# Intel® RealSense™ Camera with ROS 2 Sample Application

This tutorial tells you how to:

- Launch ROS nodes for a camera.
- List ROS topics.
- Confirm that Intel® RealSense™ camera topics are publishing data.
- Retrieve data from the Intel® RealSense™ camera (data coming at FPS).
- Visualize an image from the Intel® RealSense™ camera displayed in rviz2.

This Intel® RealSense™ with ROS 2 Sample Application can be run using two
different types of Intel® RealSense™ cameras. The next section explains how to
run this sample application using an Intel® RealSense™ camera connected through
USB (for example, Intel® RealSense™ camera D435i). The subsequent section focuses
on an [Intel® RealSense™ Depth Camera D457](https://www.intelrealsense.com/depth-camera-d457)
in MIPI mode, which is connected to an
[Axiomtek Robox500 ROS 2 AMR Controller](https://www.axiomtek.com/Default.aspx?MenuId=Products&FunctionId=ProductView&ItemId=27392&C=ROBOX500&upcat=408).

## Prerequisites

Complete the [GSG Robot Guide](../../../gsg_robot/index) before continuing.

## Using Intel® RealSense™ camera connected through USB

1. Connect an Intel® RealSense™ camera (for example, Intel® RealSense™ D435i)
   to the host, through USB.

2. Install the ``librealsense2`` and ``realsense2`` tools:

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

   ```bash
   sudo apt-get install -y ros-jazzy-librealsense2-tools
   ```

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

   ```bash
   sudo apt-get install -y ros-humble-librealsense2-tools
   ```

   :::
   ::::

3. Download and install the Intel® RealSense™ camera with ROS 2 sample application:

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

   ```bash
   sudo apt-get install -y ros-jazzy-realsense2-tutorial-demo
   ```

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

   ```bash
   sudo apt-get install -y ros-humble-realsense2-tutorial-demo
   ```

   :::
   ::::

4. Set up the ROS 2 environment:

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

   ```bash
   source /opt/ros/jazzy/setup.bash
   ```

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

   ```bash
   source /opt/ros/humble/setup.bash
   ```

   :::
   ::::

5. Run the Intel® RealSense™ camera with ROS 2 sample application:

   ```bash
   ros2 launch realsense2_tutorial realsense2_tutorial.launch.py
   ```

   Expected output: The image from the Intel® RealSense™ camera is displayed in rviz2, on the bottom left side.

   ![rs_tutorial_usb](../../../images/rs_tutorial_usb.png)

6. To close this, do the following:

   - Type ``Ctrl-c`` in the terminal where the tutorial was run.

## Using [Intel® RealSense™ Depth Camera D457](https://www.intelrealsense.com/depth-camera-d457) on an [Axiomtek Robox500 ROS 2 AMR Controller](https://www.axiomtek.com/Default.aspx?MenuId=Products&FunctionId=ProductView&ItemId=27392&C=ROBOX500&upcat=408)

The following steps are required to set up the Axiomtek Robox500 ROS 2 AMR
Controller to support the Intel® RealSense™ Depth Camera D457.

### Axiomtek Robox500 ROS 2 AMR Controller Setup

Connect an Intel® RealSense™ Depth Camera D457 to  the Axiomtek Robox500 ROS 2
AMR Controller as shown in the below picture. Now, power-on the target.

![rs_tutorial_Axiomtek_gmsl_camera_connection](../../../images/rs_tutorial_Axiomtek_gmsl_camera_connection.png)

> **Note:** Select the "MIPI" mode of the Intel® RealSense™ Depth Camera D457
> by moving the select switch on the camera to "M", as shown in the below picture:
> ![MIPI_USB_Switch_in_D457](../../../images/MIPI_USB_Switch_in_D457.jpeg)

#### BIOS settings

Go to the BIOS menu by pressing "``Del``" or "``Esc``" button when the board is
powered on. The following BIOS settings should be set to enable
Intel® RealSense™ Depth Camera D457 support on an Axiomtek Robox500
ROS 2 AMR Controller.

- Intel Advanced Menu -> Power & Performance -> CPU-Power Management Control ->
  C States -> < Disable > (Note: If enabled, fps drops)
- Intel Advanced Menu -> System Agent (SA) Configuration -> MIPI Camera
  Configuration -> < Enable > (Note: Enable all four cameras in this menu)
- Camera BIOS settings.

|BIOS setting|Camera 1|Camera 2|Camera 3|Camera 4|
|-|-|-|-|-|
|MIPI Port|0|1|2|3|
|Lane user|x2|x2|x2|x2|
|Port speed|2|2|2|2|
|I2C Channel|I2C5|I2C5|I2C5|I2C5|
|Device0 I2C Address|12|14|16|18|
|Device1 I2C Address|42|44|62|64|
|Device2 I2C Address|48|4a|68|6c|

#### Install ``librealsense2`` and ``realsense2`` tools

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

```bash
sudo apt install -y ros-jazzy-librealsense2-tools
```

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

```bash
sudo apt install -y ros-humble-librealsense2-tools
```

:::
::::

#### Install ``intel-ipu6`` (``intel-ipu6-dkms``) driver

1. Create a ``/etc/modprobe.d/blacklist-ipu6.conf`` file and add the lines of
  the listing below. This will prevent the loading of the existing default
  ``intel_ipu6_isys`` kernel module.

   ```bash
   # kernel builtin ipu6 driver and realsense D4XX driver clash with intel-ipu6-dkms installation.
   blacklist intel_ipu6_isys
   blacklist intel_ipu6_psys
   blacklist intel_ipu6
   ```

2. Reboot the target.
3. Install the ``intel-ipu6-dkms``:

   ```bash
   sudo apt install -y intel-ipu6-dkms
   ```

4. Run the following command for ``dkms`` to force-install the ``intel-ipu6`` driver:

   ```bash
   dkms install --force ipu6-drivers/20230621+iotgipu6-0eci8
   ```

5. Check the ``dkms`` status by using the following command:

   ```bash
   dkms status
   ipu6-drivers/20230621+iotgipu6-0eci8, 5.15.0-1048-intel-iotg, x86_64: installed
   ```

   If the ``dkms`` status is not "installed", then rerun the command from step number 4.

6. ``modprobe`` the installed ``intel-ipu6`` driver:

   ```bash
   sudo modprobe intel-ipu6-isys
   ```

   > **Note:** The ``modprobe`` command must be run after every system reboot. This is because the ``intel-ipu6-isys`` kernel module is not loaded by OS at boot. It must be loaded manually using the above command.

7. After installation, check the status of the loaded ``intel-ipu6-isys``
   kernel module. The kernel module loaded must be
   ``/lib/modules/5.15.0-1048-intel-iotg/updates/dkms/intel-ipu6-isys.ko``
   as shown below:

   ```bash
   modinfo intel-ipu6-isys | head -3
   filename:       /lib/modules/5.15.0-1048-intel-iotg/updates/dkms/intel-ipu6-isys.ko
   description:    Intel ipu input system driver
   license:        GPL
   ```

#### Add the user to the *video* and *render* group

```bash
# Add the $USER to the video group
sudo usermod -a -G video $USER

# Add the $USER to the render group
sudo usermod -a -G render $USER
```

##### Install and run the  Intel® RealSense™ camera with ROS 2 sample application

1. Download and install the Intel® RealSense™ camera with ROS 2 sample application:

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

   ```bash
   sudo apt-get install -y ros-jazzy-realsense2-tutorial-demo
   ```

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

   ```bash
   sudo apt-get install -y ros-humble-realsense2-tutorial-demo
   ```

   :::
   ::::

2. Set up the ROS 2 environment:

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

   ```bash
   source /opt/ros/jazzy/setup.bash
   ```

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

   ```bash
   source /opt/ros/humble/setup.bash
   ```

   :::
   ::::

3. Run the following command to bind the Intel® RealSense™ Depth camera D457
   with ``intel-ipu6`` driver with metadata enabled:

   ```bash
   rs_ipu6_d457_bind.sh
   ```

4. Run the Intel® RealSense™ camera with ROS 2 sample application:

   ```bash
   ros2 launch realsense2_tutorial realsense2_tutorial.launch.py use_sub_camera:=false
   ```

   Expected output: The image from the Intel® RealSense™ camera is displayed in rviz2, on the bottom left side.

   ![rs_tutorial_gmsl_Axiomtek](../../../images/rs_tutorial_gmsl_Axiomtek.png)

5. To close this, do the following:

   - Type ``Ctrl-c`` in the terminal where the tutorial was run.