This guide describes how to update the 3D camera firmware for D435 cameras.

If the camera is either an R200 or an OpenNI camera, you cannot update them using the instructions in this guide.

You can see what type of camera your robot is using under System > Settings > 3D cameras. The camera type is displayed under Floor camera type.

Things you'll need

To update the firmware, you need a Windows 10 PC with a USB 3.1 port and the following files:

• Intel RealSense Firmware 5.10.6 file (download here).

• Intel RealSense Update Tool (download here).

Before updating the camera firmware

Step 1: Install all Windows updates to ensure your computer drivers will recognize the D435 camera device.

Step 2: Unzip the downloaded files from Things you'll need.

Step 3: Turn off the robot, and disconnect the battery.

Pulling out the electronics drawer (only for MiR500/MiR1000)

Step 1: Press the two buttons on the front hatch, and pull open the hatch.

Step 2: Remove the compartment hatch. To do this, disconnect the status light cable, and turn the two hinges in the bottom corners.

Step 3: Turn the two levers 180°, and pull out the electronics drawer.

Updating the firmware

Step 1: Locate the 3D camera you want to update, and follow the camera's cable to the USB type A connector on the other end.

• The cameras on MiR100, MiR200, MiR500, and MiR1000 are always located at the front of the robot and are connected to the robot computer.

• The camera on the hook is located on the back and plugs into the hook computer (upper red circle in the image below).

  On some hooks, there is also a camera installed in the front end that plugs into the USB top application interface of the robot (lower red circle in the image below).
  

   

Step 2: Unplug the camera USB connector from the top of the robot computer, hook computer, or top application interface, and plug it into your computer via a USB 3.1 port. For MiR100, MiR200, and MiR hooks, you must remove the top cover form the robot to access the computer.

Step 3: Verify that you are connected to the camera by opening Device Manager and locating the camera under Cameras. If the camera is not available, ensure that you have updated to Windows 10 RS2 1706 or higher and that all drivers are updated.

Step 4: Locate the folder where you have downloaded the Intel RealSense Update Tool, and run the intel-realsense-dfu.exe file as an administrator. A command prompt terminal is displayed.

Step 5: Type 2 and press the Enter key to display the list of cameras that can be updated. Verify that there is a camera available for updating. If not, try unplugging the camera USB cable and plugging it back in again.

Step 6: Type 1 and press the Enter key to begin updating the camera firmware.

• A numbered list of available cameras is displayed again. Type the number for the camera you want to update. If you have no other cameras connected to your PC, only one camera will be displayed, and you can just type 1. Press Enter after you have typed a number.

• Then, you are prompted to input the full file path to the firmware file. Insert the path to the .bin file in the downloaded firmware package, and press Enter.

Step 7: Wait until the camera has finished updating. This takes approximately three minutes. When the camera is finished updating, it resets.

Step 8: Once the camera is connected again, verify that it is updated. To do this, type 2, spress Enter, and the camera is displayed again with its current firmware version.

Step 9: Unplug the camera USB cable from your computer, and plug it back into the robot computer. Make sure to plug it back into its original socket.

Step 10: Unplug the other camera USB cable from the robot computer, plug it into your Windows 10 PC, and repeat step 1 to step 7 with the second camera.

Testing

Run the robot through its usual missions, and verify that it is driving as expected.