Using an Intel RealSense

Install all the drivers

librealsense Install on Linux

RealSense ROS Drivers

View realsense camera + take basic snapshots

realsense-viewer

Interface with everything in ROS

These commands are from the RealSense ROS Documentation

• Just launch the camera
  • roslaunch realsense2_camera rs_camera.launch
• View a cool point cloud
  • roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
• Visualize in Rviz
  • rviz
  • View the RGB camera Add > By topic > /camera/color/image_raw > Image
  • View the point cloud Add > By topic > /camera/depth/image_rect_raw > DepthCloud

Deep Object Pose Estimation

Download the base drivers for deep object pose estimation (trained on RGB cameras)

DOPE Base Drivers Based on this paper

Someone has tried this to include the depth data too: DOPE RealSense Drivers

Also: There are several dependencies I had to manually install since I’m using ROS Melodic (both of these packages are built for Kinetic)

Actually using the dope package

1. Edit the dope/config/config_pose.yaml

topic_camera: "/camera/color/image_raw"
topic_camera_info: "/camera/color/camera_info"

1. roslaunch dope dope.launch