Intel provides an open source ROS Package for their RealSense D400 series cameras. Here we install the package on a NVIDIA Jetson TX development kit. Looky here:
The RealSense D400 cameras are the next generation of the Intel RealSense camera product line. In the video, we install a ROS driver for a RealSense D435 camera, a device well suited towards robotic applications. The size of the D435, along with convenient mounting options, provide for a nice mechanical packaging solution for adding a RGBD camera to your project.
There are two prerequisites for installing the RealSense ROS package on the Jetson. The first is to install the librealsense 2 camera driver library on the Jetson. We cover the procedure in this article: Install Intel RealSense D400 camera driver.
The second prerequisite is to install Robot Operating System (ROS). A short article Robot Operating System (ROS) on NVIDIA Jetson TX Development Kits is available.
Install RealSense Package for ROS
There is a convenience script to install the RealSense ROS package on the JetsonHacks account on Github called installRealSense2ROSTX.
After the prerequisites above are installed:
$ git clone https://github.com/jetsonhacks/installRealSense2ROSTX
$ cd installRealSense2ROSTX
Where catkin workplace name is the name of the catkin_workspace to place the RealSense ROS package. If the workspace name is not specified, the installation takes place in the default catkin workspace name, catkin_ws.
The install script works with either a Jetson TX1 or a Jetson TX2.
There are several launch files available. Please refer to the Intel-ROS RealSense repository on Github for examples.
- In the video, the installation takes place on a Jetson TX2 running L4T 28.2 (JetPack 3.2).
- An Intel RealSense D435 is being used in the video.
- Version v2.0.3 of the intel-ros realsense package is installed
- Version v2.10.4 of librealsense 2 is installed on the Jetson
- ROS Kinetic