Cyber Wrapper for Intel® RealSense™ Devices

These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with Cyber.

Installation Instructions

The following instructions support Cyber , on Ubuntu 18.04.

Step 1: Install the latest Intel® RealSense™ SDK 2.0

• Install from Debian Package - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages.

OR

• Build from sources by downloading the latest Intel® RealSense™ SDK 2.0 and follow the instructions under Linux Installation

Step 2: Install Cyber RT

Install by readme by https://github.com/mickeyouyou/apollo_lite

Published Channels

/realsense/pose
/realsense/left_image
/realsense/right_image 
/realsense/acc
/realsense/gyro

Start

1. Please ensure installed Cyber envonroment, you can echo cyber ip like:echo ${CYBER_IP} to check.
2. use rs-enumerate-devices debug tool ensure the mounted device.

Start driver by:

bash realsense.sh

Check published data by cyber_monitor.

Stop:

bash realsense.sh stop

T265 API

https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md

• Frame Management : https://github.com/IntelRealSense/librealsense/blob/master/doc/frame_lifetime.md
• librealsense Error Handling Scheme : https://github.com/IntelRealSense/librealsense/blob/master/doc/error_handling.md