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docs: forward RGB camera over RTSP — the grey frame is not a covered lens, and how to view it without costing a CPU core #3

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2 changes: 2 additions & 0 deletions src/dr02_pro/README.md
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Expand Up @@ -12,6 +12,7 @@ This ROS 2 package provides the DR02 Pro motion-control state machine and standa
- Monitoring examples for battery state and current-fault snapshots
- Peripheral Topic examples for IMU and gamepad keys
- RealSense depth-camera deployment and usage documentation
- Forward-facing RGB camera access over RTSP
- Audio examples for WAV playback, volume control, and recording

## Directory Layout
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| [State Machine](docs/STATE_MACHINE.md) | State transitions, runtime commands, keyboard control, gamepad control, and safety requirements |
| [Topic Examples](docs/EXAMPLES.md) | Topics, real-robot Developer Modes, simulation support, runtime commands, and notes for all examples |
| [RealSense Cameras](docs/CAMERA.md) | Camera driver installation on the NOS host, ROS 2 driver usage, the librealsense C/C++ interface, the pyrealsense2 Python interface, three-camera startup, and Topic verification |
| [Forward RGB Camera](docs/FORWARD_CAMERA.md) | The forward-facing RGB camera on the AOS host: RTSP stream address, required transport settings, how to tell a decoded frame from an undecoded one, and how to keep camera viewing off the robot's CPU |
| [Joint Control Interface](docs/JOINT_CONTROL.md) | Joint message fields, array order, controllable ranges, units, and zero-position definition |

## Quick Start
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- 电池状态和当前故障快照监测示例
- IMU 和手柄按键外设 Topic 示例
- RealSense 深度相机部署和使用说明
- 前向 RGB 相机的 RTSP 访问方式
- WAV 文件播放、音量控制和录音示例

## 目录结构
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| [状态机](docs/STATE_MACHINE_CN.md) | 状态流转、运行命令、键盘控制、手柄控制和安全要求 |
| [Topic 示例](docs/EXAMPLES_CN.md) | 全部示例的 Topic、实机开发者模式、仿真支持、运行命令和注意事项 |
| [RealSense 相机](docs/CAMERA_CN.md) | NOS 主机上的相机驱动安装、ROS 2 驱动、librealsense C/C++ 接口、pyrealsense2 Python 接口、三相机启动和 Topic 验证 |
| [前向 RGB 相机](docs/FORWARD_CAMERA_CN.md) | AOS 主机上的前向 RGB 相机：RTSP 地址、必需的传输设置、如何区分已解码与未解码图像，以及如何避免查看相机占用机器人 CPU |
| [关节控制接口](docs/JOINT_CONTROL_CN.md) | 关节消息字段、数组顺序、可控范围、单位和零位定义 |

## 快速开始
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The DR02 Pro is equipped with three Intel RealSense D435 depth cameras that provide color and depth images for applications such as environmental perception, object recognition, and 3D vision. All three cameras connect through USB to the NOS host (`10.21.33.106`). Camera drivers and related programs should be installed and run on this device.

This document covers the three RealSense depth cameras only. The DR02 Pro also carries a forward-facing RGB camera attached to the AOS host, which is not a RealSense, is not opened by `realsense2_camera`, and publishes no ROS 2 Topic. The three RealSense units are mounted at fixed angles that may not include a view along the direction of travel; on at least one DR02 Pro all three were angled downward. If a forward view is required, see [Forward RGB Camera](FORWARD_CAMERA.md).

> [!NOTE]
>
> The RealSense driver deployment, ROS 2 driver usage, and librealsense SDK calls in this document follow the official methods. Packages, dependencies, launch parameters, and APIs may change between versions. Refer to the official [RealSense ROS 2 Wrapper](https://github.com/realsenseai/realsense-ros) and [librealsense SDK](https://github.com/realsenseai/librealsense) documentation for the latest requirements. DR02 Pro-specific operations are identified separately in the relevant steps.
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DR02 Pro 配置三台 Intel RealSense D435 深度相机，可提供彩色图像和深度图像，为环境感知、目标识别和三维视觉等应用提供数据。三台相机均通过 USB 连接至 NOS 主机（`10.21.33.106`），相机驱动及相关程序应在该设备上安装和运行。

本文只涉及三台 RealSense 深度相机。DR02 Pro 上还有一台挂在 AOS 主机上的前向 RGB 相机，它不是 RealSense 相机，不由 `realsense2_camera` 打开，也不发布任何 ROS 2 Topic。三台 RealSense 相机的安装角度固定，可能并不包含沿行进方向的视野；在至少一台 DR02 Pro 上，三台相机均向下倾斜安装。如果需要前向视野，请参阅[前向 RGB 相机](FORWARD_CAMERA_CN.md)。

> [!NOTE]
>
> 本文中的 RealSense 驱动部署、ROS 2 驱动使用和 librealsense SDK 调用均采用官方提供的方式。软件包、依赖关系、启动参数和 API 可能随版本更新，最新要求以 [RealSense ROS 2 Wrapper](https://github.com/realsenseai/realsense-ros) 和 [librealsense SDK](https://github.com/realsenseai/librealsense) 官方文档为准。DR02 Pro 特有的产品操作将在对应步骤中单独说明。
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