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---

## [RealSense™](#appendix-realsense)

![](/assets/images/platform/turtlebot3/appendix_realsense/realsense_r200.png)

### [Overview](#overview)

[Intel® RealSense™](https://click.intel.com/realsense.html) is a platform for implementing gesture-based human-computer interaction techniques. It consists of series of consumer grade 3D cameras together with an easy to use machine perception library. The Intel® RealSense™ R200 camera is a USB 3.0 device that can provide color, depth, and infrared video streams. The TurtleBot3 Waffle model adopts Intel® RealSense™ R200 to enable 3D SLAM and navigation, and it is possible to apply various applications such as gesture recognition, object recognition and scene recognition based on 3D depth information obtained using RealSense™'s innovative Active Stereo Technology.

### [Specifications](#specifications)

#### [Technical Specifications](#technical-specifications)

| Items                    | Specifications                                                     |
|--------------------------|--------------------------------------------------------------------|
| RGB Video Resolution     | 1920 x 1280, 2M                                                    |
| IR Depth Resolution      | 640 x 480, VGA                                                     |
| Laser Projector          | Class 1 IR Laser Projector (IEC 60825-1:2007 Edition 2)            |
| Frame Rate               | 30 fps (RGB), 60 fps (IR depth)                                    |
| FOV (Field-of-View)      | 77° (RGB), 70° (IR depth), Diagonal Field of View                  |
| Range                    | 0.3m ~ 4.0m                                                        |
| Operating Supply Voltage | 5V (via USB port)                                                  |
| USB Port                 | USB 3.0                                                            |
| Dimensions               | 101.56mm length x 9.55mm height x 3.8mm width                      |
| Mass                     | Under 35g                                                          |

#### [Minimum System Requirements](#minimum-system-requirements)

| Items                    | Specifications                                                     |
|--------------------------|--------------------------------------------------------------------|
| Processors               | 4th Generation and future Intel® Core™ processors                  |
| Disk Storage             | 1GB                                                                |
| Memory                   | 2GB                                                                |
| Interface                | USB 3.0                                                            |
|                          | Ubuntu 14.04 and 16.04 LTS (GCC 4.9 toolchain)                     |
| Operating System         | Windows 8.1 and Windows 10 (Visual Studio 2015 Update 2)           |
| for SDK                  | Mac OS X 10.7+ (Clang toolchain)                                   |
|                          | Ostro                                                              |

Here is the detail specification document: [Intel® RealSense™ Datasheet](https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet.pdf)

### [Intel® RealSense™ R200 for TurtleBot3](#intel-realsense-r200-for-turtlebot3)

The Intel® RealSense™ R200 is applied on TurtleBot3 Waffle.

![](/assets/images/platform/turtlebot3/hardware_setup/turtlebot3_models.png)

### [Introduction Video](#introduction-video)

The TurtleBot3 Waffle uses Intel® RealSense™ Camera R200 as a default vision sensor. Check this video out that shows how Intel® RealSense™ Camera R200 can be used in TurtleBot3 Waffle.

### [User Guide](#user-guide)

[Intel® RealSense™ packages](http://wiki.ros.org/RealSense) enable the use of Intel® RealSense™ R200, F200, SR300 and ZR300 cameras with ROS. Below table describes packages required to operate Intel® RealSense™. You will be guided to install these packaged in the next section.

| Package                                                  | Description                                                               |
|----------------------------------------------------------|:-------------------------------------------------------------------------:|
| [librealsense](http://wiki.ros.org/librealsense)         | Underlying library driver for communicating with Intel® RealSense™ camera |
| [realsense_camera](http://wiki.ros.org/realsense_camera) | ROS Intel® RealSense™ camera node for publishing camera                   |

#### [Installation](#installation)

**Warning!** There are installation prerequisites for the Intel® RealSense™ package installation in http://wiki.ros.org/librealsense
{: .notice--warning}

**[TurtleBot]** The following commands will install relevant Intel® RealSense™ library.

``` bash
$ sudo apt-get install linux-headers-generic
$ sudo apt-get install ros-kinetic-librealsense
```

**[TurtleBot]** To run the Intel® RealSense™ with ROS, the following package is needed. There are stable and unstable version packages. Choose one and install it.

##### [Stable]

``` bash
$ cd catkin_ws/src
$ git clone https://github.com/intel-ros/realsense.git
$ cd realsense
$ git checkout 1.8.0
$ cd catkin_ws && catkin_make -j2
```

##### [Unstable]

``` bash
$ sudo apt-get install ros-kinetic-realsense-camera
```

#### [Run realsense_camera Node](#run-realsense_camera-node)

**[TurtleBot]** Run the following command

``` bash
$ roslaunch realsense_camera r200_nodelet_default.launch
```

While the realsense_camera node is running, you can view various data from Intel® RealSense™ by launching rqt_image_view.

**[Remote PC]** Run the following command

``` bash
$ rqt_image_view
```

Once the gui application is appeared on the screen, you can select data topic name related to Intel® RealSense™ from drop down menu at the top of the application.

#### [(Optional) To Try as the Example Video Shows](#optional-to-try-as-the-example-video-shows)

**[TurtleBot]** Input `ctrl` + `c` to quit the previously run camera node, then run other realsense_camera node

``` bash
$ roslaunch realsense_camera r200_nodelet_rgbd.launch
```

**[TurtleBot]** Run turtlebot3_bringup node to get datas for doing SLAM

``` bash
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
```

**[Remote PC]** Run turtlebot3_slam node to do SLAM

``` bash
$ roslaunch turtlebot3_slam turtlebot3_slam.launch
```

**[Remote PC]** Run RViz

``` bash
$ rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
```

**[Remote PC]** Click `Panels` - `Views` to open the view window

**[Remote PC]** Click `TopDownOrtho (rviz)` and change it into `XYOrbit (rviz)`

**[Remote PC]** Click `add` - `By topic` and find the PointCloud2 type `/points` topic in `/camera/depth`, then click it

**[Remote PC]** Click PointCloud2 type topic on the left window, then change `Color Transformer` from `Intensity` to `AxisColor`. This will show the depth of each points by color description.

**[Remote PC]** Click `add` - `By topic` and find the Image type `/image_color` topic in `/camera/rgb`, then click it. This will show the view of the rgb camera

### [References](#references)

- [Intel® RealSense™ Datasheet](https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet.pdf)
- [Data ranges](https://software.intel.com/en-us/articles/intel-realsense-data-ranges)
- [Intel® RealSense™ SDK](https://software.intel.com/en-us/intel-realsense-sdk)
- [Purchase](https://click.intel.com/realsense.html)


text:
<TITLE>Review for Batman & Robin (1997)</TITLE>
<LINK REL="STYLESHEET" TYPE="text/css" HREF="/ramr.css">

Batman & Robin (1997)

reviewed by
skad13@my-deja.com

It took 'em three sequels, but they finally accomplished it: A $100
million Batman movie that's as cheesy as the old TV series. Audiences
have supposedly been begging for a lighter tone in these movies (though
you wouldn't guess it from the grosses). But when Batman and Robin shows
the duo skiing through the skies on makeshift surfboards, and you
actually hear the line "Today Gotham, tomorrow the world!", Adam West
starts to look downright Shakespearean.

Since a plot summary of a Batman movie would be superfluous at this
point, let's cover the main topics.

* Villains - The movie is 50-50 on this point. Arnold Schwarzenegger is
near-perfection as Mr. Freeze, but the movie's chief liability is Uma
Thurman as Poison Ivy. When Thurman swings her teeny hips and tries for
Mae West double-entendres, she recalls some of Ginger's lesser
seductions of Gilligan. (Scriptwriter Akiva Goldsman must be a big
"Gilligan's Island" fan, because darned if the antidote to Ivy's lethal
kiss isn't lifted directly from a "Gilligan" episode. I'm embarrassed to
admit I know that, but it's true.)

* Central Miscasting - With her baby-fat cheeks and monotone delivery,
Alicia Silverstone is a zero as Batgirl. She has the same problem as Meg
Ryan in Addicted to Love: Ms. All-American trying to come off like
Madonna. And why is supermodel Elle Macpherson, who ably proved her
acting chops in Sirens, reduced to practically a walk-on as Batman's
latest love interest? I'd have believed her as Poison Ivy in a
heartbeat.

* The New Batman - Many have compalined about how enigmatic Batman has
been in these movies, but I thought was part of his point (and his
appeal). George Clooney's effort to "humanize" Batman consists mainly of
smiling a lot.

* The Unsung Hero of the Batman Movies - Once again, Michael Gough as
butler Alfred acts everyone else off the screen just by underplaying.
Director Joel Schumacher seems to have forgotten that the human element
needs to be found amidst the special-effects chaos. Forget Batgirl--I'm
ready for Alfred to join the Batcrew!

Batman and Robin is rated PG-13 for intense situations and violence.

Submitted by: Steven Bailey
http://pages.hotbot.com/movies/skad13

Steven Bailey, a reviewer for The Beaches Leader newspaper in
Jacksonville Beach, Fla., has reviews posted in The Internet Movie
Database at:
http://www.imdb.com/M/reviews_by?Steven+Bailey

Sent via Deja.com http://www.deja.com/
Before you buy.

The review above was posted to the
rec.arts.movies.reviews newsgroup (de.rec.film.kritiken for German reviews).

The Internet Movie Database accepts no responsibility for the contents of the
review and has no editorial control. Unless stated otherwise, the copyright
belongs to the author.

Please direct comments/criticisms of the review to relevant newsgroups.

Broken URLs inthe reviews are the responsibility of the author.

The formatting of the review is likely to differ from the original due
to ASCII to HTML conversion.

Related links: index of all rec.arts.movies.reviews reviews

redpajama_set_name: RedPajamaGithub


text:
import * as vs from "vscode";
import { activate, currentDoc, ensureTestContent, extApi, rangeOf, setTestContent } from "../../helpers";

describe("refactor", () => {

	beforeEach("activate", () => activate());
	beforeEach("skip for LSP", async function () {
		if (extApi.isLsp)
			this.skip();
	});

	it("can convert a method to a getter", async () => {
		await setTestContent(`
String name() {
  return "Danny";
}
		`);
		await (vs.commands.executeCommand("_dart.performRefactor", currentDoc(), rangeOf("|name(|"), "CONVERT_METHOD_TO_GETTER"));
		await ensureTestContent(`
String get name {
  return "Danny";
}
		`);
	});
});