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Intel® RealSense™ ROS 2 Sample Application

This tutorial tells you how to:

• Launch ROS nodes for a camera.

• List ROS topics.

• See that Intel® RealSense™ topics are publishing data.

• Get data from the Intel® RealSense™ camera (data coming at FPS).

• See an image from the Intel® RealSense™ camera displayed in rviz2.

Run the Intel® RealSense™ ROS 2 Sample Application

1. Connect an Intel® RealSense™ camera (for example, D435i) to the host.

2. To download and install the Intel® RealSense™ ROS 2 sample application run the command below:

   sudo apt-get install ros-humble-realsense2-tutorial-demo
   

   

3. Set up your ROS 2 environment

   source /opt/ros/humble/setup.bash
   

   

4. Launch Intel® RealSense™ viewer and check for any firmware updates.

   1. To download and install the Intel® RealSense™ viewer run the command below:

      sudo apt-get install librealsense2-dkms
      sudo apt-get install librealsense2-udev-rules
      sudo apt-get install librealsense2-utils
      

      

   2. Open the Intel® RealSense™ viewer application:

      sudo -E realsense-viewer
      

      

      In the Intel® RealSense™ viewer, if any firmware update is available, a window popup appears in the upper right corner.

   3. During the firmware update installation, do not disconnect the Intel® RealSense™ camera. Press Install in the window popup.

   4. After the installation is complete or if no update is available, close the Intel® RealSense™ viewer.

5. Run the Intel® RealSense™ ROS 2 sample application:

   /opt/ros/humble/share/realsense/tutorial-realsense/realsense-demo.sh
   

   

   Expected output: The image from the Intel® RealSense™ camera is displayed in rviz2, on the bottom left side.

   

6. To close this, do the following:

   • Type Ctrl-c in the terminal where you did the command for tutorial.