# ADBSCAN Algorithm with Intel® RealSense™ Camera Input Demo

This tutorial describes how to run the ADBSCAN algorithm from Intel® RealSense™ camera input.

## Prerequisites

Complete the [get started guide](../../../../gsg_robot/index.rst) before continuing.

## Install

Install `ros-jazzy-adbscan-ros2` Deb package from Intel® Autonomous Mobile Robot APT repository

::::{tab-set}
:::{tab-item} **Jazzy**
:sync: tab1

```bash
sudo apt update
sudo apt install ros-jazzy-adbscan-ros2
```

:::
:::{tab-item}  **Humble**
:sync: tab2

```bash
sudo apt update
sudo apt install ros-humble-adbscan-ros2
```

:::
::::

Install the following package with ROS 2 bag files in order to publish point
cloud data from 2D LIDAR or Intel® RealSense™ camera

::::{tab-set}
:::{tab-item} **Jazzy**
:sync: tab1

```bash
sudo apt install ros-jazzy-bagfile-laser-pointcloud
```

:::
:::{tab-item}  **Humble**
:sync: tab2

```bash
sudo apt install ros-humble-bagfile-laser-pointcloud
```

:::
::::

## Run the demo with Intel® RealSense™ camera

```bash
ros2 launch adbscan_ros2 play_demo_realsense_launch.py
```

Expected result: ROS 2 rviz2 starts, and you will see how ADBSCAN interprets
Intel® RealSense™ camera data coming from the ROS 2 bag (click on the video to play):

<https://github.com/open-edge-platform/edge-ai-suites/blob/main/robotics-ai-suite/docs/robotics/videos/adbscan_demo_RS.mp4>

## ADBSCAN ROS2 Node Output description

The output is published to the ROS2 topic `obstacle_array`,
and the message format is `nav2_dynamic_msgs::msg::ObstacleArray`.

To view the messages being published to the `obstacle_array`
topic, you can use the following command:

```bash
ros2 topic echo /obstacle_array
```

How to Visualize the Output in RViz

1. **Launch RViz**:

   - Open a terminal and start RViz by typing:

     ```bash
     rviz2
     ```

2. **Subscribe to the Topic**:

   - In RViz, add a new display by clicking on `Add` in the `Displays` panel.
   - Select `MarkerArray` from the list of available display types.