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Contributors Forks Stargazers Issues License

ROS Wrapper for Intel® RealSense™ Devices

Table of Contents
  1. Introduction
  2. Getting Started
  3. 　Launch and Usage
  4. Milestone
  5. Acknowledgments

Introduction

Here you will write about the repository. Try to be explicit about the purpose and your aproach to the problem.

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Getting Started

This section describes how to set up this repository.

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Prerequisites

First, please prepare the following environment before proceeding to the next installation stage.

System Version
Ubuntu 20.04 (Focal Fossa)
ROS Noetic Ninjemys
LibRealSense2 v2.50.0
D400 Firmware v5.13.0.50
L500 Firmware v1.5.8.1 +

Note

If you need to install Ubuntu or ROS, please check our SOBITS Manual.

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Installation

  1. Go to the src folder of ROS. 
    $ roscd
# Or just use "cd ~/catkin_ws/" and change directory.
$ cd src/
  2. Clone this repository. 
    $ git clone https://github.com/TeamSOBITS/realsense_ros
  3. Navigate into the repository. 
    $ cd realsense_ros/
  4. Install the dependent packages. 
    $ bash install.sh

Note

Running install.sh will automatically install the required Intel® RealSense™ SDK 2.0.

  1. Compile the package. 
    $ roscd
# Or just use "cd ~/catkin_ws/" and change directory.
$ catkin_make

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Launch and Usage

When using the camera alone, execute rs_rgbd.launch according to the following procedure.

  1. Update the following parameters of rs_rgbd.launch if necessary. 
     <!-- Add Prefix to tf frame. It typically contains a trailing '_' unless empty. -->
 <arg name="tf_prefix"         default="azure_" />
 <!-- Add cover to camera -->
 <arg name="add_cover"         default="true" />
 <!-- Visualize Rviz -->
 <arg name="open_rviz"         default="true"/>
 ...

Note

Replace with true or false depending on the function you want to use.

  1. Execute the launch file named rs_rgbd.launch. 
    $ roslaunch azure_kinect_ros_driver driver.launch

Note

If you need to change the camera parameters, please refer to Launch Parameters. You can also reconfigure the parameters dynamically using rqt_reconfigure. please, check Dynamic Reconfigure Params to do so.

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Operational Test

To check if ROS Wrapper for Intel® RealSense™ Devices has been successfully installed, run realsense-viewer of Intel® RealSense™ SDK 2.0 installed through install.sh.

  1. Start realsense-viewer.

    $ realsense-viewer

  2. Specify the camera in the Add Sourcefield.

Note

In some cases, the RealSense&trade camera may not be recognized. In that case, try checking the USB connection.

  1. If the connection is established, update the parameters of the camera if necessary.

  2. Finally, switch theRGB Camera and RGBD Camera section to on to activate the camera.

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Visualization on Rviz

As a preliminary step to running the actual device, RealSense™ can be visualized on Rviz to display the camera configuration.

$ roslaunch realsense_description view_d405_model.launch

Note

This repository supports the following cameras: d405，d415，d435，d435i，d455，l515，r410，r430.

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Demo: Tracking

You can run the Tracking demo program provided by default by Intel® RealSense™ Devices.

  1. Execute the launch file named rs_rtabmap.launch. 
    $ roslaunch realsense2_camera opensource_tracking.launch

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Demo: RtabMap

You can run the RtabMap demo program provided by default by ROS Wrapper for Intel® RealSense™ Devices.

  1. Execute the launch file named rs_rtabmap.launch. 
    $ roslaunch realsense2_camera rs_rtabmap.launch

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Milestone

See the open issues for a full list of proposed features (and known issues).

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Acknowledgments

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