Week 10-11 Realsense D435 problems fixed and Range Flow Constrain

1. Realsense D435 problems

After I get my hands on a borrowed laptop that had a USB 3.0, i could verify that the problems with the realsense D435 where due to my computer, since on that laptop the realsense-viewer app could work on all resolutions at 30 fps without problems.

Update: Since I had to reinstall the realsense 2.0 SDK since the lastest version available dont have a ros wrapper yet, this time I compiled version 2.19.0 from source code since the apt version was already 2.19.2. Then I installed again the realsense ros wrapper version 2.2.1 compatible with realsense SDK 2.19.0. After this I could record at 1080p at 30-60fps using the realsense-viewer, maybe because of the version of both SDKs or maybe because I install the realsense SDK from source. The thing is now the camera is working.

2. Range Flow Constrain

The objective was to understand and implement the range flow constrain algorithm. After reading the Direct Depth SLAM paper, I couldnt fully understand the algorithm so I tried reading some of the refereces in the paper. Still I have to read more to fully understand it.

Also I try to implement a python script that reads/subscribes to one of the topics the realsense publish to when doing: roslaunch realsense2_camera rs_camera.launch Still working on it.