Isaac ROS RealSense Setup#

Camera Compatibility#

RealSense Model	Supported?
D455	✓
D435i	✓
D415	✗

Note

It is required to use RealSense firmware version 5.16.0.1, librealsense SDK version v2.56.3 and realsense-ros driver version r/4.56.3. Any deviation from these versions will break Isaac ROS examples.
The correct versions of the librealsense SDK and the realsense-ros driver are automatically installed in the Isaac ROS environment when specifying the RealSense image key as explained in the Setup Instructions.
For best results we suggest increasing the maximum Linux kernel receive buffer size as detailed here.
The realsense-viewer tool has performance issues when running multiple cameras on the Jetson platforms. However the RealSense ROS drivers work fine with multiple cameras.

Setup Instructions#

This tutorial assumes that you have completed the instructions in Developer Environment Setup.

Start with the RealSense camera unplugged. Then, add RealSense udev rules to your host machine.

wget https://raw.githubusercontent.com/IntelRealSense/librealsense/v2.56.3/config/99-realsense-libusb.rules && \
sudo mv 99-realsense-libusb.rules /etc/udev/rules.d/ && \
sudo udevadm control --reload-rules && sudo udevadm trigger && echo "Successfully added udev rules"

Verify that you have Successfully added udev rules in the output, which indicates all commands were successful.

Configure the Isaac ROS environment to include librealsense SDK and realsense-ros.

Create a file called ~/.config/isaac-ros-cli/config.yaml with the following context:
```
mkdir -p ~/.config/isaac-ros-cli
touch ~/.config/isaac-ros-cli/config.yaml
```
```
docker:
  image:
    additional_image_keys:
      - realsense
```
Plug in your RealSense camera before activating the Isaac ROS environment in the next step.
Activate the Isaac ROS environment:
```
isaac-ros activate --build-local
```
This --build-local flag rebuilds the container image using Dockerfile.realsense in one of its layered stages. Rebuilding can take several minutes.

After the image has been built once, you can use isaac-ros activate to launch the container without rebuilding the image.
After the container image is rebuilt and you are inside the container, you can run the following commands to verify that the RealSense camera is connected.
```
rs-enumerate-devices
```
Verify that this returns information about all connected RealSense cameras.

Note

The realsense-viewer tool requires a graphical environment, to use it you must connect the host to a monitor, use a remote desktop connection or similar.
```
realsense-viewer
```
If you turn on the “Stereo Module” in the GUI, verify that you have something like the following:

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/getting_started/realsense_viewer.png/

If you come across issues, see if it’s covered in Hardware Setup or librealsense SDK issues.