realsense-D400-ros-docker

Docker image containing the ROS bindings for the Intel® RealSense™ Depth Camera D400-Series devices.

How to run the camera drivers

1. Build the image

Run the following command from the root directory of this repository to build the Docker image

docker build -t ripl/realsense-d400-ros ./

2. Run the drivers using the ROS launch file

Run the following command to run the drivers using the ROS launch file.

docker run -it --rm --net=host --privileged ripl/realsense-d400-ros roslaunch realsense2_camera rs_rgbd.launch

NOTE: The command roslaunch realsense2_camera rs_rgbd.launch is the same used in the instructions of the original ROS wrapper from Intel for these cameras. Feel free to use another launch-file or change the parameters as explained at the URL above.

NOTE: Let us call the computer on which you run this container machine_A. If you want to consume the data from a different machine, say machine_B, you need to add the flag --env ROS_IP=<external_ip> to the command above. Replace <external_ip> with the IP address of the interface on machine_A that communicates with the network containing machine_B.

3. (Advanced) Run the drivers using a libbot2 deputy

Run the following command to launch a liboot2 deputy that is responsible for running/stopping/monitoring the drivers on behalf of a liboot2 sheriff process.

docker run -it --rm --net=host --privileged ripl/realsense-d400-ros bot-procman-deputy --name <deputy_name>

where <deputy_name> can be any string that identifies the camera (e.g., camera_left_side).

The deputy will have access to ROS and all the necessary packages. This means that you can simply use the command roslaunch realsense2_camera rs_rgbd.launch in your procman configuration. Check out the file samples/procman.cfg for an example of procman configuration file that activates a realsense camera.