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Depth Camera Payload - SW Integration

Introduction

The Depth Camera Payload uses a USB-C cable to connect to the Vertex One and selected ROS commands of the Avular Programming Interface can be used to control the module and read data from it.

Set-up for use on Vertex One

Note

The ROS2 Intel RealSense wrapper is a generic wrapper and many different topics will be visible even if the used camera does not support said feature or the feature has not been turned on yet.

By default, the docker container is started and if the RealSense is connected, it will automatically publish data on the ROS 2 network, unless container mode is set to Development. By default, both the RGB and depth cameras are enabled and should be publishing. If this is not the case, or you would like to make changes to the RealSense container startup command. Follow the steps below.

  1. Execute avular compose config to open a new shell in the location of the dockerfiles
  2. Open docker-compose-prod.yml in your favorite editor
  3. Change the command: to any configuration you like.

By default you can use the following for the command to launch RGB and depth cameras

command: /bin/bash -c 'source /ros2_ws/install/setup.bash && ros2 launch realsense2_camera rs_launch.py enable_rgbd:=true enable_sync:=true align_depth.enable:=true enable_color:=true enable_depth:=true'

Intel RealSense Documentation

The ROS2 wrapper used in the docker container is from Intel. Please consult their documentation for extensive configuration options Intel RealSense Development Documentation (External Link).