T265 ROS2 Docker

A Docker image for the Intel RealSense T265 tracking camera. Tested with ROS2 Humble on Ubuntu 22.04, and expected to work in similar environments.

This docker revives the discontinued Intel T265 and enables it to run on ROS2. The container includes Ubuntu 20.04, ROS2 Foxy, and the last T265-compatible SDK (librealsense 2.53.1).

Docker Hub: https://hub.docker.com/r/atarbabgei/t265-ros2-docker

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Quick Start

Check T265 Detection

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

Launch ROS2 Camera Node

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 launch realsense2_camera rs_launch.py"

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Key Features

• Works with the Intel RealSense T265
• Includes ROS2 Foxy and librealsense 2.53.1
• Cross-distribution compatible (for example, Docker Foxy ↔ Host Humble)
• Provides all T265 data streams (fisheye images, IMU, pose, odometry)

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ROS2 Topics (default launch)

• /camera/odom/sample — Pose and odometry
• /camera/fisheye1/image_raw — Left fisheye (848×800)
• /camera/fisheye2/image_raw — Right fisheye (848×800)

If IMU is enabled (enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation):

• /camera/gyro/sample — Gyroscope
• /camera/accel/sample — Accelerometer

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Troubleshooting

• Always run the container with --user root for hardware access
• The T265 may appear as: 03e7:2150 Intel Myriad VPU
• Check USB detection:

  lsusb | grep -E "(8086|03e7)"

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Image Details

• Base image: osrf/ros:foxy-desktop
• SDK version: librealsense 2.53.1 (final T265-supported)
• Architecture: amd64