Obstacle detection with IntelRealsense Depth and Tracking Cameras (AUTONOMY)

[amotaouakkil123]

Branch: automation/object-detection-and-bounding-boxes

Need to interface with IntelRealSense Depth Camera and map real world objects with this object detector.

Tech Dependencies: x64/AMD64 computer, Intel Realsense Depth Camera and its SDK.
Task Dependencies: None

1. Set up Realsense Developer Kit.
2. Download the drivers for ROS.
3. Set up autonomy branch and test the simulation.
4. Implement a Realsense publishers that allow for real-time access to various data from Depth and Tracking cameras.
5. Implement the publishers within the simulation.
6. Test and validate through simulation and Pull Request.
7. Merge into main.

[amotaouakkil123]

ROS Drivers for IntelRealsense Depth and Tracking:
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

Intel Info on Depth Cam:
https://www.intelrealsense.com/get-started-depth-camera/

Intel Info on Tracking Cam:
https://www.intelrealsense.com/tracking-camera-t265/

[amotaouakkil123]

https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

Potential map already created from open source intel realsense library.

https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

Above link contains a lot of useful tools for mapping.

[amotaouakkil123]

Realsense libraries were integrated.
Rtabmap is not well integrated in realsenseSDK. Will need to switch to fitting shapes from depth map.