.. rubric:: Depth Cameras

.. rubric:: Intel Realsense D435i

1. The D435i is launched by default with the H1 bringup. To launch the Realsense D435i separately, execute:

   .. code-block:: bash

      ros2 launch h1_depth_camera realsense_d435i.launch.py 

2. The launch file is configured to enable continuous depth stream information from the Realsense D435i without lag. To further change parameters, modify the configuration in:

   .. code-block:: bash

      h1_depth_camera/launch/realsense_d435i.launch.py

.. list-table::
   :widths: 50 50
   :header-rows: 0
   :align: center

   * - .. figure:: media/gifs/h1_d4351i_normal.gif
         :align: center
         :alt: Intel Realsense D435i Normal Output
         :class: mbsrounded

         Intel Realsense D435i Normal Output
     - .. figure:: media/gifs/h1_d4351i_depth.gif
         :align: center
         :alt: Intel Realsense D435i Depth Output
         :class: mbsrounded

         Intel Realsense D435i Depth Output

.. rubric:: Lidars

The Mid360 is launched by default with the H1 bringup. To activate the Mid360 Lidar, execute:

   .. code-block:: bash

      ros2 launch h1_livox system.launch.py 

.. figure:: media/gifs/mid360_output.gif
   :width: 100%
   :align: center
   :alt: Mid360 Lidar Output Visualization in RViz

   Mid360 Lidar Output Visualization in RViz

.. rubric:: GPS

.. rubric:: Auxiliary