Camera Development Example

Camera Test

Before developing with the camera driver, check that the depth camera is properly connected:

1. Confirm that Intel RealSense D435i is displayed in the left sidebar;
2. Click the on/off switches for Stereo Module and RGB Camera. If the depth image and color image open successfully, the depth camera is properly connected.

librealsense Secondary Development

The librealsense libraries are compiled with CUDA support and installed to /usr/local/lib and /usr/local/include. For secondary development, include the corresponding header files and link the corresponding libraries.

The realsense-ros package is located at /home/ysc/lite_cog/drivers/realsense_ws. Related functions can be started via system service:

sudo systemctl start realsense

This command uses the dr_camera.launch file in /home/ysc/lite_cog/drivers/realsense_ws/src/realsense2_camera/launch to start the realsense camera. To modify camera startup parameters, edit this launch file.

Realsense-ROS1 Secondary Development

The ROS1 version of realsense-ros is located at /home/ysc/lite_cog/drivers/realsense_ws. Related functions can be started, stopped, and checked via system service:

sudo systemctl start realsense
sudo systemctl stop realsense
sudo systemctl status realsense

This command uses the dr_camera.launch file in ~/lite_cog/drivers/realsense_ws/src/realsense2_camera/launch to start the realsense camera. To modify camera startup parameters, edit this launch file.

Realsense-ROS2 Secondary Development

The ROS2 version of realsense-ros is located at /home/ysc/lite_cog_ros2/driver/realsense_ws. Related functions can be started, stopped, and checked via system service:

sudo systemctl start realsense_ros2
sudo systemctl stop realsense_ros2
sudo systemctl status realsense_ros2

This command uses the dr_camera_launch.py file in ~/lite_cog_ros2/drivers/realsense_ws/src/realsense2_camera/launch to start the realsense camera. To modify camera startup parameters, edit this launch.py file.