=========================
Isaac ROS RealSense Setup
=========================

Camera Compatibility
--------------------

================= ==============
RealSense Model   Supported?
================= ==============
D455              ✓
D435i             ✓
D415              ✗
================= ==============

.. note::

  For best results, you must update the camera's firmware.

Setup Instructions
------------------

.. note::

  This tutorial assumes that you have completed following the instructions :doc:`Developer Environment Setup </getting_started/dev_env_setup>`.

1. Clone the ``librealsense`` repository and setup ``udev`` rules. Remove any connected RealSense cameras when prompted:

  .. code:: bash

    cd /tmp && \
    git clone https://github.com/IntelRealSense/librealsense && \
    cd librealsense && \
    ./scripts/setup_udev_rules.sh

2. Clone the ``isaac_ros_common`` and the ``4.51.1`` release of the ``realsense-ros`` repository:

  .. note::

    ``${ISAAC_ROS_WS}`` is defined to point to ``/ssd/workspaces/isaac_ros-dev/`` or ``~/workspaces/isaac_ros-dev/``.

  .. code:: bash

    cd ${ISAAC_ROS_WS}/src
    git clone :ir_clone:`<isaac_ros_common>`
    git clone https://github.com/IntelRealSense/realsense-ros.git -b 4.51.1

3. Plug in your RealSense camera before launching the Docker container in the next step.

4. Configure the container created by ``isaac_ros_common/scripts/run_dev.sh`` to include ``librealsense``. Create the ``.isaac_ros_common-config`` file in the ``isaac_ros_common/scripts`` directory:

  .. code:: bash

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
    touch .isaac_ros_common-config && \
    echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config

5. Launch the Docker container:

  .. code:: bash

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
    ./scripts/run_dev.sh ${ISAAC_ROS_WS}

  This rebuilds the container image using ``Dockerfile.realsense`` in one of its layered stage. Rebuilding can take several minutes.

6. After the container image is rebuilt and you are inside the container, you can run ``realsense-viewer`` to verify that the RealSense camera is connected.

  .. code:: bash

    realsense-viewer

  If you turn on the "Stereo Module" in the GUI, you should see something like the following:


.. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/realsense_viewer.png>`
   :align: center