Raspberry Pi 4とROS2を用いたデプスカメラによる環境測定

抄録

In order for robots to operate safely, it is important to sense the environment. However, creating a sensing system from scratch is costly. To improve this situation, we use ROS2. In addition, we thought that a small mobile robot can move safely if it can grasp the space when sensing. Therefore, we use the Intel RealSense Depth Camera D435, which is a depth camera, and the Raspberry Pi 4, which is small and easy to integrate with a depth camera. Therefore, in this paper, we use the latest version of ROS2 Foxy Fitzroy, and Intel RealSense Depth Camera D435, to a Raspberry Pi 4 with 64bit version Ubuntu 20.04LTS installed, and measure the environment with the connected depth camera. We will measure the environment with the connected depth camera.