Performance evaluation with RealSense D435 in ROS2 humble (Intel® Robotics SDK)

• MartyG

  • February 17, 2025 08:20

  Hi Chic Lee  If you install the RealSense ROS2 wrapper at the link below then you can use the D435 with ROS2 Humble.

  https://github.com/IntelRealSense/realsense-ros

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• Chic Lee

  • February 17, 2025 08:46

  Hi MartyG,

  I know the RealSense ROS2 wapper and D435 works good with ROS2 Humble. 

  I want to know if D435 can hit specs with my RPL-S in ROS2 Humble.

  Can you provide more tips for this?

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• MartyG

  • February 17, 2025 09:14

  I would recommend first finding out the best performance that you can achieve with the default settings on your Raptor Lake S computer.  If performance is less than expected - for example, there is a drop in frames per second (FPS) speed or warning messages generating continuously in the terminal log - then you can then start trying various configuration settings to see whether performance and stability improves.

   

  For example, if you are experiencing lower than desired FPS then you could set a low resolution and FPS to determine whether higher resolution and FPS settings are reducing performance.

  ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=640x480x15 rgb_camera.color_profile:=640x480x15 

   

  Another way to enhance performance is to build the ROS2 wrapper from source code with 'colcon build' and add the flag -DBUILD_ACCELERATE_GPU_WITH_GLSL to the colcon build command.  Doing so provides GPU acceleration of pointclouds and depth colorization.

  colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'

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