Intel - RealSense D400 Series
The RealSense D400 series cameras by Intel are compact distance measuring devices primarily designed for short-range analysis, spanning up to 6 meters. Utilizing advanced deep vision technology and compact form factors, these cameras find applications across various domains including computer vision, augmented reality, robotics, and beyond.
Getting started
To run the device, you must meet certain requirements listed below:
Software
Hardware
- Connectivity: USB 3.0*
* USB 2.0 is possible, but significantly limits performance.
Demo
In this demo, we'll walk you through using the RealSense camera with ROS 2 via a Docker image. You'll also learn how to visualize data, including image previews and point clouds, using RViz. Demo based on realsense-ros repository.
ROSbot 2R / ROSbot 2 PRO and the RealSense D435 camera.
Start guide
1. Plugin the device
For the best performance please use USB 3.0 port, depend of the camera model. Then use lsusb command to check if the device is visible.
2. Clone repository
git clone --branch ros2 https://github.com/husarion/realsense-docker.git
cd realsense-docker/demo
3. Run compose.yaml
xhost local:root
docker compose up
Result
The RGBD (Red, Green, Blue, Depth) image is visible in the RViz2 tool.
ROS API
The full API of the robot can be found in the official documentation of the device.
Summary
Depth cameras are essential for modern robotics, and RealSense cameras, known for their compact size, are an excellent choice for short-range tasks. They are also officially compatible with ROS 2 and continue to enhance their solutions for even better performance. Now you can use the acquired knowledge by creating a Tracker using the OpenCV library.
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