View source for Advantech Robotic Suite/Container/realsense ROS Container

= RealSense ROS Container =

This container provides a ready-to-use ROS node for Intel RealSense cameras, simplifying the conversion of depth, color, and point cloud data into ROS2 messages.	

== How To ==

=== Download and install container ===
<syntaxhighlight lang="bash">
$ wget https://iedgeblob.blob.core.windows.net/iedge-public/robotic_suite_extention_container/realsense-ros2-humble-1.0.0-Ubuntu_x86.run
$ chmod +x realsense-ros2-humble-1.0.0-Ubuntu_x86.run
$ sudo ./realsense-ros2-humble-1.0.0-Ubuntu_x86.run
</syntaxhighlight>
<br>

=== Modify config file ===
* realsense config file
This file can be used to configure the camera's parameter. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.
<syntaxhighlight lang="bash">
$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/params_1.yaml
</syntaxhighlight>

* realsense launch file
This file can be used to configure how to launch realsense ros2 node. For detailed configuration instructions, please refer to the [https://github.com/IntelRealSense/realsense-ros realsense-ros] GitHub.
<syntaxhighlight lang="bash">
$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/camera.launch.py
</syntaxhighlight>
<br>

=== Start docker container ===
'''Step1: Launch the docker container of realsense-ros2-humble'''
<syntaxhighlight lang="bash">
$ cd /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble
$ ./launch.sh
</syntaxhighlight>

'''Step2: Launch rviz2 in [[Advantech Robotic Suite/Container/Utility ROS Container#Launch_RViz2|util-ros2-humble]] container'''
<syntaxhighlight lang="bash">
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
$ docker exec -it util-ros2-humble bash
$ rviz2
</syntaxhighlight>
[[File:ROS2 realsense rviz.png|none|ROS2 realsense rviz]]
&nbsp;
<br>

=== Quick start script ===
A quickstart script for launch realsense node and RViz2. Users can customize this script for their own projects.
<syntaxhighlight lang="bash">
$ cd /usr/local/Advantech/ros/container/docker/user-quick-scripts
$ ./realsense_rviz2.sh
</syntaxhighlight>