Interfacing Intel Real Sense camera with ROS

One of the new 3D depth sensors from Intel is Real Sense. The following link is the ROS interface of Intel Real Sense: https://github.com/BlazingForests/realsense_camera

Figure 11: Intel Real Sense

Before installing the ROS driver, we have to install the following packages for building the source code:

$ sudo apt-get install libudev-dev libv4l-dev

After installing, clone the ROS package to the src folder of catkin workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/BlazingForests/realsense_camera.git
$ catkin_make

Launch the Real Sense camera driver and RViz using the following command:

$ roslaunch realsense_camera realsense_rviz.launch

Launch Real Sense camera driver only:

$ roslaunch realsense_camera realsense_camera.launch

Figure 12: Intel Real Sense view in RViz

Following are the topics generated by the Real Sense driver:

sensor_msgs::PointCloud2
/camera/depth/points                point cloud without RGB
/camera/depth_registered/points...