Depth Camera

Reminder

The following device testing is verified on ROS2 environment, please refer to Tool Installation chapter document to install all ROS related tools.

Intel RealSense D415

Preparation

• Rhino Pi A1
• Intel RealSense D415 depth camera and driver installed

Install as follows: After installing Ubuntu Desktop and connecting via VNC, open a terminal and run:

sudo apt-get update
sudo apt-get install ros-humble-realsense2-camera

Hardware Connection

Connect the depth camera to a USB port on the Rhino Pi A1.

Test

• After connecting, start the camera driver:

ros2 launch realsense2_camera rs_launch.py

• Open rviz2:

rviz2

• Verify the depth camera image in rviz2.

Click the Add button in the lower-left corner.

Select By topic in the popup.

Double-click the /camera topic image and confirm the image window appears.