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Driver for ROS

RealSense D415 and D435

Install Intel® RealSense™ SDK 2.0

$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
$ sudo apt install librealsense2-dkms librealsense2-utils librealsense2-dev
  • Test using realsense-viewer
$ realsense-viewer
  • Install ROS packages for RealSense 2
$ cd ~/catkin_ws/src/
$ git clone https://github.com/intel-ros/realsense.git
$ cd realsense
$ git checkout -b 2.2.3
$ cm

Run Intel® RealSense™ D415 or D435

$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
$ rviz
  • 디스플레이 추가
    • Displays > Add > PointCloud2
  • 디스플레이 옵션 설정
    • Displays > Global Options > Fixed frame = camera_link
    • Displays > PointCloud2 > Topic = /camera/depth/color/points