Camera Setup

This section describes how to set up Intel RealSense D435 cameras for FR3. First, we can 3D print a stand for the camera. The STL file (Panda_RealSenseD435_Camera_Mount.STL) can be found here. After attaching the stand and the camera to the robot, we first need to install the packages required to read images from the RealSense camera.

Check the SDK and Firmware Version

To ensure everything works, we first need to check the SDK version we plan to install the recommended firmware version. The last version of realsense2_camera that supports ROS is v2.3.2 which corresponds to the firmware version 5.13.0.50. The firmware can be updated using the firmware update tools.

ROS Package Installation

The installation instructions of the ROS package can be found here