RealSense D435i

Ubuntu Installation

• Install librealsense2 according to this official GitHub repository

  • 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 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)

• 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

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