MIR Intel RealSense (R200) Guide

MiR Top camera
Intel® RealSenseTM Camera (R200)
Technical Documentation
Version 1.1
Release date: 21.12.2016

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 2of 9
Table of contents
1 Introduction......................................................................................................................................................3
2 What’s included in the box? .............................................................................................................................3
3 Mounting the top camera ................................................................................................................................4
3.1 Preparation of MiR100 for retrofitted camera.........................................................................................4
3.2 Mounting the top camera ........................................................................................................................5
3.3 Connecting the top camera ......................................................................................................................6
3.4 Setting up top camera in ROS parameters ...............................................................................................7
4 Frequently Asked Questions.............................................................................................................................8
5 Changelog .........................................................................................................................................................9

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 3of 9
1Introduction
The floor camera detects objects in a height of 50 cm (19.7”) measured from the ground and up. The height of
the MiR100 is 35 cm (13.8”). If more than 15 cm (6”) are added on top of the MiR100, a top camera is needed.
The top camera is similar to the floor camera, which is an Intel® RealSenseTM 3D camera.
2What’s included in the box?
•(1) Intel® RealSenseTM Camera (R200)1, w USB cable.
•(2) Metal sheet to fix camera in bracket.
•(3) Top camera bracket, bottom and top parts (screws, nuts and washers not included)
1https://software.intel.com/en-us/realsense/home
1
2
1
3
Note! The camera serial number is found at the
back of the bracket’s bottom part.
Write down the number before you start
the mounting as you’ll need it later to set
up the camera in the software.

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 4of 9
3Mounting the top camera
3.1 Preparation of MiR100 for retrofitted camera
If the top camera is going to be retrofitted on the MiR, the top panel must be prepared as shown in this
illustration.
Drill two holes Ø4.50 in shown positions.
Dimensions shown in mm.
-106 mm (4.17”)
-42 mm (1.65”)

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 5of 9
3.2 Mounting the top camera
Mount the top camera as described here:
1. Fasten the bottom part of the bracket in the
two pre-drilled holes.
Fasten screws at the back of the cover with
nuts and washers.
2. Thread the USB cable through the bracket as
shown.
3. Fit the camera in the bracket.
Lead the cable around the screw to and pull it
carefully from the back to hold it in place.

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 6of 9
4. Affix the metal sheet to the camera with the
two small black screws.
5. Place the top part of the bracket as shown
and fasten with two screws.
3.3 Connecting the top camera
Place the robot’s top panel with camera on
the robot. Connect the camera to the USB
socket as shown.

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 7of 9
3.4 Setting up top camera in ROS parameters
Follow these steps to set up the top camera software.
Ste
p
Instruction
Illustration
1
Log in as
administrative
user.
2
Go to Service

Configuration

System settings

ROS parameters
3
Find 3D
Cameras
under the ROS
parameters.
•Tick off
Start top
camera
automatical
ly
•Enter the
serial no. as
written on
the camera
bracket.
•Click Save.
4
Restart the MiR100 by turning the power switch to OFF. Wait until the light of the MiR100 is off. Turn
the power switch ON.
The MiR100 is now ready to operate with the top camera.
Note! The preset top camera parameters are valid when the camera is positioned directly on the top panel of
the MiR100 as shown in this document. If the camera is mounted in a different position or on an external top
module, the parameters must be adjusted accordingly.
For assistance, contact MiR Customer support, https://mirrobot.atlassian.net/servicedesk/customer/portal/1.

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 8of 9
4Frequently Asked Questions
Question: The 3D cameras are not active.
Answer: The 3D cameras are active only when the MiR100 is driving in automatic mode. Set the MiR100 to
drive in for example a ROUTE or TAXI. Check the launch menu under “Service” --> “Configuration”
--> “Launch Menu” to see if the cameras are active.
This example shows that both cameras are running and active:

MiR Intel Top camera –Technical documentation
Copyright Mobile Industrial Robots 2016 Page 9of 9
5Changelog
Version
Date
Changes
1.0
03.05.2016
Document created
1.0
21.12.2016
ROS parameter screenshot in
section 3.4 updated