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

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

Parameter Reference

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:

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.