[Unitree B2-W] RealSense D435i and D405 on B2

Sensors
1

Hello,

I am working with B2-W and qre_b2 repository. I would like to ask several questions about the RealSense cameras.

The github repo states there are two types of cameras D435i and D405. However, in the technical documentation of the robot I found Front and Read RealSense D430i. I have successfully connect these two to the PC4 but I am unsure whether I should also connect the rear and front RGB cameras. Are these RGB connectors also for the RealSense for color image apart from the depth ?

Also it is stated in the repository that these cameras are default off and I assume that I can turn them on by launching depth_vision launch files, however there is no D405 I believe. Am I correct assuming I can just change the launch file for the other camera ?

I am trying to try out how b2_vision_action works. If I also need to reconnect the RGB camera for the color image or if they are connected within one USB-C cable.

2

There is no d405 that was for a custom project. The d435i is the default in b2-w

Yes, so in the right panel it also contains the depth cameras.

Correct remove the d405, and you also have to connect the depth cameras to the upper pc as well.

Please not this is for a custom project and you can use it for reference. This will not work for the standard B2-W as it was designed for B2 Vaccum.

3

After looking further into the device our came with two D430i Depth Cameras

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