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...