Depth Camera
Note
The following device tests are verified in the ROS2 environment. Please refer to the Tool Installation section and install all ROS-related tools.
Intel RealSense D415
Preparation
- Rhino Pi-A1
- Intel RealSense D415 depth camera and its driver
The installation method is as follows: after installing the Ubuntu desktop and connecting via a VNC tool, execute the following commands in a terminal window:
shell
sudo apt-get update
sudo apt-get install ros-humble-realsense2-camera
Hardware Connection
Connect the depth camera to a USB port of the Rhino Pi.
Testing
- After connection, start the camera driver with the following command
shell
ros2 launch realsense2_camera rs_launch.py
- Open rviz2
Open a terminal and enter: rviz2
shell
rviz2
- Verify the depth camera image in rviz2
Click the Add button in the lower-left corner
Click By topic in the popup
Double-click to open the image under the /camera node and observe the camera image in the image popup in the lower-left corner
