realsense-D400-ros-docker
Docker image containing the ROS bindings for the Intel® RealSense™ Depth Camera D400-Series devices.
How to run the camera drivers
1. Build the image
Run the following command from the root directory of this repository to build the Docker image
docker build -t ripl/realsense-d400-ros ./
2. Run the drivers using the ROS launch file
Run the following command to run the drivers using the ROS launch file.
docker run -it --rm --net=host --privileged ripl/realsense-d400-ros roslaunch realsense2_camera rs_rgbd.launch
NOTE: The command roslaunch realsense2_camera rs_rgbd.launch is the
same used in the instructions of the original
ROS wrapper from Intel for these
cameras. Feel free to use another launch-file or change the parameters as
explained at the URL above.
NOTE: Let us call the computer on which you run this container machine_A.
If you want to consume the data from a different machine, say machine_B, you
need to add the flag --env ROS_IP=<external_ip> to the command above. Replace
<external_ip> with the IP address of the interface on machine_A that
communicates with the network containing machine_B.
3. (Advanced) Run the drivers using a libbot2 deputy
Run the following command to launch a liboot2 deputy that is responsible
for running/stopping/monitoring the drivers on behalf of a liboot2 sheriff
process.
docker run -it --rm --net=host --privileged ripl/realsense-d400-ros bot-procman-deputy --name <deputy_name>
where <deputy_name> can be any string that identifies the camera
(e.g., camera_left_side).
The deputy will have access to ROS and all the necessary packages. This means
that you can simply use the command roslaunch realsense2_camera rs_rgbd.launch
in your procman configuration. Check out the file samples/procman.cfg for
an example of procman configuration file that activates a realsense camera.