera/depth/image_rect_raw /realsense/D555_<Serial>_Depth sensor_msgs/msg/Image
/camera/camera/color/image_raw /realsense/D555_<Serial>_Color sensor_msgs/msg/Image
/camera/camera/infra1/image_rect_raw /realsense/D555_<Serial>_Infrared_1 sensor_msgs/msg/Image
/camera/camera/infra2/image_rect_raw /realsense/D555_<Serial>_Infrared_2 sensor_msgs/msg/Image
/camera/camera/depth/camera_info /realsense/D555_<Serial>_Depth/camera_info sensor_msgs/msg/CameraInfo
/camera/camera/color/camera_info /realsense/D555_<Serial>_Color/camera_info sensor_msgs/msg/CameraInfo
/camera/camera/depth/metadata /realsense/D555_<Serial>_Depth/metadata std_msgs/msg/String
/camera/camera/color/metadata /realsense/D555_<Serial>_Color/metadata std_msgs/msg/String
/camera/camera/imu /realsense/D555_<Serial>_Motion sensor_msgs/msg/Imu
/tf_static /realsense/D555_<Serial>/tf_static tf2_msgs/msg/TFMessage

Subscribe to a stream:

# View depth image info
ros2 topic echo /realsense/D555_343122300393_Depth --no-arr

# View camera info
ros2 topic echo /realsense/D555_343122300393_Depth/camera_info --once

Metadata Topic

The D555 publishes per-stream metadata containing hardware-level frame information in JSON format.

Firmware behavior change: Starting with firmware version 7.58 and later, the device exposes only the ROS2-native metadata topic (std_msgs/msg/String). On firmware versions prior to 7.58, both the native and legacy metadata topics were published simultaneously.

Topic variants:

  1. Standard (metadata): Uses std_msgs/msg/String — works with any ROS2 installation. Published on all firmware versions.
  2. Legacy (metadata_legacy): Uses realsense2_camera_msgs/msg/Metadata — D455-compatible format with Header (timestamp + frame_id) + json_data. Only available on firmware versions prior to 7.58.

Available metadata topics per stream:

/realsense/<SN>_Depth/metadata              (std_msgs/msg/String)
/realsense/<SN>_Depth/metadata_legacy       (realsense2_camera_msgs/msg/Metadata)
/realsense/<SN>_Color/metadata
/realsense/<SN>_Color/metadata_legacy
/realsense/<SN>_Infrared_1/metadata
/realsense/<SN>_Infrared_1/metadata_legacy
/realsense/<SN>_Infrared_2/metadata
/realsense/<SN>_Infrared_2/metadata_legacy
/realsense/<SN>_CompressedColor/metadata
/realsense/<SN>_CompressedColor/metadata_legacy
/realsense/<SN>_Motion/metadata
/realsense/<SN>_Motion/metadata_legacy

Echo metadata from the command line:

ros2 topic echo /realsense/D555_343122300393_Depth/metadata

Metadata JSON fields:

Field Type Unit Description
Frame Counter uint32 count Hardware frame counter (drop detection)
Frame Timestamp uint64 μs Timestamp when frame was sent
Sensor Timestamp uint64 μs Hardware timestamp from MIPI readout
Actual Exposure uint32 μs Exact exposure time for this frame
Gain Level uint16 — Applied gain value
Auto Exposure uint8 — Auto-exposure mode
Brightness int8 — Brightness setting (-64 to 64)
Contrast uint8 — Contrast setting (0–100)
Saturation uint8 — Saturation setting (0–100)
Sharpness uint8 — Sharpness setting (0–100)
Gamma uint16 — Gamma value
Hue int8 — Hue setting
Manual White Balance uint16 K White balance temperature
Auto White Balance Temperature uint16 K AWB result
Laser Power uint16 — Emitter power setting
Emitter Mode uint8 — Projector on/off state
ASIC Temperature float °C Real-time sensor temperature
Input Width / Input Height uint16 pixels Image dimensions

Python subscriber example:

import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy
from std_msgs.msg import String
import json

class MetadataSubscriber(Node):
    def __init__(self):
        super().__init__('metadata_subscriber')
        qos = QoSProfile(depth=10, reliability=ReliabilityPolicy.BEST_EFFORT)
        self.sub = self.create_subscription(
            String,
            '/realsense/D555_343122300393_Depth/metadata',
            self.callback,
            qos)

    def callback(self, msg):
        data = json.loads(msg.data)
        md = data['metadata']
        print(f"Frame: {md['Frame Counter']}, "
              f"Exposure: {md['Actual Exposure']}μs, "
              f"Gain: {md['Gain Level']}, "
              f"Temp: {md['ASIC Temperature']}°C")

rclpy.init()
node = MetadataSubscriber()
rclpy.spin(node)

Available Services

The device exposes the following services under the namespace /<DeviceModel>_<SerialNumber>:

Hardware Reset

  • Service name: hw_reset
  • Reset the device. All streams are stopped.
  • Type: std_srvs/srv/Empty
  • Call example: 
    ros2 service call /D555_343122300393/hw_reset std_srvs/srv/Empty
  • Note: The device will disconnect from DDS and reappear after approximately 5–10 seconds.

Device Information

  • Service name: get_device_info_std

  • Retrieve device information — serial number, firmware version, etc.

  • Type: std_srvs/srv/Trigger

  • Call example:

    ros2 service call /D555_343122300393/get_device_info_std std_srvs/srv/Trigger

  • Response: success (bool) + message (JSON string) with device fields:

    Field Example Value
    serial "343122300393"
    product "D555"
    firmware "7.58.38048.7889"

Help

  • Service name: help
  • List all available services and their types.
  • Type: std_srvs/srv/Trigger
  • Call example: 
    ros2 service call /D555_343122300393/help std_srvs/srv/Trigger

List Parameters

  • Service name: list_parameters
  • Returns a list of all available parameters.
  • Type: rcl_interfaces/srv/ListParameters
  • Call example: 
    ros2 service call /D555_343122300393/list_parameters rcl_interfaces/srv/ListParameters

Get Parameters

  • Service name: get_parameters
  • Retrieve current values of specified parameters.
  • Type: rcl_interfaces/srv/GetParameters
  • Call example: 
    ros2 service call /D555_343122300393/get_parameters \
  rcl_interfaces/srv/GetParameters \
  "{names: ['Depth.option.Gain', 'Depth.option.Exposure']}"
  • Returns PARAMETER_NOT_SET for unknown parameters.

Set Parameters

  • Service name: set_parameters
  • Set parameter values with range validation.
  • Type: rcl_interfaces/srv/SetParameters
  • Call example: 
    ros2 service call /D555_343122300393/set_parameters \
  rcl_interfaces/srv/SetParameters \
  "{parameters: [{name: 'Depth.option.Gain', value: {type: 2, integer_value: 100}}]}"
  • Response: successful (bool) + reason (string) per parameter.

Describe Parameters

  • Service name: describe_parameters
  • Returns metadata (type, description, range) for parameters.
  • Type: rcl_interfaces/srv/DescribeParameters
  • Call example: 
    ros2 service call /D555_343122300393/describe_parameters \
  rcl_interfaces/srv/DescribeParameters \
  "{names: ['Depth.option.Gain']}"

Mapping to realsense-ros services:

realsense-ros (D4xx) D555 Native Type
/camera/camera/hw_reset /D555_<Serial>/hw_reset std_srvs/srv/Empty
/camera/camera/device_info /D555_<Serial>/get_device_info_std std_srvs/srv/Trigger
/camera/camera/get_parameters /D555_<Serial>/get_parameters rcl_interfaces/srv/GetParameters
/camera/camera/set_parameters /D555_<Serial>/set_parameters rcl_interfaces/srv/SetParameters
/camera/camera/list_parameters /D555_<Serial>/list_parameters rcl_interfaces/srv/ListParameters
/camera/camera/describe_parameters /D555_<Serial>/describe_parameters rcl_interfaces/srv/DescribeParameters
— /D555_<Serial>/help std_srvs/srv/Trigger
— /D555_<Serial>/get_parameter_types rcl_interfaces/srv/GetParameterTypes

Python service client example:

import rclpy
from rclpy.node import Node
from rcl_interfaces.srv import GetParameters, SetParameters
from rcl_interfaces.msg import Parameter, ParameterValue, ParameterType

rclpy.init()
node = Node('param_client')

# Get a parameter
get_client = node.create_client(GetParameters, '/D555_343122300393/get_parameters')
get_client.wait_for_service()
request = GetParameters.Request()
request.names = ['Depth.option.Gain']
future = get_client.call_async(request)
rclpy.spin_until_future_complete(node, future)
print(f"Gain = {future.result().values[0].integer_value}")

# Set a parameter
set_client = node.create_client(SetParameters, '/D555_343122300393/set_parameters')
set_client.wait_for_service()
param = Parameter()
param.name = 'Depth.option.Gain'
param.value = ParameterValue()
param.value.type = ParameterType.PARAMETER_INTEGER
param.value.integer_value = 100
request = SetParameters.Request()
request.parameters = [param]
future = set_client.call_async(request)
rclpy.spin_until_future_complete(node, future)
result = future.result().results[0]
print(f"Success: {result.successful}, Reason: {result.reason}")

node.destroy_node()
rclpy.shutdown()

Performance & Constraints

Latency

Operation Typical Latency
Service call 10–50 ms
Parameter set 20–100 ms
Stream (internal processing) < 5 ms + network

Throughput

  • Interface: Gigabit Ethernet
  • Theoretical max (all streams): ~266 Mbps uncompressed
  • Practical (with JPEG compression): ~70–110 Mbps

Known Limitations

Note: The following limitations apply to firmware version 7.58.x. Some may be resolved in future firmware releases.

  1. Request Rate Limiting: Limit service calls to approximately 1–2 per second, or add a 500 ms delay between burst requests. The SafeDDS ACK window is limited.
  2. Sequential Parameter Processing: set_parameters processes parameters sequentially; there is no transactional atomicity.
  3. String Length Limits: Parameter names are limited to 128 characters; string values to 256 characters.
  4. No Point Cloud Generation: Use depth_image_proc with camera_info to generate point clouds on the host.

Troubleshooting

Device not found in ros2 node list

  • Cause: Firewall blocking multicast, different ROS_DOMAIN_ID, or network misconfiguration.
  • Fix: 
    # Check ROS_DOMAIN_ID matches (default 0)
echo $ROS_DOMAIN_ID

# Disable firewall temporarily to test
sudo ufw disable

# Verify network connectivity
ping <device_ip>

Service call times out

  • Cause: Device busy, network packet loss, or request flooding.
  • Fix: Increase timeout (--timeout 10), add delays between requests, verify network quality.

"Parameter not set" error

  • Cause: Parameter name typo or unsupported parameter.
  • Fix: Run ros2 param list /D555_<Serial> to verify exact parameter names.

Topic data not received / QoS mismatch

  • Cause: Image and metadata topics use BEST_EFFORT reliability; subscribers must match.
  • Fix: Set subscriber QoS to BEST_EFFORT: 
    from rclpy.qos import QoSProfile, ReliabilityPolicy
qos = QoSProfile(depth=10, reliability=ReliabilityPolicy.BEST_EFFORT)

CDR deserialization errors

  • Cause: Potential firmware/middleware version mismatch.
  • Fix: Update device firmware to the latest version.

Factory Reset / USB Recovery

If the device becomes unreachable due to a faulty network configuration, you can recover it via USB:

  1. Connect the D555 to the host PC using a USB cable.
  2. Use realsense-viewer or rs-fw-update (from librealsense) to reset the device to factory settings.
  3. This will restore the default network configuration (IP 192.168.11.55, subnet mask 255.255.255.0).
  4. Reconnect via Ethernet and reconfigure as needed.

Note: USB connectivity is intended for recovery and firmware updates only. Normal operation uses Ethernet.

Contributing

Please refer to the project's contribution guidelines.

License

Copyright © RealSense, Inc. All rights reserved.

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RealSense Native ROS

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