RealSense D435i
| Category | Specification | Details |
|---|---|---|
| Environment | Use Environment | Indoor / Outdoor |
| Sensor Technology | Depth Sensor Type | Global Shutter |
| Depth Technology | Stereoscopic | |
| RGB Sensor Type | Rolling Shutter | |
| Depth Camera | Ideal Range | 0.3 m – 3 m |
| Minimum Depth Distance (Min-Z) | ~28 cm at max resolution | |
| Depth Accuracy | < 2% at 2 m | |
| Depth Field of View | 87° × 58° | |
| Depth Output Resolution | Up to 1280 × 720 | |
| Depth Frame Rate | Up to 90 fps | |
| RGB Camera | RGB Resolution | 1920 × 1080 |
| RGB Sensor Resolution | 2 MP | |
| RGB Frame Rate | 30 fps | |
| RGB Field of View | 69° × 42° | |
| Major Components | Camera Module | RealSense D430 module + RGB camera |
| Vision Processor | RealSense Vision Processor D4 | |
| Physical | Dimensions | 90 mm × 25 mm × 25 mm |
| Connector | USB-C (USB 3.1 Gen 1) | |
| Mounting | Mounting Options | 1 × 1/4-20 UNC thread, 2 × M3 thread mounts |
SDK
https://github.com/realsenseai/librealsense
follow the instructions and setup the SDK then test with realsense-viewer only if the viewer works, the setup is right or else something is missing.
installation
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
ROS compatibility
https://github.com/realsenseai/realsense-ros
- Configure your Ubuntu repositories
- Install all realsense ROS packages by
sudo apt install ros-<ROS_DISTRO>-librealsense2*- For example, for Humble distro:
sudo apt install ros-humble-librealsense2*
- For example, for Humble distro:
Start the camera node
with ros2 run:
ros2 run realsense2_camera realsense2_camera_node
# or, with parameters, for example - temporal and spatial filters are enabled:
ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=false -p spatial_filter.enable:=true -p temporal_filter.enable:=true
with ros2 launch:
ros2 launch realsense2_camera rs_launch.py
ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true