Intel® RealSense™ Multifaceted Toolkit

This repository harness the RGBD Camera RealSense™ D435/D435i across a wide range of contexts and applications on ROS.

Demonstration

Static View	Dynamic View

A. Get Started

Recommended Environment

• Ubuntu 18.04 or higher.
• Docker must be installed.
• cam: Intel® RealSense™ D435 or D435i.

Steps

1. Git clone this repo.

   git clone https://github.com/pomelo925/realsense-ros-env.git

2. Navigate to /docker and execute docker.sh.

   cd docker
   chmod +x docker.sh
   ./docker.sh

3. In Visual Studio Code, press F1 to open the command palette.

4. Type and select Remote-Containers : "Attach to Running Container...".

5. Choose the container just started up.

B. Codes

English

The main script to start the entire process is realsense-ros-env/ros-pcl-segmentation/startup/diff/diff-inspection.sh.

The core code for PCL Segmentation and DBScan Cluster is mainly located in realsense-ros-env/ros-pcl-segmentation/extraction-ws/src/diff-rs-pcl2/src.

This code was migrated from a private repo after the Eurobot 2024 competition. Please understand that due to the competition requirements, there are many special names and a rather complex startup and packaging method.

I will organize the code into a more general and user-friendly version if time permits, and I won't provide extensive comments on the folder structure and code before the revision.

Please let me know if you are interested and need any assistance.

繁中

這段程式碼是在 Eurobot 2024 比賽結束後，從私人 repo 移植過來的。 請見諒內部為比賽需求而有諸多特殊的命名，同時還有較難以理解的程式啟動方式和包裝。

未來若有時間我會整理好代碼，以改成更一般化和好上手的版本。在改版之前，我暫時不會為資料夾結構和代碼下過多註解。

請讓我知道如果你感興趣或需要任何協助 ~

C. Checks and Errors

1. Make sure Intel® RealSense™ is detected by the host machine. Type lsusb in the terminal, and it should show something like:

   Bus 001 Device 004: ID 8086:0b3a Intel Corp. Intel(R) RealSense(TM) Depth Camera 435i

   dmesg | grep tty will NOT list oout RealSense™ cuz it interfaces with specialized drivers UVC (USB Video Class) provided by the Intel RealSense SDK.

2. if error like this:

   07/12 05:04:42,078 ERROR [281472812437904] (librealsense-exception.h:52) xioctl(VIDIOC_G_CTRL) failed Last Error: Connection timed out

   Make sure Intel® RealSense™ is inserted on USB 3.0 port (with the blue mark).