Depth Camera

Warning

The device tests below are verified in the ROS2 environment. Please refer to the Tool Installation section to install all ROS-related tools.

Intel RealSense D415

Preparation

• Rhino Pi-X1
• Intel RealSense D415 depth camera and corresponding drivers

Follow the steps below for installation: After installing Ubuntu Desktop and connecting via a VNC tool, execute the following commands in the terminal window:

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

Hardware Connection

Connect the depth camera to the USB port of Rhino Pi-X1.

Testing

1. After successful connection, launch the camera driver using the following command:

ros2 launch realsense2_camera rs_launch.py

2. Open RViz2 Open a terminal and enter: rviz2

3. Verify and display the depth camera image in RViz2 Click the Add button in the bottom-left corner.

Click By topic in the pop-up window.

Double-click to open image under the /camera node, and observe the camera-captured image appearing in the image pop-up window in the bottom-left corner.