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Version: ROS 2 Humble

intel_realsense

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.color_profile: 640,480,30
        enable_depth: true
        depth_module.depth_profile: 640,480,15
        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.

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