# T265 Intel Realsense Tracking Camera (VIO)
The Intel Realsense Tracking Camera T265 (opens new window) provides odometry information that can be used for VIO, augmenting or replacing other positioning systems on PX4.
This camera is recommended, and is used in the Visual Inertial Odometry (VIO) > Supported Setup.
# Where to Buy
Intel® RealSense™ Tracking Camera T265 (opens new window) (store.intelrealsense.com)
# Setup Instructions
The instructions in Visual Inertial Odometry (VIO) explain how to set up this camera.
At high level:
- The VIO bridge ROS node (opens new window) provides a bridge between ROS and this camera. This node is only intended for use with this camera.
- The camera should be mounted with lenses facing down (default). For other orientations modify bridge.launch (opens new window) in the section below:This is a static transform that links the camera ROS frame
<node pkg="tf" type="static_transform_publisher" name="tf_baseLink_cameraPose" args="0 0 0 0 1.5708 0 base_link camera_pose_frame 1000"/>
camera_pose_frameto the mavros drone frame
- the first three
argsspecify translation x,y,z in metres from the center of flight controller to camera. For example, if the camera is 10cm in front of the controller and 4cm up, the first three numbers would be : [0.1, 0, 0.04,...]
- the next three
argsspecify rotation in radians (yaw, pitch, roll). So
[... 0, 1.5708, 0]means pitch down by 90deg (facing the ground). Facing straight forward would be [... 0 0 0].
- the first three
- The camera is sensitive to high frequency vibrations! It should be soft-mounted with, for example, vibration isolation foam.
Launch files are provided for a number of different scenarios.
|bridge_mavros.launch (opens new window)||Bridge, MAVROS||Use on vehicle in most cases|
|bridge.launch (opens new window)||Bridge only||Use if some other component is responsible for starting MAVROS).|
|bridge_mavros_sitl.launch (opens new window)||Bridge, MAVROS, SITL||Use for simulation.|
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