外设 · 头部、腕部与腰部相机

头部、腕部及腰部相机接口。腰部相机内容来自英文 SDK 的补充章节。

• 外设 · 二指夹爪
• 外设 · Revo 2 灵巧手

4 外接部件开发接口

4.1 头部和腕部相机

腰部相机接口（英文说明，待翻译）

4.2 Waist Camera

The robot is equipped with an Intel RealSense D435i camera. This depth camera provides depth and image data and is primarily used for terrain perception. Follow the instructions below to receive D435i camera data through ROS 1 Noetic.

• Make sure that ROS 1 Noetic is installed on your computer. See the ROS Noetic installation guide and select ros-noetic-desktop-full.
• Configure the network connection:
  • Connect the development computer to the robot through the external Ethernet port.
  • Set the development computer's IP address to 10.192.1.200.
  • Run ping 10.192.1.2 and confirm that the robot is reachable.

• Configure the ROS environment. Set ROS_MASTER_URI and ROS_IP so that the development computer can connect to the ROS master running on the robot. Add the following commands to the development computer's .bashrc file to apply them automatically whenever a terminal is opened:

export ROS_MASTER_URI=http://10.192.1.2:11311
export ROS_IP=10.192.1.200

• List the topics published by the D435i camera:

rostopic list

• Visualize the camera data with rqt_image_view or RViz:
  • Install rqt_image_view:

sudo apt install ros-noetic-rqt-image-view

• Start the tool and select the required camera topic:

rqt_image_view

• To visualize depth data in RViz, run:

rviz

In RViz, add Image and PointCloud2 displays and select the corresponding camera topics.