Use the Intel Realsense T265 tracking camera for way-point robot navigation
How to add the Intel Realsense T265 robot skill
- Load the most recent release of ARC (Get ARC).
- Press the Project tab from the top menu bar in ARC.
- Press Add Robot Skill from the button ribbon bar in ARC.
- Choose the Navigation category tab.
- Press the Intel Realsense T265 icon to add the robot skill to your project.
Don't have a robot yet?
Follow the Getting Started Guide to build a robot and use the Intel Realsense T265 robot skill.
How to use the Intel Realsense T265 robot skill
With its small form factor and low power consumption, the Intel RealSense Tracking Camera T265 has been designed to give you the tracking performance for your robot. This ARC user-friendly robot skill provides an easy way to use the T265 for way-point navigation.The T265 combined with this robot skill provides your robot a SLAM, or Simultaneous Localization and Mapping solution. It allows your robot to construct a map of an unknown environment while simultaneously keeping track of its own location within that environment. Before the days of GPS, sailors would navigate by the stars, using their movements and positions to successfully find their way across oceans. VSLAM uses a combination of cameras and Inertial Measurement Units (IMU) to navigate in a similar way, using visual features in the environment to track its way around unknown spaces with accuracy. All of these complicated features are taken care of for you in this ARC robot skill.
Update Firmware
The device sensor may require a firmware update.
1) Visit the Realsense GitHub page, scroll to the bottom of the page, and install the Intel.Realsense.Viewer.exe from here: https://github.com/IntelRealSense/librealsense/releases/latest

2) Click the hamburger settings icon and select Install Recommended Firmware

Robot Skill Window
The skill has a very minimal interface because it pushes data in the NMS and is generally used by other robot skills (such as The Navigator).

1) Drop-down to select Realsense device by the serial number. This is useful if there are multiple devices on one PC.
2) START/STOP the Intel T265 connection.
3) The confidence of the tracking status between 0 (low) and 3 (highest). In a brightly lit room with many points of interest (not just white walls), the tracking status will be high. Tracking will be low if the room does not have enough light and/or detail for the sensor to track.
4) Log text display for errors and statuses.
Config Menu

1) Mounted Radius Offset (mm) is the distance in mm of the T265 from the center of the robot. A negative number is toward the front of the robot, and a positive number is toward the rear. The sensor must be facing 0 degrees toward the front of the robot. The sensor must not be offset to the left or right of the robot.
2) Enable Video Stream will send the fisheye b&w video from the T265 to the selected camera device. The selected camera device robot skill must have Custom specified as the input device. Also, the camera device will need to be started to view the video.
3) Distortion Correction will use a real-time algorithm to correct the fisheye lens, which isn't always needed and is very CPU intensive.
Video Demonstration
Here's a video of the Intel RealSense T265 feeding The Navigator skill for way-point navigation
ARC Navigation Messaging System
This skill is part of the ARC navigation messaging system. It is encouraged to read more about the messaging system to understand available skills HERE. This skill is in level #3 group #2 in the diagram below. This skill contributes telemetry positioning to the cartesian positioning channel of the NMS. Combining this skill with Level #3 Group #1 skills for obstacle avoidance. And for Level #1, The Navigator works well.

Environments
This T265 will work both indoors and outdoors. However, bright direct light (sunlight) and darkness will affect performance. Much like how our eyes see, the camera will is also susceptible to glare and lack of resolution in the dark. Because the camera visual data is combined with the IMU, the camera must have reliable visible light. Without the camera being able to detect the environment, the algorithm will be biased to use the IMU and will experience drift, which greatly affects the performance of the sensor's accuracy.
Screenshot
Here is a screenshot of this skill combined with The Navigator in ARC while navigating through a room between two way points.

Starting Location
The T265 does not include a GPS/Compass or any ability to recognize where it is when initialized. This means your robot will have to initialize from a known location and direction to reuse saved maps. Make sure you mark the spot on the ground with masking tape where the robot starts from.
How To Use This
1) Connect your Intel RealSense T265 camera to the computers USB port
2) Load ARC (version must be >= 2020.12.05.00)
3) Add this skill to your project
4) Now we'll need a Navigation skill. Add The Navigator to your project
5) Press START on the Intel RealSense skill and data will begin mapping your robot's position
How Does It Work?
Well, magic! Actually, the camera is quite interesting and it breaks the world down into a point cloud of features. It remembers the visual features so it can re-align itself on the internal map. It uses a VPU, is what Intel calls it. Here's a video of what the camera sees.
Related Hack Events
live hack

A Little Of This, A Little Of That
We'll take it as it goes tonight in this last-minute live hack event. My plan is to do a few things with the ESP32 Cam...
live hack

DJ's K8 Intel Realsense & Navigation
We're going to play with the new robot that I have been re-building. Added the Rock Pi/x, Intel Realsense T265 & D435i,...
Related Questions
question

Navigator With Mecanum (Omni) Wheel Robot Platforms
Has anyone played with Robot platforms that use Mecanum wheels and navigation and tracking? My Roomba, Turtle bot, Roli...
question

T265 Realsence Viewer.Exe On An Upboard
Hi DJ. Have you tested an Upboard Using the realsense Viewer.exe file for the T265. and was able to run the realsence...
Upgrade to ARC Pro
Experience the latest features and updates. You'll have everything that is needed to unleash your robot's potential.
Does this skill provide an API to the map? If so, 2D or 3D? So curious.
Martint, there will be access to the map in a few more versions. Stay tuned... I'm adding things as we go over the next few days. However, accessing the map is somewhat irrelevant because you merely specify where you want the robot to go and it uses what ever Movement Panel that is added to take you there.
Movement panels allow any robot to move by any other skill. So it takes control - that's how ARC works. The robot can be a drone, humanoid with gait, hexapod with gait, hbridge, continuous rotation servos, etc, etc, etc... it doesn't matter. It just goes.
This isn't the place for that conversation, however. But you can read what a Movement Panel in the support section here: https://synthiam.com/Support/ARC-Overview/movement-panels
I am very interested in the map for other reasons...so I will stay tuned. Here is one below. This is more of a nav thing so I'll go read what you guys have on that too.
If you are moving from point A in a Bedroom to point B in a Living Room...there are obstacles between A and B, both known (walls, doors, hallways, furniture, etc.) and unknown (people, pets, laundry), that come into play. The map presumably is or will play a central part in this. Obstacle detection is already in other skills. Fusing a bunch of disparate obstacle detection sensors is another piece (I use 3 types). Pathfinding is a piece too....and pruning the path down...eliminating all the useless points in the middle of a path to find sensical free diagonals. I personally like to layer some kind of force field on too so the bot will drive more reasonable paths down the center of open space (like hallways) instead of driving the shortest path (like pathfinding algos usually provides). To me, the best path is not the shortest, but the easiest. This obviously can be done by modifying the terrain cost around everything bad before the pathfinding does its path.
Anyway...to anyone out there, which parts of this still need skills if any or is it all already there? I suppose I could have left out some skills in that process that you guys have encountered. I don't want to pest and will put a cork in it and RTFM if that if that is the etiquette preference here, just hint away.
Simple DIY lidar that for our needs is enough:
The mapping and sensor questions you brought up are a big topic with lots of different and valid opinions. I am happy to jump in to it and give mine if and when its the time and place...my guess is others are already way ahead of me on it and have other great solutions.
Historically, I have been a sonar array nerd (every 30 degrees) and now adding depth cam to that mix for more precision up front. I am still trying to assess what's been done and what needs more effort so I can see if there is a way to help.
From what i understand the T265 makes some kind of vslam internally with the two fish eye cams to help localize the camera in a known space. Can you confirm that martint?
I tried out a Marvelmind system on my bot initially before I got the T265...it was a lot more trouble and a waste of $450 compared to this.
I wrote about my experiences so far with the T265 in a doc at the bottom of my Ava project under "Additional Resources".
You can even combine the Intel RealSense skill with a wheel encoder skill and send both to the Navigation Messaging System to improve accuracy.
I'm trying to stay away from another Intel purchase and you are making my life difficult
Nice Job ! plugin... plus "bird eye" documentation.
I bought an Orbbec depth cam instead and have used multiple Orbbecs (2) at the same time on one bot. I spoke with a rep who says they have hooked up many at the same time to one pc and that you can context switch between them in a few millis. The Orbbec has some positives like (small size, no interference with each other, they say it works outside too) I think the Orbbec (and some others) is a better depth cam if only considered by itself. (just opinion here) However, because of the potential for the D435 and T265 to be tightly integrated and time synced by their SDK...I think this makes the D435 (or any subsequent Intel depth cams) to be a VERY enticing option.
https://synthiam.com/Community/Robots/Quantum-Lift-Model-CR-99-17749
Oh, and you need a silly long usb cable if the robot doesn't have a PC installed. I used an USB 3.0 active extension cable: https://www.amazon.ca/CableCreation-Meters-Extension-Extender-Female/dp/B0179MXKU8/ref=sr_1_5?crid=3B86YRQ5Z4T4T&dchild=1&keywords=usb+3+active+extension+cable&qid=1607543830&sprefix=usb+3+active%2Caps%2C203&sr=8-5
Might be able to get one today from bestbuy or a local computer shop.
As you mentioned DJ, this sensor is likely more ideally used with an onboard SBC/PC.
The Latte Panda has a USB 3 port...wonder how much CPU
is used by Real Sense?
@alan, a trailer eh? That'll be pretty fun to see! Hope that happens soon. You could easily fit a rock pi/x with an additional Lipo on the roli and run headless. Here's to links that will be useful
1) setting up windows for SBC (save performance and storage space): https://synthiam.com/Support/Install/free-space-with-windows-10
2) set up SBC for headless: https://synthiam.com/Support/Install/headless-robot-sbc
BTW how do you get the fisheye camera to work in ARC?
First drive your robot manually around. Drive to the first way point. Mark home. Mark each significant corner/turn. Then mark the end.
do that for each day point.
the key is to FIRST drive the robot TO the way point. Then mark the path.
also. Mark home on the ground. Use painters tape so you can reuse the maps.
instructions above will helpm
@DJ have you seen this on the T265 Intel page?
What is wheel odometry and how does it help T265 navigate?
Wheel odometry is the use of sensors to measure how much a wheel turns, it can be used to estimate changes in a wheeled robots position. T265 has wheel odometry support built in, allowing it to use the data from these sensors to refine the position data of the robot. Providing robotic wheel odometer or velocimeter data over USB to TM2 will make the tracking much more robust on wheeled robots, which otherwise can experience many tracking failures. We consider odometer input to be a requirement for robust tracking on wheeled robots.
once you get the calibration right on a specific surface or in a specific environment then you can remove the sensor.
I envision you don’t want to put a $250 sensor on every robot doing minor tasks like vacuuming but you could calibrate it with the T265 and then send it on its way.
In the NMS are some additional reading links that talk about the challenges with navigation and pose. I highly encourage you read them prior to this discussion.
Intel is very clear in that paragraph that you copied. It clearly says the T265 is compatible with wheeled robots. It does NOT state that it works with wheel encoders. It can correct wheel odometry but it cannot accept an input from a wheel encoder. It can be used to correct wheel encoded robot pose because wheel encoder robots have terrible accuracy - which is why the T265 exists.
I really recommend reading the additional links in the NMS page to catch up on the difference between a wheeled robot and a wheel encoder. And also the challenges of the two etc
*edit: the api seems to have an older interface that allows wheel odometry input. The early release of the T265 does mention you can push wheel odometry data into the api and it gets fused with the T265. So that must be an early attempt at converting the old school wheeled ros guys to vslam
Oh and Happy New Year Everyone!!
I would love if we had D435 support. Watch this video.
long term goal would be Map room with T265 and D435. Use object recognition to identify and find the object. Use T265 data to go to the object and use data from D435 to calculate exact location and orientation of object, now use inverse kinematics to calculate how to pick it up and run a bunch of simulations, finally use robot arm and gripper to pick up object. Mounting the T265 on robot arm would verify are calculations as we pick up object and also be used to train robot using ML to improve IK calculations.
So GPU TPU support (Nvidia Jetson?) for accurate object recognition and IK calculations. D435i support for 3D point cloud and T265 for location and orientation and movement of robot arm in 3D space.
I had the cam on the pole but it creates some vibration and having an offset parameter lets you place the camera where you want.
How are you using your T265?
The Jetson is ARM based, so not ARC compatible.
right now just playing with T265 (not enough hours in day) but my goal is a robot that can do some simple tasks around the house. Pick up shoes put them away, vacuum without smashing the wife’s furniture up or getting stuck under the coffee table and most important. GET ME A BEER.
what are your plans @proteusy?
Since we are only getting telemetry data of T265 I am wondering if it would be better to just pull the data off the T265 with a pi or stick pc and send it to Navigator on a remote desktop. I mounted a NUC with 2 * 3 cell Lipo's in series for ~22v to run everything off, works fine but battery life is short.
I am curranty working on the obstacle avoidance when using The Navigators way points.
The Chrome skull is fairly heavy about 8 pounds so i bet without it,would get at least 1 hour 45 minutes.
where is the best place to position the realsense. I did play with new offset a bit.
i Have a todo to add speed adjustment settings for moving and turning. It’ll come in time
I'll just use ultrasonic for object avoidance for now. Probably upgrade to Lidar at some point though.
Alan
2) What do you mean by "test if we are in exact location"? The T265 returns a location pose (x,y,z) relative to the starting location when initialized. As per the instructions, your robot will always need to start at the same starting location as this is how the T265 was designed. Synthiam doesn't make the T265, it is designed by Intel.
2 having to line up robot is not really practical in real world. If robot does not know where it is there should be a way to auto align to a known way point via some method. Ie look for a glyph and go ok I know where I am now. And then choose a known path from that waypoint to the new destination.
2) My advice is to have the robot search for a glyph and align itself, then start the intel t265 tracking. There's no way to modify the tracking data. The data returned by the t265 is the data from the sdk made by Intel. The alignment of the robot in the real world is quite practical because that's how it's being used. The robots start from a docking station and begin navigating from there.
There's also a huge but with the intel sdk, where you can't start, stop and start the driver. While ptp made good points about working with Intel is difficult because they abandon projects easily, he's accurate. What we have from the t265 is about as good as it'll get.
The one thing I can sort-of think of is having to apply an offset to the t265 coordinates to "re-align" itself to the home position. Or I guess, to any position that you specify. But, you'd have to be REALLY REALLY accurate on whatever offset you provide. I can make a ControlCommand that allows you to specify the offset, which essentially would be the "new position". Then, if your glyph is at 100cmx100cm @ 90 degrees heading from home, you can specify that is where the robot is and it would re-align itself to that position. Now, remember that the degrees also matter to the t265. If the degrees are off, then the t265 will be off.
This is also why I am much more fond of indoor positioning from external sensors (ie cameras) to know where the robot is. You'll notice that even game consoles (ie Wii, Sony Playstation) motion controllers use a camera for tracking along with side inertia sensors. This is because unlike a human or animal, having a robot know its position is somewhat of a philosophical discussion.
@proteusy, what do you mean a camera reset button? The issue with the Intel SDK is that when you stop the t265, it cannot be restarted without restarting arc. It is a bug in the intel sdk, not arc's robot skill. I don't have control over the t265 driver and their hardware problems as it's a product made by Intel. We get the blunt response of their bugs
I found this?
rs2::config cfg;
rs2::pipeline pipe;
cfg.resolve(pipe).get_device().hardware_reset();
https://github.com/IntelRealSense/librealsense/issues/4113
*Note: requires ARC 2021.02.08.00 or greater
This seems like a really primitive way to do this but environments change (pallet moved in a warehouse etc) so you need something guaranteed to lock on to so you can move along the next edge to the next way point. We need a better solution than this in the future to deal with drift, the need to recalibrate and the need to enter into a known path. I guess ML is the long term answer but in the short term the world will be filled with fiducial's.
About 11 min mark onwards.
Put it this way, the problem of a robot knowing where it is in the world is so big that Boston dynamics merely threw a bunch of redundant vslam LOL. And most likely a bias shifting complimentary filter fusing the sensor data. The sensor that starts to drift first would begin getting a lower weight in the fusing calculation.
Anyway - the much larger conversation on this topic is not about sensors, but AGI. Artificial general intelligence.
Even if you close your eyes and I move you to a new location, you’ll have no idea where you are. The robot needs some level of self in relation to the world to create an adaptive internal model. Like how we do
Question is there a way to tell robot it is currently in a certain location when it drifts. I start in the docking station and turn Realsense on. Then I tell roomba to move back about 1 foot from docking station and then give waypoint voice commands. It knows where it is because I started realsense when it was docked. Now it runs around my house but starts to drift. I guess I could send it back to a point in front of docking station and then dock using ControlCommand Seek Dock on roomba then stop realsense, then start again then backup one foot again etc, but it would be good if there was a way to tell realsense I am here. please reset your tracking location to hear now?
We talked about glyph as being a way to fix with camera. Maybe if we had 2 cameras working we could triangulate and get position. I thought about some lines on the ground in various locations that the robot could follow and when he crosses them he starts to follow and finds a dash code etc to recalibrate using a sensor like this https://cnclablb.com/adjustable-line-tracking-sensor-module.html But I think what I need is a way to send a command to Navigator to say HELLO I AM HERE. Maybe something like a ControlCommand("The Navigator", "ResetWayPoint", "Kitchen");
You see, the T265 requires a cartesian X/Y and Heading Degree for mapping. This means you will have to specify the absolute exact coordinate (including heading degree). I'm sure there's a way you can calculate it with a glyph size and such. But be forewarned that it won't be as simple as you may think.
*PS Note: moved the above comment into this thread because it's regarding the Intel T265 and now a robot build.
Question Can you Disable and Enable a USB port in ARC to reinitialize the driver or can you call a batch file to potentially use something like devcon to disable port in windows and then re-enable the USB port so it resets each time you stop and start it?
https://github.com/ralight/usb-reset/blob/master/usb-reset.c
example for my device
pnputil /disable-device "USB\VID_8087&PID_0B37\952322111114"
I could always just create a USB hardware add-on that allows me to turn it on and off with a relay (this is actually starting to sound like easiest method)
With regards to drift, I played with offset for a while and concluded -160 was a good level (When I go into a spin it doesn't create a donut) but yeah drift is still a problem.
Ryzen 5 must chew some power. What are you using for battery. I have blown out 4 Lipos running all this stuff (My 4S is now a 3S and my 3S's are now 2S's). I have now switched back to an old Sealed lead battery and plug in when docked so computer is always on. This seams to work OK and I get about 2 hours of play time. I am going to add some springs and magnets so it will auto charge (just a matter of finding parts) this week.
I really want to get this as autonomous as possible.
My setup with this mboard is recent and i am still in the build phase. I use 2 Xunzel SOLARX-8 gel batterys in parallel.
I need to work on distance sensors maybe laser sensors as these ultrasonics are garbage. Will smash into something or see something that is not there. Also I think we need a way to navigate with individual sensors, if something towards left turn right, towards right turn left. directly in front stop. When you have sensors directly on side you really don't care as much about distance from wall beside you, also when you are going fast they don't work as well as slow.
I also really need to add a panic button off an Arduino accelerometer to shut off roomba battery if it starts to go crazy. That seems to happen a lot :-)
Code:
Makes you wonder why the original Roomba smashes the furniture with all these sensors on board.
Thanks for the sample code and your idea to navigate around stuff using the onboard sensors @proteusy very cool. I had a play and if you run around really slow you can avoid some stuff but it still managed to knock over my green screen, dive under the treadmill, smash into my chair and get tangled up in the power cords under the desk. How a Tesla navigates at 100km an hour blows me away.
That said, I think I need to add a bunch more sensors, a LIDAR and lots of code to make sense of all this data, if wheels are spinning and it is not moving, I am probably tangled up have smashed into something.
Also, this robot skill will only display tracking cameras in the drop-down.
- Bug fix and small performance improvement
Do you thing if I place the T265 in the chest of an Inmoov
will work correctly or does it need to be ground leave?
Thank you, Cheers
, I will try it soon.
Intel scraps Realsense
well I feel deceived. I was told directly in a zoom call by the realsense cto that customers were purchasing thousands at a time for volume discounts.
It's amazing the poor ethics of businesses to lie about their sales volume - boom, you've been busted
I am surprised they did not sell IP to a robot company or spin off to a startup for a royalty fee on every sale. There is probably value for a small startup to continue to sell and develop with an existing customer base.
This makes we wonder if there is some other issue (China Manufacturing, Chip Shortage, Shipping Issues etc)
If the comparison is depth camera functionality, then there are other options. But feature to feature there aren’t
But as always the tech market is what it is and always evolving. I just hope the prices drop and I get some cameras.
It’s not financial feasible for a product company to own the technologies. The only company that I think came close to buying the guts of realsense would be Boston dynamics - but that ship has sailed since they can’t figure out a product/revenue mode. They’re like the Honda Asimo team and being used for marketing and will fade away soon. Their videos are receiving less attention. People want to know what’s it for? What’s it do? now.
Realsense IP will most likely remain in intel’s hands and end up in their dusty museum like everything else. Intel isn’t a company known for selling or sharing IP.
I don’t think it’s all gloom and doom. The removal of realsense from the market will most likely stimulate a demand for a similar product line.
1) criminals don’t get scared by a robot with a camera.
2) cameras already exist and can be mounted on buildings (cheaper)
3) hiring humans means they can chase or discourage or offer help etc etc etc. humans do way more than a robot. Such as clean and check doors to see if they’re locked. Oh man there’s a million reasons why a human security guard is better than a robot
4) humans don’t need to recharge their batteries every 25 minutes
5) humans don’t get stuck on a pebble in the parking lot
6) humans can get wet in the rain
7) thieves most likely Won’t shoot a human. But they’ll hit a robot with a bat
LinkenIn post by Steve Crowe
Unfortunately the T series (tracking cameras) are EOL
https://www.therobotreport.com/intel-issues-end-of-life-notice-realsense-lidar/
And here's the pertinent info that relates to this skill page:
Intel RealSense T265 will be best replaced by Intel RealSense D455 or D435i with 3rd Party SLAM SW
Here's the link to the ARC skill for the D435i: https://synthiam.com/Support/Skills/Navigation/Intel-Realsense-D435i?id=20404
It doesn't seem to be an issue if it's the only intel realsense connected. It seems to happen when there are two realsense devices connected.
- hides an error from Intel's driver that sometimes raises when shutting down the camera
- displays coordinates in the status every 100 updates
Does anyone know if there is there a direct replacement for this sensor, in the works?
Perhaps it’s time we had support for another product.
https://www.amazon.com/s?k=Intel+Realsense+T265&crid=SCY3NZM4N1NY&sprefix=intel+realsense+t265%2Caps%2C467&ref=nb_sb_noss_1
Someone writes a post that’s twenty-eight pages long about moving a servo with ROS. If it takes 35 weeks to learn how to drive a servo with ROS, how many Intel real sense cameras do you think they will sell? For some reason, there's this conflicting issue with robotics and businesses. A business is about decreasing internal costs and increasing revenue - therefore, the result between the two is profit. The CEO wants the most efficient and cost-effective solution for any business function. However, with robot companies, their CEOs are CTOs. So, the result is "a difficult robot system means business system." *confused*
How do you run a successful business like that? You're telling me that using software like ARC that is easy, quick, and extensible is not professional? Because to be professional, you need 38 guys in a room writing 5 million lines of code to "test" a prototype that will be thrown out in a month. <- this is the unfortunate reason for "why we can't have nice things" with robot products.
Take a look at Boston Dynamics, for example. @Nink, you posted the documentation, so I took a look. My head was spinning, haha - no wonder they can't find a business model. The darn thing is impossible to use without a Ph.D. engineering team. And boy, don't Ph.D. engineering programmers have the best business ideas? Hahaha, *sarcasm*. Inventions are fueled by creativity - and creativity doesn't involve complexity. So, therefore, simplicity inspired creativity. Want new products or business models? Give the responsibility to creative teams, not engineering teams.
Anyway - if you read the NMS manual, you don’t need a t265 for the better navigator. You can use other options for providing a pose hint.
<rant over> lol
17 left
Is it possible that the skill can keep the latest serial number connected so I can start the device programmatically with the start command and not to select it manually each time and start the device?. Thanks.
Thanks
The piece of the puzzle you are missing is a windows Single board computer like a rock pi x or similar. You really want the T265 plugged directly into USB port on the PC so the PC really needs to be on the vehicle.
you can also connect the EZB direct to the PC or you can use an Arduino either via a serial connection or ESP32 wireless.
That is what I thought. I may use sonics and encoders and see how well it does.
Thanks again.
Scott
As for having the robot move, you need to add the HBridge PWM Movement Panel to your project. But, I would first recommend following the getting started guide, which introduces what a Movement Panel is because a Movement Panel is how the robot moves. Once a Movement Panel is added, it registers itself into the ARC framework, and then all other robot skills can move the robot. Here's an excellent place to start: https://synthiam.com/Support/Get-Started/how-to-make-a-robot/make-a-diy-robot
if using the rplidar, there’s no need for the t265. I find The Better Navigator and rplidar together is enough.