Docker image for Intel RealSense T265 tracking camera with ROS2 Foxy on Ubuntu 20.04

This effort revives the discontinued Intel T265 tracking camera and makes it work with ROS2. This repository provides a Docker container based on Ubuntu 20.04 and ROS2 Foxy, including the latest T265-compatible SDK (librealsense SDK 2.53.1)

Tested across distributions with ROS2 Humble on Ubuntu 22.04 and may work on other distributions

Docker Hub: atarbabgei/t265-ros2-docker

docker run -it --rm --privileged --user root -v /dev:/dev \
  atarbabgei/t265-ros2-docker:latest rs-enumerate-devices

docker run -it --rm --privileged --user root -v /dev:/dev \
  -e ROS_DOMAIN_ID=0 -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
  atarbabgei/t265-ros2-docker:latest \
  bash -c "source /ros2_ws/install/setup.bash && ros2 run realsense2_camera realsense2_camera_node"

• T265 Support: Works with T265 cameras
• ROS2 Foxy: Compatible with librealsense SDK 2.53.1
• Tested Cross-distribution: e.g. Docker Foxy ↔ Host Humble communication
• All streams: Fisheye cameras, IMU, pose, odometry

• /camera/pose/sample - 6DOF pose data
• /camera/odom/sample - Odometry data
• /camera/fisheye1/image_raw - Left fisheye (848x800)
• /camera/fisheye2/image_raw - Right fisheye (848x800)
• /camera/gyro/sample - Gyroscope data
• /camera/accel/sample - Accelerometer data

• Always use --user root for hardware access
• T265 may appear as: 03e7:2150 Intel Myriad VPU [Movidius Neural Compute Stick]
• Check connection: lsusb | grep -E "(8086|03e7)"

• Base: osrf/ros:foxy-desktop
• librealsense: 2.53.1 (last T265-compatible version)
• Architecture: linux/amd64