.. .. 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