Use Intel RealSense D435i

[kc944201]

Hi

If I want add the D435i camera to the stacks, could it works?

I don't know where to start the task, could you give me some instructions

Thanks you!

[eborghi10]

First, you have to add the Xacro with the description of the camera and assign it a particular name like d435i.

Then, if you have to specify its pose w.r.t. the robot in this YAML file. The name of the Xacro must match with the tag name here!

You will also need to update these calibration values, if you have them.

If you want to use it with a real robot, you have to add an entry here so you can execute its driver when you choose LASER=d435i. Check that all the launch files are defined in the ca_camera package, here.

[kc944201]

I had been added Xacro to the path, if I want to show the model

use RVIZ=true GUI=true roslaunch ca_gazeob create_empty_world.launch laser:=d435i

the robot still show the default.

How to fix this?

Thanks you!

[eborghi10]

Use an environment variable for laser too, like this:

LASER=d435i RVIZ=true GUI=true roslaunch ca_gazebo create_empty_world.launch

Also, consider creating a PR to contribute to the community if you make some progress :smiley:

[kc944201]

Thanks you!

I already have had done simulation on Gazebo and Rviz

but when I want to use with a real robot, the ca_driver have some problem, as the following picture

I use the newest master version in Github.

[eborghi10]

You are not working inside Docker, right?

If not, you have to set the USB permissions.

[kc944201]

Yes, I don't use Docker.

so I need to set the permissions for USB, like this:

sudo usermod -a -G dialout john

Am I right? if my user name was john

[eborghi10]

Yes, do this in your computer:

echo $USER

[kc944201]

Hi I type the following command

sudo usermod -a -G dialout john

but it still show the same error, what else could I do?

[kc944201]

Hi, I revise the default file of ca_driver to ttyUSB0

and now it works, but still some error when I use a real robot

sometimes it can works, but sometimes it showed the following error

[create::Serial] failed to receive data from Create. Check if robot is powered! [create::Create] retrying to establish serial connection... [create::Serial] serial error - Operation canceled

I ensure the cable link and the robot power was on

[yuanzhedong]

@kc944201 did you make the D435i working? Could you make a pr for that if possible, I'm also trying to use D435i, thank you.

[eborghi10]

It would be great since I also bought a D435i and I have plans to use it soon. If the PR was not created next week, I'll do it.

[kc944201]

I'm sorry, my capability is not good.

I just done combined iRobot Create2、D435i and YDLIDAR for SLAM using simulation In real robot, I still had some problems need to solve. like robot pose ekf

[eborghi10]

PR is almost there ^