Version: ROS 2 Humble

RealSense D435

Item Numbers

Description	CPR Item	Sales Kit	Installation Kit, With Fasteners
Intel RealSense D435 sensor	017103	026869	027208

Specifications

Description	Value
Mass	75 g
Voltage, Minimum	4.75 V
Voltage, Maximum	5.25 V
Voltage, Sensor	USB ( 5 VDC )
Power, Maximum	3.5 W
Data	USB 3.0
Range, Minimum	0.2 m
Range, Maximum	3 m
View, Horizontal	69° at 2 m
View, Vertical	42° at 2 m
Ingress Protection, Solids	3
Ingress Protection, Liquids	0
Operating Temperature, Min	0 °C
Operating Temperature, Max	35 °C

Software Bringup

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

camera:
  - model: intel_realsense
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      intel_realsense:
        camera_name: camera_0
        device_type: d435
        serial_no: "0"
        enable_color: true
        rgb_camera.profile: 640,480,30
        enable_depth: true
        depth_module.profile: 640,480,30
        pointcloud.enable: true

Package and Setup

The Intel Realsense cameras use the realsense_ros ROS 2 driver. The driver is open source, maintained by Intel, and hosted on GitHub. The realsense_ros nodes depends on the the librealsense2 SDK. Both packages will be installed alongside the clearpath_sensors package.

For specifics on the way Clearpath's configuration system launches the camera, see the Intel Realsense launch file and the default parameter file in clearpath_sensors.

Device Type and Serial Number

The device_type and serial_no parameters must be set accurately to successfully launch the node. Both of these values can be found using the SDK utility.

Use the following command to see a list of connected Intel Realsense devices:

rs-fw-update

When ran without any arguments, the rs-fw-update will return information about the connected devices, as is shown below:

Nothing to do, run again with -h for help

Connected devices:
1) Name: Intel RealSense D435, serial number: 045322073417, update serial number: 041323020523, firmware version: 5.12.13.50, USB type: 3.2

The device_type is the alpha-numerical sequence in the name. In the example above, set device_type to d435.

The serial_no is the string following the serial number entry. In the example above, set serial_no to "045322073417". Make sure to use quotes to ensure that the serial number is interpreted as a string.

Troubleshooting

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Item Numbers​

Specifications​

Software Bringup​

Package and Setup​

Device Type and Serial Number​

Troubleshooting​

Further Reading​