.. rubric:: Depth Cameras

.. rubric:: Intel Realsense D435i

- The D435i is launched by default with the G1 bringup. To launch the Realsense D435i separately, execute:

   .. code-block:: bash

      ros2 launch g1_depth_camera realsense_d435i.launch.py 

- Test the native driver via:

.. code-block:: bash

    ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

.. rubric:: Lidars

.. rubric:: Livox Mid360


- The Mid360 is launched by default with the G1 bringup. To activate the Mid360 Lidar, execute:

   .. code-block:: bash

      ros2 launch g1_livox system.launch.py