Intel® RealSense™ is a platform for implementing gesture-based human-computer interaction techniques. It consists of series of consumer grade 3D cameras together with an easy to use machine perception library. The Intel® RealSense™ R200 camera is a USB 3.0 device that can provide color, depth, and infrared video streams. The TurtleBot3 Waffle model adopts Intel® RealSense™ R200 to enable 3D SLAM and navigation, and it is possible to apply various applications such as gesture recognition, object recognition and scene recognition based on 3D depth information obtained using RealSense™’s innovative Active Stereo Technology.
|RGB Video Resolution||1920 x 1280, 2M|
|IR Depth Resolution||640 x 480, VGA|
|Laser Projector||Class 1 IR Laser Projector (IEC 60825-1:2007 Edition 2)|
|Frame Rate||30 fps (RGB), 60 fps (IR depth)|
|FOV (Field-of-View)||77° (RGB), 70° (IR depth), Diagonal Field of View|
|Range||0.3m ~ 4.0m|
|Operating Supply Voltage||5V (via USB port)|
|USB Port||USB 3.0|
|Dimensions||101.56mm length x 9.55mm height x 3.8mm width|
|Processors||4th Generation and future Intel® Core™ processors|
|Ubuntu 14.04 and 16.04 LTS (GCC 4.9 toolchain)|
|Operating System||Windows 8.1 and Windows 10 (Visual Studio 2015 Update 2)|
|for SDK||Mac OS X 10.7+ (Clang toolchain)|
Here is the detail specification document: Intel® RealSense™ Datasheet
The Intel® RealSense™ R200 is applied on TurtleBot3 Waffle.
The TurtleBot3 Waffle uses Intel® RealSense™ Camera R200 as a default vision sensor. Check this video out that shows how Intel® RealSense™ Camera R200 can be used in TurtleBot3 Waffle.
Intel® RealSense™ packages enable the use of Intel® RealSense™ R200, F200, SR300 and ZR300 cameras with ROS. Below table describes packages required to operate Intel® RealSense™. You will be guided to install these packaged in the next section.
|librealsense||Underlying library driver for communicating with Intel® RealSense™ camera|
|realsense_camera||ROS Intel® RealSense™ camera node for publishing camera|
Warning! There are installation prerequisites for the Intel® RealSense™ package installation in http://wiki.ros.org/librealsense
[TurtleBot] The following commands will install relevant Intel® RealSense™ packages on your ROS system.
sudo apt-get install linux-headers-generic sudo apt-get install ros-kinetic-librealsense sudo apt-get install ros-kinetic-realsense-camera
[TurtleBot] Run the following command
roslaunch realsense_camera r200_nodelet_default.launch
While the realsense_camera node is running, you can view various data from Intel® RealSense™ by launching rqt_image_view.
[Remote PC] Run the following command
Once the gui application is appeared on the screen, you can select data topic name related to Intel® RealSense™ from drop down menu at the top of the application.
[TurtleBot] Input ctrl + c to quit the previously run camera node, then run other realsense_camera node
roslaunch realsense_camera r200_nodelet_rgbd.launch
[TurtleBot] Run turtlebot3_bringup node to get datas for doing SLAM
roslaunch turtlebot3_bringup turtlebot3_robot.launch
[Remote PC] Run turtlebot3_slam node to do SLAM
roslaunch turtlebot3_slam turtlebot3_slam.launch
[Remote PC] Run RViz
rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
[Remote PC] Click Panels - Views to open the view window
[Remote PC] Click TopDownOrtho (rviz) and change it into XYOrbit (rviz)
[Remote PC] Click add - By topic and find the PointCloud2 type
/points topic in
/camera/depth, then click it
[Remote PC] Click PointCloud2 type topic on the left window, then change Color Transformer from Intensity to AxisColor. This will show the depth of each points by color description.
[Remote PC] Click add - By topic and find the Image type
/image_color topic in
/camera/rgb, then click it. This will show the view of the rgb camera
- Intel® RealSense™ Datasheet https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet.pdf
- Data ranges https://software.intel.com/en-us/articles/intel-realsense-data-ranges
- Intel® RealSense™ SDK https://software.intel.com/en-us/intel-realsense-sdk
- Purchase https://click.intel.com/realsense.html