> For the complete documentation index, see [llms.txt](https://wiki.ariitk.in/wiki/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.ariitk.in/wiki/computer-vision/intel-realsense-d435i-setup-for-ros-noetic.md). # Intel RealSense D435i setup for ROS Noetic ### Setting up ROS Package of Intel RealSense ```bash sudo apt-get install ros-$ROS_DISTRO-realsense2-camera sudo apt-get install ros-$ROS_DISTRO-realsense2-description ``` #### Note We use *noetic* ROS Distribution ### Make the Workspace for Intel RealSense ROS Package ```bash mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/ git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1` cd .. ``` ### Building the Package ```bash catkin_init_workspace cd .. catkin_make clean catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install ``` ### Adding Source File to bashrc ```bash echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ### Running the Camera Launch the **rs\_camera.launch** launch file located in **realsense2\_camera** package ```bash roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ``` Launch *rviz* to Visualize the Camera Feed and Depth ```bash rviz ``` In Fixed Frame, select *camera\_color\_optical\_frame*

Then Click *add*, goto *By topic*, expand */camera*, */color* and */image\_raw*, select *camera* with *raw* option and then click Ok.

It would show the Camera Feed in the Bottom Left

Then Click *add*, goto *By topic*, expand */camera*, */depth*, */color* and */points*, select *PointCloud2* and then click Ok.

It would show the Depth with color.

Select *Points* in the *Style* Parameter to get a better Visualization

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