# 9.1.2.3. 執行

你必須根據攝影機的類型來更改參數。執行以下指令。

* **Astra Pro 3D 攝影機**

{% hint style="info" %}
備註：需先安裝 [**Astra Pro ROS package**](http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_applications/#astra-pro) 套件
{% endhint %}

```
 $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=astra_pro
```

* **Intel RealSense D435 深度攝影機**

{% hint style="info" %}
備註：需先安裝 [**Intel Realsense D435 ROS package 套件**](http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_applications/#realsense-d435)
{% endhint %}

```
  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=realsense_d435
```

* **Raspberry Pi Camera v2 樹莓派攝影機**

**\[Raspberry Pi 樹莓派]**

{% hint style="info" %}
備註：需先安裝 [**Raspberry Pi Camera V2 ROS package 套件**](http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_applications/#raspberry-pi-camera-v2)
{% endhint %}

```
  $ roslaunch open_manipulator_camera raspicam.launch
```

**\[Remote PC 端]**

```
  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=raspicam
```

