Hello,
I am working with the Intel RealSense D555 and I have two questions.
- URDF and CAD model availability
Is there an official URDF/Xacro model and CAD (STEP/STL) model available for the D555?
I would like to integrate the camera into a robot description and accurately model its geometry and mounting points.
- Using realsense-ros with D555 over PoE only
I have successfully completed the D555 DDS streaming tutorial and I can receive the camera topics through DDS without any issues, even when the camera is connected only via PoE.
However, I would like to use the realsense-ros wrapper without connecting the USB-C cable, using only the PoE connection.
When I launch the ROS wrapper, I get:
[realsense2_camera_node-1] [INFO] [1780924339.978406464] [camera.camera]: RealSense ROS v4.57.7 [realsense2_camera_node-1] [INFO] [1780924339.978465295] [camera.camera]: Built with LibRealSense v2.57.7 [realsense2_camera_node-1] [INFO] [1780924339.978475309] [camera.camera]: Running with LibRealSense v2.57.7 [realsense2_camera_node-1] [WARN] [1780924340.095834402] [camera.camera]: No RealSense devices were found!
And rs-enumerate-devices reports:
No device detected. Is it plugged in?
This behavior is expected since the camera is not connected through USB, but I would like to understand whether there is a supported way to use realsense-ros with a D555 connected only through PoE.
Specifically:
Is the ROS wrapper able to connect directly to a D555 over Ethernet/PoE?
Is there a configuration parameter or discovery mechanism that should be used?
Any guidance or examples would be appreciated.
### Environment
OS: Ubuntu 22.04 LTS
ROS 2: Humble
realsense-ros: v4.57.7
librealsense: v2.57.7
Camera: Intel RealSense D555
Connection mode under test: PoE only (USB-C disconnected)
Hello,
I am working with the Intel RealSense D555 and I have two questions.
Is there an official URDF/Xacro model and CAD (STEP/STL) model available for the D555?
I would like to integrate the camera into a robot description and accurately model its geometry and mounting points.
I have successfully completed the D555 DDS streaming tutorial and I can receive the camera topics through DDS without any issues, even when the camera is connected only via PoE.
However, I would like to use the realsense-ros wrapper without connecting the USB-C cable, using only the PoE connection.
When I launch the ROS wrapper, I get:
[realsense2_camera_node-1] [INFO] [1780924339.978406464] [camera.camera]: RealSense ROS v4.57.7 [realsense2_camera_node-1] [INFO] [1780924339.978465295] [camera.camera]: Built with LibRealSense v2.57.7 [realsense2_camera_node-1] [INFO] [1780924339.978475309] [camera.camera]: Running with LibRealSense v2.57.7 [realsense2_camera_node-1] [WARN] [1780924340.095834402] [camera.camera]: No RealSense devices were found!And
rs-enumerate-devicesreports:No device detected. Is it plugged in?This behavior is expected since the camera is not connected through USB, but I would like to understand whether there is a supported way to use realsense-ros with a D555 connected only through PoE.
Specifically:
Is the ROS wrapper able to connect directly to a D555 over Ethernet/PoE?
Is there a configuration parameter or discovery mechanism that should be used?
Any guidance or examples would be appreciated.
### Environment
OS: Ubuntu 22.04 LTS
ROS 2: Humble
realsense-ros: v4.57.7
librealsense: v2.57.7
Camera: Intel RealSense D555
Connection mode under test: PoE only (USB-C disconnected)