Using an RGBD Camera

RGBD Cameras

RGBD cameras allow for typical colour video and image capture (RGB) alongside the generation of a depth map for each frame (D).

TLDR

With the SDK running, mount the Intel RealSense D435i to the robot.

Then launch the realsense2_camera package

ros2 launch realsense2_camera rs_launch.py

The camera should now be usable. RGB images can be found at /camera/color/image_raw and depth images can be found at /camera/depth/image_rect_raw.

We have an Intel RealSense D435i RGBD camera that we have integrated with the Go2. This provides high-definition RGBD cameras over ROS2 topics.

Setup

Firstly, the camera must be mounted to the front of the robot using the provided mount.

Info

A mount for this can be found in the 3D Models page and can easily be 3D printed.

Once the camera has been mounted and plugged into the Jetson via USB, we can start the RealSense package.

ros2 launch realsense2_camera rs_launch.py

The camera should now be working with ROS2. We can verify this by running ros2 topic list and checking for several topics beginning with /camera/.

Viewing the Topic Data

You cannot view the images by simply using ros2 topic echo /camera/<TOPIC>. Instead, you can either run rqt and open Visualisation >> Image View. You can then select the topic to visualise.

To skip this, we can directly start the image viewer.

ros2 run rqt_image_view rqt_image_view