Launch Cameras

Once cameras are installed as described in Robot Setup, we can launch the cameras.

To discover all ZED cameras, run ZED_Explorer --all. To start three ZED cameras at once, open a new terminal tab and run:

source PATH_TO_ROS_WORKSPACE/devel/setup.bash
roslaunch zed_wrapper multicam_single_nodelet.launch

Note

Don’t forget to run the following commands in every new terminal to property set the ROS environment variables on the robot computer:

export ROS_IP=10.0.0.20  # this makes sure ROS topics can be addressed properly
export ROS_MASTER_URI=http://10.0.0.10:11311

To start the RealSense T265 pose tracking camera, open a new terminal tab and run:

source PATH_TO_ROS_WORKSPACE/devel/setup.bash
roslaunch realsense2_camera rs_t265.launch

Pose is published under the topic /camera/odom/sample at 200Hz.