# A kit for multiple RealSense D400 sensors in ROS

**URL:** <https://discourse.openrobotics.org/t/a-kit-for-multiple-realsense-d400-sensors-in-ros/4411>\
**Category:** Computer Vision / Perception\
**Created:** [April 8, 2018, 9:14pm UTC](https://discourse.openrobotics.org/t/a-kit-for-multiple-realsense-d400-sensors-in-ros/4411 "2018-04-08T21:14:31Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![d2\_design](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/d2_design/32/1866_2.png) [@d2\_design](https://discourse.openrobotics.org/u/d2_design)\
**Post date:** [April 8, 2018, 9:14pm UTC](https://discourse.openrobotics.org/t/a-kit-for-multiple-realsense-d400-sensors-in-ros/4411/1 "2018-04-08T21:14:31Z")

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I was really impressed by the new RealSense depth cameras but the field of view is still a bit narrow. So I made a kit for multiple RealSense in ROS ([available here](https://www.ebay.com/itm/282916774120?ssPageName=STRK:MESELX:IT&_trksid=p3984.m1558.l2649)). It comes with two RealSense D415 but can easily be expanded up to 6 cameras. The field of view is essentially doubled to ~140° x 42°. If all six cameras are used, the kit gives full cylindrical coverage. It’s a good way to get started with immersive virtual reality.

My goal here was to make this as close to plug-and-play as possible. There is just one simplified launch file for all X cameras, and another to display the point clouds in RViz. The tf frames are launched automatically, as well.

One caveat is that \>2 cameras requires additional USB3 busses for higher resolutions/fps.

This is a shot of my kitchen with 2x D415:

 ![kitchen](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/2/29e200991f247a17a763a3db076de7a2d06b67b5.jpg)