# Intel Realsense d435i

> [name=江廷威 ([e-mail])]

:::info
isaac ros container 環境已安裝好 realsense node，若無特殊需求不需參考此篇
:::

repo: https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

## Installation

### Step 1. Realsense SDK for Jetson

note: this might take a long time

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#building-from-source-using-rsusb-backend

### Step 2. Realsense ROS Package

https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy#step-2-install-intel-realsense-ros-from-sources

### Expected Result

1. Start the camera node

    roslaunch realsense2_camera rs_camera.launch

3. Can see the camera topic being published

    rostopic list

    /camera/color/camera_info
    /camera/color/image_raw
    /camera/color/image_raw/compressed
    /camera/color/image_raw/compressed/parameter_descriptions
    /camera/color/image_raw/compressed/parameter_updates
    /camera/color/image_raw/compressedDepth
    /camera/color/image_raw/compressedDepth/parameter_descriptions
    /camera/color/image_raw/compressedDepth/parameter_updates
    /camera/color/image_raw/theora
    /camera/color/image_raw/theora/parameter_descriptions
    /camera/color/image_raw/theora/parameter_updates
    /camera/color/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/compressed
    /camera/depth/image_rect_raw/compressed/parameter_descriptions
    /camera/depth/image_rect_raw/compressed/parameter_updates
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
    /camera/depth/image_rect_raw/compressedDepth/parameter_updates
    /camera/depth/image_rect_raw/theora
    /camera/depth/image_rect_raw/theora/parameter_descriptions
    /camera/depth/image_rect_raw/theora/parameter_updates
    /camera/depth/metadata
    /camera/extrinsics/depth_to_color
    /camera/motion_module/parameter_descriptions
    /camera/motion_module/parameter_updates
    /camera/realsense2_camera_manager/bond
    /camera/rgb_camera/auto_exposure_roi/parameter_descriptions
    /camera/rgb_camera/auto_exposure_roi/parameter_updates
    /camera/rgb_camera/parameter_descriptions
    /camera/rgb_camera/parameter_updates
    /camera/stereo_module/auto_exposure_roi/parameter_descriptions
    /camera/stereo_module/auto_exposure_roi/parameter_updates
    /camera/stereo_module/parameter_descriptions
    /camera/stereo_module/parameter_updates
    /diagnostics
    /rosout
    /rosout_agg
    /tf
    /tf_static

2. View image in rqt image viewer or rviz



## SLAM

note: 跑很慢，會再看是什麼問題，或是再找其他方法

https://github.com/shinkansan/2019-UGRP-DPoom/blob/master/SLAM/README.md

roslaunch realsense2_camera opensource_tracking_tk_localization.launch

rostopic echo /rtabmap/localization_pose

## IMU

roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation

rostopic echo /camera/imu

## todo...

<!-- https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

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https://github.com/UZ-SLAMLab/ORB_SLAM3

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