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Perceptions

info

NOTE Please run the instructions below on a PC with ROS packages installed.

Camera​

Realsense D435/D435i​

The Intel® RealSense™ Depth Camera D435 is a USB-powered depth camera and consists of a pair of depth sensors, RGB sensor, and infrared projector. It is ideal for makers and developers to add depth perception capability to their prototype development. The D435 is designed to best fit your prototype.

ItemsSpecifications
Use EnvironmentIndoor/Outdoor
RGB Sensor Resolution and Frame Rate1920 x 1080 at 30 fps
RGB Sensor FOV69.4°(H) x 42.5°(V) x 77°(D) (+/- 3°)
Depth Stream Output ResolutionUp to 1280 x 720
Depth Stream Output Frame RateUp to 90 fps
Depth Field of View (FOV)85.2°(H) x 58°(V) x 94°(D) (+/- 3°)
Minimum Depth Distance (Min-Z)0.2m
Maximum RangeApprox.10 meters
Dimension90 mm x 25 mm x 25 mm
ConnectorsUSB 3.0 Type - C

Specification

Install Camera Package​

Option 1: Using OM Container​

When using the OM container, run the RealSense camera with the following command after starting the OM container:

ros2 launch realsense2_camera rs_launch.py

Option 2: Local Installation​

Install Realsense Library​

The following commands will install relevant Intel® RealSense™ Depth Camera D435 library.

$ sudo apt update
$ sudo apt install ros-$ROS_DISTRO-librealsense2*
$ sudo apt install ros-$ROS_DISTRO-realsense2-camera
$ cd ~/ros2_ws/src
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd ~/ros2_ws && colcon build --symlink-install
Run Realsense Launch File​

Run the following command.

$ ros2 launch realsense2_camera rs_launch.py

You can use RViz or image_view to verify driver. You can select data topic name related to Intel® RealSense™ Depth Camera D435 from drop down menu at the top of the application.

$ rqt_image_view
Reference​

Install AR Marker Package​

warning

Not supported in Jazzy yet.

Pick and Place Example​

warning

Not supported in Jazzy yet.

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