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## Table of contents
  * [ROS1 and ROS2 legacy](#ros1-and-ros2-legacy)
  * [Installation on Ubuntu](#installation-on-ubuntu)
  * [Installation on Windows](#installation-on-windows)
  * [Usage](#usage)
     * [Starting the camera node](#start-the-camera-node)
     * [Camera name and namespace](#camera-name-and-camera-namespace)
     * [Parameters](#parameters)
     * [ROS2-vs-Optical Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
     * [TF from coordinate A to coordinate B](#tf-from-coordinate-a-to-coordinate-b)
     * [Extrinsics from sensor A to sensor B](#extrinsics-from-sensor-a-to-sensor-b)
     * [Topics](#published-topics)
     * [RGBD Topic](#rgbd-topic)
     * [Metadata Topic](#metadata-topic)
     * [Post-Processing Filters](#post-processing-filters)
     * [Available Services](#available-services)
     * [Efficient intra-process communication](#efficient-intra-process-communication)
  * [Contributing](CONTRIBUTING.md)
  * [License](LICENSE)
* [ 1\. Introductory ](../introductory_tutorials/index.html)
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  * [ 4\. Core API ](../core_api_tutorials/index.html)
  * [ 5\. Scene Setup ](../environment_setup_tutorials.html)
  * [ 6\. Motion Generation ](../advanced_tutorials/tutorials_advanced_motion_generation.html)
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          * 7.2.3.3.2. Building the Graph for a RGB publisher 
          * 7.2.3.3.3. Graph Explained 
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        * 7.2.3.7. Summary 
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          * 7.2.3.7.2. Further Learning 
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rostopic ](/rostopic?distro=groovy) | [ roswtf ](/roswtf?distro=groovy) | [
std_srvs ](/std_srvs?distro=groovy) | [ topic_tools
](/topic_tools?distro=groovy) | [ xmlrpcpp ](/xmlrpcpp?distro=groovy) _
* **[ Code API ](http://docs.ros.org/en/melodic/api/rosparam/html) **
  * [ Tutorials ](/rosparam/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosparam/page:1/)
  * [ Changelog ](http://docs.ros.org/en/melodic/changelogs/rosparam/changelog.html)
  * [ Change List ](/ros_comm/ChangeList)
  * [ Reviews ](/rosparam/Reviews)
_**[ ros_comm ](/ros_comm?distro=melodic) ** : [ message_filters
](/message_filters?distro=melodic) | [ ros ](/ros?distro=melodic) | [ rosbag
](/rosbag?distro=melodic) | [ rosconsole ](/rosconsole?distro=melodic) | [
roscpp ](/roscpp?distro=melodic) | [ rosgraph ](/rosgraph?distro=melodic) | [
rosgraph_msgs ](/rosgraph_msgs?distro=melodic) | [ roslaunch
](/roslaunch?distro=melodic) | [ roslisp ](/roslisp?distro=melodic) | [
rosmaster ](/rosmaster?distro=melodic) | [ rosmsg ](/rosmsg?distro=melodic) |
[ rosnode ](/rosnode?distro=melodic) | [ rosout ](/rosout?distro=melodic) |
rosparam | [ rospy ](/rospy?distro=melodic) | [ rosservice
](/rosservice?distro=melodic) | [ rostest ](/rostest?distro=melodic) | [
rostopic ](/rostopic?distro=melodic) | [ roswtf ](/roswtf?distro=melodic) | [
std_srvs ](/std_srvs?distro=melodic) | [ topic_tools
](/topic_tools?distro=melodic) | [ xmlrpcpp ](/xmlrpcpp?distro=melodic) _
_**[ ros_comm ](/ros_comm?distro=indigo) ** : [ message_filters
](/message_filters?distro=indigo) | [ ros ](/ros?distro=indigo) | [ rosbag
](/rosbag?distro=indigo) | [ rosconsole ](/rosconsole?distro=indigo) | [
roscpp ](/roscpp?distro=indigo) | [ rosgraph ](/rosgraph?distro=indigo) | [
rosgraph_msgs ](/rosgraph_msgs?distro=indigo) | [ roslaunch
](/roslaunch?distro=indigo) | [ roslisp ](/roslisp?distro=indigo) | [
rosmaster ](/rosmaster?distro=indigo) | [ rosmsg ](/rosmsg?distro=indigo) | [
rosnode ](/rosnode?distro=indigo) | [ rosout ](/rosout?distro=indigo) |
rosparam | [ rospy ](/rospy?distro=indigo) | [ rosservice
](/rosservice?distro=indigo) | [ rostest ](/rostest?distro=indigo) | [
rostopic ](/rostopic?distro=indigo) | [ roswtf ](/roswtf?distro=indigo) | [
std_srvs ](/std_srvs?distro=indigo) | [ topic_tools
](/topic_tools?distro=indigo) | [ xmlrpcpp ](/xmlrpcpp?distro=indigo) _
_**[ ros_comm ](/ros_comm?distro=lunar) ** : [ message_filters
](/message_filters?distro=lunar) | [ ros ](/ros?distro=lunar) | [ rosbag
](/rosbag?distro=lunar) | [ rosconsole ](/rosconsole?distro=lunar) | [ roscpp
](/roscpp?distro=lunar) | [ rosgraph ](/rosgraph?distro=lunar) | [
rosgraph_msgs ](/rosgraph_msgs?distro=lunar) | [ roslaunch
](/roslaunch?distro=lunar) | [ roslisp ](/roslisp?distro=lunar) | [ rosmaster
](/rosmaster?distro=lunar) | [ rosmsg ](/rosmsg?distro=lunar) | [ rosnode
](/rosnode?distro=lunar) | [ rosout ](/rosout?distro=lunar) | rosparam | [
rospy ](/rospy?distro=lunar) | [ rosservice ](/rosservice?distro=lunar) | [
rostest ](/rostest?distro=lunar) | [ rostopic ](/rostopic?distro=lunar) | [
roswtf ](/roswtf?distro=lunar) | [ std_srvs ](/std_srvs?distro=lunar) | [
topic_tools ](/topic_tools?distro=lunar) | [ xmlrpcpp
](/xmlrpcpp?distro=lunar) _
* **[ Code API ](http://docs.ros.org/jade/api/rosparam/html) **
  * [ Tutorials ](/rosparam/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosparam/page:1/)
  * [ Changelog ](http://docs.ros.org/en/jade/changelogs/rosparam/changelog.html)
  * [ Change List ](/ros_comm/ChangeList)
  * [ Reviews ](/rosparam/Reviews)