.. rubric:: Depth Cameras

.. rubric:: Intel Realsense D435i

Test the native driver via:

.. code-block:: bash
    
    ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true


This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

.. code-block:: bash

    ros2 launch h1_depth_camera realsense.launch.py


.. rubric:: Depth Camera ZED2i

This should be running via services in the nividia bagpack and can be controlled via the systemctl to activate or deactivate it. When turned off you can test via:

.. code-block:: bash

    ros2 launch h1_depth_camera zed.launch.py

.. rubric:: Lidars

.. rubric:: Ouster

This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

.. code-block:: bash

    ros2 launch h1_lidar ouster.launch.py

.. rubric:: GPS

.. rubric:: Emlid M2

This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

.. code-block:: bash

    ros2 launch h1_gps emlid_m2.launch.py


For configuration, the webserver's VNC can be utilized. Open the browser and navigate to http://192.168.2.15 to configure the emlid M2's output, RTK settings, Base station connection, etc.


.. rubric:: Auxiliary