realsense_docker_ros

This repo builds an docker image to run multiple Intel RealSense cameras with ROS-noetic

Build Docker Images

sudo docker build -t realsense_ros .

Create an enviroment file

To configure the environment with ROS and Camera parameters, first create the environment with

touch <.ENV_NAME>

D435 environment file

Than add the following info for Env file if you are running a D435 camera

ROS_URI=http://localhost:11311
DROS_IP=localhost
D435_SN=134322074149 (Change this to your camera)
D435_WIDTH=640
D435_HEIGHT=480
D435_NAME=realsense/front/camera
POINTCLOUD=False

You can have multiple environment files, one for each camera.

t265 environment file

Than add the following info for Env file if you are running a D435 camera

ROS_URI=http://localhost:11311
DROS_IP=localhost
T265_SN=134322074149 (change this to your camera)
T265_NAME=camera

D405 environment file

Than add the following info for Env file if you are running a D405 camera

ROS_URI=http://localhost:11311
DROS_IP=localhost
D405_SN=134322074149 (Change this to your camera)
D405_WIDTH=640
D405_HEIGHT=480
D405_NAME=realsense/back/camera 

Run Realsense D435 camera

sudo docker compose --project_name <NAME> --env-file <.ENV_FILE> up d435 -d

Run Realsense T265 camera

sudo docker compose --project_name <NAME> --env-file <.ENV_FILE> up t265 -d

Run Realsense D405 camera

sudo docker compose --project_name <NAME> --env-file <.ENV_FILE> up d405 -d

Run Enumerate Devices

To check the serial number and other information about the connected cameras, run

sudo docker compose run enumerate_devices