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Version: ROS 2 Humble

RealSense D435

Item Numbers

DescriptionCPR ItemSales KitInstallation Kit, With Fasteners
Intel RealSense D435 sensor017103026869027208


Mass75 g
Voltage, Minimum4.75 V
Voltage, Maximum5.25 V
Voltage, SensorUSB ( 5 VDC )
Power, Maximum3.5 W
DataUSB 3.0
Range, Minimum0.2 m
Range, Maximum3 m
View, Horizontal69° at 2 m
View, Vertical42° at 2 m
Ingress Protection, Solids3
Ingress Protection, Liquids0
Operating Temperature, Min0 °C
Operating Temperature, Max35 °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.

- 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]
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:


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:, 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.


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

To get in touch with a salesperson regarding Clearpath Robotics products, please email

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 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.

Further Reading

  1. Clearpath Robotics Store
  2. Datasheet
  3. Dimensions
  4. User Manual
  5. RealSense Website
  6. ROS webpage