# RealSense D435i

## Ubuntu Installation

* Install `librealsense2` according to [this official GitHub repository](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) 
  * make sure install `librealsense2-dev` as well because it will provide cmake support
  * do not use `ros-melodic-librealsense2` library
* Install `ddynamic_reconfigure` by `sudo apt install ros-melodic-ddynamic-reconfigure`
* git clone [`realsense-ros` package](https://github.com/UCR-Robotics/realsense-ros) to workspace and catkin\_make

#### Notes for Jetson devices

* For Jetson devices, there is no `librealsense2-dkms` package available; only need to install `librealsense2-utils` and `librealsense2-dev`. ([installation\_jetson](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md))
* During building process, `cv_bridge` expects `/usr/include/opencv` but on Jetson systems it's under `/usr/include/opencv4/opencv2`. To resolve this, create a symbolic link to the directories `sudo ln -s /usr/include/opencv4/ /usr/include/opencv` .

## Collect rosbag

```bash
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
rosbag record \
    /tf \
    /tf_static \
    /camera/color/camera_info \
    /camera/color/image_raw \
    /camera/depth/camera_info \
    /camera/depth/image_rect_raw \
    /camera/extrinsics/depth_to_color \
    /camera/depth/color/points  # this topic enabled by filters:=pointcloud
# rosbag size: 4GB/min
```


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