From d8e52d9eaf3a3aa6bad365f62691838e83821a6d Mon Sep 17 00:00:00 2001
From: sujit-168 <su2054552689@gmail.com>
Date: Mon, 4 Mar 2024 12:57:56 +0800
Subject: [PATCH] docs: add the usage of realsense camera in ros2go

---
 docs/.vitepress/config/sidebar.ts   |  1 +
 docs/basic/camera/rgbd-realsense.md | 77 +++++++++++++++++++++++++++++
 2 files changed, 78 insertions(+)
 create mode 100644 docs/basic/camera/rgbd-realsense.md

diff --git a/docs/.vitepress/config/sidebar.ts b/docs/.vitepress/config/sidebar.ts
index 1c7f09d..d2d0603 100644
--- a/docs/.vitepress/config/sidebar.ts
+++ b/docs/.vitepress/config/sidebar.ts
@@ -68,6 +68,7 @@ export const sidebar: DefaultTheme.Config['sidebar'] = {
                     items: [
                       { text: 'USB 摄像头', link: '/basic/camera/mono-usb-camera' },
                       { text: '奥比中光 Astra', link: '/basic/camera/rgbd-astra' },
+                      { text: '英特尔 Realsense', link: '/basic/camera/rgbd-realsense'}
                     ],
                   },
                   {
diff --git a/docs/basic/camera/rgbd-realsense.md b/docs/basic/camera/rgbd-realsense.md
new file mode 100644
index 0000000..53dbbbf
--- /dev/null
+++ b/docs/basic/camera/rgbd-realsense.md
@@ -0,0 +1,77 @@
+# Intel Realsense 相机
+
+RealSense 相机是由英特尔公司开发的深度感知相机，它能够捕捉三维空间信息，并生成深度图、点云图等数据。与传统的 RGB 相机相比，RealSense 相机具有以下优势：
+
+![](https://tianbot-pic.oss-cn-beijing.aliyuncs.com/tianbot-pic/Tianbot-Doc20240304125236.png)
+
+- 能够感知深度信息：RealSense 相机可以捕捉物体与相机的距离信息，从而生成深度图和点云图，实现三维空间感知。
+- 具有较高的精度：RealSense 相机可以提供亚毫米级的深度精度，能够精确测量物体的距离和尺寸。
+- 具有较强的鲁棒性：RealSense 相机能够在不同光照条件下工作，并且能够抵抗环境噪声的影响。
+
+## 在 ROS2GO 中如何驱动
+
+> **1、运行启动文件**
+
+::: code-group
+
+```sh [ROS1]
+roslaunch realsense2_camera rs_camera.launch 
+```
+
+```sh [ROS2]
+ros2 launch realsense2_camera rs_launch.py
+```
+:::
+
+> **2、查看话题**
+
+::: code-group
+
+```sh [ROS1]
+rostopic list
+```
+
+```sh [ROS2]
+ros2 topic list
+```
+:::
+
+启动后查看到有如下话题，则可以利用 RViz 或者 rqt_image_view 等工具订阅这些 Topic，就可以显示相应的数据。
+
+```shell
+/camera/color/image_raw                     (RGB image)
+/camera/depth/image_rect_raw                (depth image)
+/camera/infra1/image_rect_raw               (left infrared image)
+/camera/infra2/image_rect_raw               (right infrared image)
+/camera/imu                                 (imu, only for D435i and above)
+.......
+```
+
+> **2、使用 RVIZ 查看数据**
+
+::: code-group
+```sh [ROS1]
+rviz
+```
+
+```sh [ROS2]
+rviz2
+```
+:::
+
+> **3、或者使用 rqt_image_view 查看数据**
+
+::: code-group
+```sh [ROS1]
+rqt
+```
+
+```sh [ROS2]
+rqt
+```
+:::
+
+## 参考资料
+
+- [realsense-ros](https://github.com/IntelRealSense/realsense-ros)
+- [Intel RealSense D435i:简介、安装与使用 (ROS、Python)](https://zhaoxuhui.top/blog/2020/09/09/intel-realsense-d435i-installation-and-use.html)