Realsense D435

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趙　漠居(Zhao, Moju) edited this page May 29, 2021 · 3 revisions

Configuration

X86_64 (e.g. upboard)

https://github.com/IntelRealSense/librealsense/blob/master/scripts/setup_udev_rules.sh
$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense & ./scripts/setup_udev_rules.sh

Nvidia Jetson TX2:

Please refer to here.

Basic usage:

RGBD pointcluod:

$ roslaunch  aerial_robot_perception realsence.launch enable_pointcloud:=true aligh_depth:=false depth_registered_processing:=true alighn_depth:=true

Plane detect:

$ roslaunch aerial_robot_perception　hydrus_ceil_detect_real.launch nodelet_manager_name:=/camera/realsense2_camera_manager launch_manager:=false cloud_input:=/camera/depth_registered/points camera_info:=/camera/depth/camera_info