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Contents

• Prerequisites
• Cameras
  • Intel Realsense
  • Orbecc Astra
  • Raspberry Pi camera
  • ZED Stereo
• Light sensors
• Sound sensors
• Proximity sensors
• Tactile sensors

Prerequisites

You should have read the guidebook, or at least the Guidebook Summary. Some Can's and Can'ts are reproduced below:

Can's	Can'ts
Use Bluetooth 2.4 GHz	Exceed 2.5mW EIRP with Bluetooth Class 2 or 3
Use ISM non-licensed radio frequencies outside of 2.4 GHz range	Use Bluetooth Class 1
	Detect walls with any sensor

Cameras

We ended up buying the Intel Realsense D435i. I think we own 2, but maybe 3.

Intel Realsense

Pros	Cons
Works well with ROS2	Expensive
High quality	Large
	Losing Intel support

https://www.intelrealsense.com/depth-camera-d435i/

Orbecc Astra

Pros	Cons
Small	Less direct support
Cheap	Outdated drivers
Straightforward

https://shop.orbbec3d.com/Astra

Raspberry Pi camera

Pros	Cons
Small	May be too simple
Very cheap	May be difficult to use with non-Pi boards
Straightforward

https://www.raspberrypi.com/products/camera-module-v2/

ZED Stereo

Pros	Cons
Highly customizable	Very expensive
Lots of ROS2 support	May be more than we need

https://www.stereolabs.com/zed-2/

Light sensors

Light sensing devices generally include photoresistor cells and photovoltaic cells. These sensors convert light into signals that can be interpreted by the robot’s software. This allows autonomous systems to build an internal image of the surrounding terrain and environment.

Pros	Cons
Can detect color	Can be expensive
VSLAM systems exist we can use	May be fairly complex
Supported by ROS

Example.

Sound sensors

Microphones pick up ambient noise in the area of the robot to provide added cues for location and motion.

Pros	Cons
Generally cheap	Not applicable to space
Simple to use

Example.

Proximity sensors

These sensing systems emit a certain medium to create feedback signals that can be interpreted by the software onboard the autonomous system to estimate relative position.

Pros	Cons
Cheap	Not good for 3D mapping
Simple to use	Must avoid detecting walls
Small and easy to install
Great at finding obstacles

Example.

Tactile sensors

Contact and force sensors provide robotic systems with a method for detecting and interacting with items in the nearby environment

Pros	Cons
Cheap
Small and easy to install

Example.