Sensor Mounting Rig

Thor Developer Kit RealSense Rig

The rig supports hardware mounting of three Intel RealSense cameras (D435/D455) on the Jetson Thor Developer Kit at known nominal positions.

URDF files with the camera nominal positions on the rig are provided in the thor_devkit_realsense_rig_description package:

• thor_devkit_realsense_rig_d455.urdf.xacro

• thor_devkit_realsense_rig_d435.urdf.xacro

To load and use these URDF files, you may refer to the launch file: thor_devkit_realsense_rig_description.launch.py to publish the camera relative positions and orientations.

See the page below for the assembly guide with hardware based synchronization

• Multi-Camera RealSense Hardware Assembly Guide for Jetson Thor Developer Kit