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

$ 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

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 realsense-ros GitHub.

$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/params_1.yaml

• realsense launch file

This file can be used to configure how to launch realsense ros2 node. For detailed configuration instructions, please refer to the realsense-ros GitHub.

$ vim /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble/share/camera.launch.py

Start docker container

Step1: Launch the docker container of realsense-ros2-humble

$ cd /usr/local/Advantech/ros/container/ros-extension/realsense-ros2-humble
$ ./launch.sh

Step2: Launch rviz2 in util-ros2-humble container

$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
$ docker exec -it util-ros2-humble bash
$ rviz2

 

Quick start script

A quickstart script for launch realsense node and RViz2. Users can customize this script for their own projects.

$ cd /usr/local/Advantech/ros/container/docker/user-quick-scripts
$ ./realsense_rviz2.sh