D455 Depth Camera Plugin
========================

The D455 plugin provides driver support for the Intel RealSense D455 depth camera, enabling RGB and depth data acquisition for terrain mapping.

Overview
--------

The D455 plugin connects to Intel RealSense D455 cameras and provides:

* RGB image streaming
* Depth image streaming
* Point cloud generation
* Integration with Grid Mapping plugin for terrain analysis

The D455 is particularly suited for close-range terrain perception, providing high-resolution depth data for the Grid Mapping plugin.

Supported Sensors
^^^^^^^^^^^^^^^^^

* Intel RealSense D455

Configuration
-------------

Configuration File
^^^^^^^^^^^^^^^^^^

Location: ``raisin_d455_plugin/config/params.yaml``

.. code-block:: yaml

    allow_multiple_instances: true
    is_loadable: true
    is_unloadable: true
    thread: main

Parameter Reference
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 30 15 55

   * - Parameter
     - Default
     - Description
   * - allow_multiple_instances
     - true
     - Allow multiple D455 cameras to be loaded simultaneously
   * - is_loadable
     - true
     - Plugin can be loaded at runtime
   * - is_unloadable
     - true
     - Plugin can be unloaded at runtime
   * - thread
     - main
     - Thread group for plugin execution

Integration with Grid Mapping
-----------------------------

The D455 plugin is designed to work seamlessly with the Grid Mapping plugin for terrain perception:

1. D455 provides depth data to Grid Mapping
2. Grid Mapping uses ray casting to build terrain heightmaps
3. Heightmaps are used for locomotion and navigation

Setup
^^^^^

To enable D455 with Grid Mapping:

1. Load the D455 plugin
2. Load the Grid Mapping plugin
3. Ensure the camera is mounted with appropriate extrinsics configured

Usage
-----

Loading the Plugin
^^^^^^^^^^^^^^^^^^

Add to your ``params.yaml``:

.. code-block:: yaml

    plugin:
      raisin_d455_plugin:
        rate: 30

Camera Mounting
^^^^^^^^^^^^^^^

For optimal terrain perception:

* Mount the camera facing downward at 30-45 degrees
* Position to see terrain 1-3 meters ahead of the robot
* Configure extrinsics in Grid Mapping to match physical mounting

.. note::
   Multiple D455 cameras can be used for wider field of view coverage.