Turtlebot3 Waffle NUC Lib RealSense2 Utilities 20210515 Notes and Logs
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librealsense220210515.txt May 15, 2021 https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md ----------- skip eepp@hood:~$ sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u [sudo] password for eepp: Get:1 https://librealsense.intel.com/Debian/apt-repo focal InRelease [2,400 B] Hit:2 http://packages.ros.org/ros2/ubuntu focal InRelease Err:1 https://librealsense.intel.com/Debian/apt-repo focal InRelease The following signatures couldn't be verified because the public key is not available: NO_PUBKEY C8B3A55A6F3EFCDE Hit:3 http://us.archive.ubuntu.com/ubuntu focal InRelease Get:4 http://security.ubuntu.com/ubuntu focal-security InRelease [109 kB] Get:5 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease [114 kB] Get:6 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease [101 kB] Get:7 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [655 kB] Get:8 http://us.archive.ubuntu.com/ubuntu focal-updates/main i386 Packages [474 kB] Get:9 http://security.ubuntu.com/ubuntu focal-security/main i386 Packages [229 kB] Get:10 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 Packages [983 kB] Get:11 http://security.ubuntu.com/ubuntu focal-security/main Translation-en [131 kB] Get:12 http://security.ubuntu.com/ubuntu focal-security/main amd64 DEP-11 Metadata [24.4 kB] Get:13 http://security.ubuntu.com/ubuntu focal-security/main amd64 c-n-f Metadata [7,508 B] Get:14 http://security.ubuntu.com/ubuntu focal-security/universe amd64 DEP-11 Metadata [58.2 kB] Get:15 http://us.archive.ubuntu.com/ubuntu focal-updates/main Translation-en [222 kB] Get:16 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 DEP-11 Metadata [264 kB] Get:17 http://us.archive.ubuntu.com/ubuntu focal-updates/main DEP-11 64x64 Icons [82.1 kB] Get:18 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 c-n-f Metadata [13.3 kB] Get:19 http://us.archive.ubuntu.com/ubuntu focal-updates/universe i386 Packages [572 kB] Get:20 http://us.archive.ubuntu.com/ubuntu focal-updates/universe amd64 Packages [774 kB] Get:21 http://us.archive.ubuntu.com/ubuntu focal-updates/universe Translation-en [166 kB] Get:22 http://us.archive.ubuntu.com/ubuntu focal-updates/universe amd64 DEP-11 Metadata [323 kB] Get:23 http://us.archive.ubuntu.com/ubuntu focal-updates/multiverse amd64 DEP-11 Metadata [2,468 B] Get:24 http://us.archive.ubuntu.com/ubuntu focal-backports/universe amd64 DEP-11 Metadata [1,768 B] Reading package lists... Done W: GPG error: https://librealsense.intel.com/Debian/apt-repo focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY C8B3A55A6F3EFCDE E: The repository 'https://librealsense.intel.com/Debian/apt-repo focal InRelease' is not signed. N: Updating from such a repository can't be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details. eepp@hood:~$ should be done first ?? eepp@hood:~$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE Executing: /tmp/apt-key-gpghome.hUL0UMh6lx/gpg.1.sh --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE gpg: key C8B3A55A6F3EFCDE: public key ""CN = Intel(R) Intel(R) Realsense", O=Intel Corporation" imported gpg: Total number processed: 1 gpg: imported: 1 eepp@hood:~$ ---------- start here eepp@hood:~$ eepp@hood:~$ sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u Get:1 https://librealsense.intel.com/Debian/apt-repo focal InRelease [2,400 B] Hit:2 http://security.ubuntu.com/ubuntu focal-security InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu focal InRelease Hit:4 http://packages.ros.org/ros2/ubuntu focal InRelease Get:5 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 Packages [12.5 kB] Hit:6 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease Hit:7 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease Fetched 14.9 kB in 1s (18.4 kB/s) Reading package lists... Done eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ sudo apt-get install librealsense2-utils [sudo] password for eepp: Reading package lists... Done Building dependency tree Reading state information... Done E: Unable to locate package librealsense2-utils eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u Get:1 https://librealsense.intel.com/Debian/apt-repo focal InRelease [2,400 B] Hit:2 http://security.ubuntu.com/ubuntu focal-security InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu focal InRelease Hit:4 http://packages.ros.org/ros2/ubuntu focal InRelease Get:5 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 Packages [12.5 kB] Hit:6 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease Hit:7 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease Fetched 14.9 kB in 1s (18.4 kB/s) Reading package lists... Done eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ sudo apt-get install librealsense2-utils Reading package lists... Done Building dependency tree Reading state information... Done The following packages were automatically installed and are no longer required: adium-theme-ubuntu command-not-found-data cython cython3 dh-python diffstat enchant example-content fwupdate g++-7 geoip-database gir1.2-gtksource-3.0 gir1.2-mutter-2 gnome-software-common gnome-user-guide guile-2.0-libs ifupdown intltool-debian iputils-arping libappstream-glib8 libapt-pkg-perl libarchive-zip-perl libargon2-0 libarmadillo8 libart-2.0-2 libasync-mergepoint-perl libavcodec57 libavformat57 libavresample3 libavutil55 libb-hooks-endofscope-perl libb-hooks-op-check-perl libbind9-160 libboost-atomic1.65.1 libboost-container1.65.1 libboost-context1.65.1 libboost-coroutine1.65.1 libboost-date-time1.65.1 libboost-fiber1.65.1 libboost-graph-parallel1.65.1 libboost-graph1.65.1 libboost-locale1.65.1 libboost-log1.65.1 libboost-math1.65.1 libboost-mpi1.65.1 libboost-numpy1.65.1 libboost-program-options1.65.1 libboost-python1.65.1 libboost-random1.65.1 libboost-regex1.65.1 libboost-serialization1.65.1 libboost-signals1.65.1 libboost-stacktrace1.65.1 libboost-test1.65.1 libboost-timer1.65.1 libboost-type-erasure1.65.1 libboost-wave1.65.1 libbrlapi0.6 libbullet2.87 libcamel-1.2-61 libcapture-tiny-perl libcdio17 libcgi-pm-perl libclass-accessor-perl libclass-method-modifiers-perl libclass-xsaccessor-perl libclone-perl libcpanel-json-xs-perl libcrystalhd3 libdevel-callchecker-perl libdevel-size-perl libdigest-bubblebabble-perl libdns-export1100 libdns1100 libdouble-conversion1 libdrm-dev libdynaloader-functions-perl libebook-contacts-1.2-2 libecal-1.2-19 libedataserver-1.2-23 libegl1-mesa libemail-valid-perl libenchant1c2a libevent-2.1-6 libexempi3 libexiv2-14 libexporter-tiny-perl libffi6 libfile-copy-recursive-perl libfile-find-rule-perl libfont-ttf-perl libfuture-perl libgail-3-0 libgdbm5 libgeoip1 libgeos-3.6.2 libgeotiff2 libgfortran4 libglew-dev libglew2.1 libglvnd-core-dev libgmime-3.0-0 libgnome-desktop-3-17 libgraphblas1 libgtksourceview-3.0-1 libgtksourceview-3.0-common libgutenprint-common libgutenprint2 libgutenprint9 libgweather-3-15 libhogweed4 libhunspell-1.6-0 libhwloc5 libicu-le-hb0 libicu60 libiculx60 libignition-cmake-dev libignition-common libignition-fuel-tools1-1 libignition-math4 libignition-math4-dev libignition-msgs libignition-msgs-dev libimport-into-perl libindicator3-7 libio-async-loop-epoll-perl libio-async-perl libio-pty-perl libio-string-perl libip4tc0 libip6tc0 libipc-run-perl libiptc0 libirs160 libisc-export169 libisc169 libisccc160 libisccfg160 libjson-c3 libjson-maybexs-perl liblinux-epoll-perl liblist-compare-perl liblist-moreutils-perl liblockfile-bin liblockfile1 liblouis14 liblouisutdml8 liblwres160 libmagickcore-6.q16-3 libmagickcore-6.q16-3-extra libmagickwand-6.q16-3 libminiupnpc10 libmodule-implementation-perl libmodule-runtime-perl libmoo-perl libmoox-aliases-perl libmozjs-52-0 libmutter-2-0 libmypaint-1.3-0 libmysofa0 libnamespace-clean-perl libnet-dns-perl libnet-dns-sec-perl libnet-domain-tld-perl libnet-ip-perl libnettle6 libnss-myhostname libntfs-3g88 libnumber-compare-perl liboauth0 libopenmpi2 liborcus-0.13-0 libpackage-stash-perl libpackage-stash-xs-perl libparams-classify-perl libparse-debianchangelog-perl libpath-tiny-perl libpcl-features1.10 libpcl-filters1.10 libpcl-kdtree1.10 libpcl-keypoints1.10 libpcl-ml1.10 libpcl-octree1.10 libpcl-outofcore1.10 libpcl-people1.10 libpcl-registration1.10 libpcl-sample-consensus1.10 libpcl-search1.10 libpcl-segmentation1.10 libpcl-stereo1.10 libpcl-tracking1.10 libperl4-corelibs-perl libperl5.26 libperlio-gzip-perl libplymouth4 libpoppler73 libpostproc54 libproj12 libprotobuf-lite10 libprotobuf10 libprotoc10 libpython-all-dev libpython3.6-minimal libqpdf21 libqt5x11extras5 libqwt-headers libreadonly-perl libref-util-perl libref-util-xs-perl libreoffice-avmedia-backend-gstreamer libreoffice-style-galaxy librole-tiny-perl libsane1 libsdformat6 libsdformat6-dev libsereal-decoder-perl libsereal-encoder-perl libsereal-perl libstrictures-perl libstruct-dumb-perl libsub-exporter-progressive-perl libsub-identify-perl libsub-quote-perl libswresample2 libswscale4 libtest-fatal-perl libtest-refcount-perl libtext-glob-perl libtext-levenshtein-perl libtiff5-dev libtinfo-dev libtype-tiny-perl libtype-tiny-xs-perl libunicode-utf8-perl libusbmuxd4 libvariable-magic-perl libvpx5 libx11-xcb-dev libx264-152 libx265-146 libxapian30 libxcb-dri2-0-dev libxcb-dri3-dev libxcb-glx0-dev libxcb-present-dev libxcb-randr0-dev libxcb-shape0-dev libxcb-sync-dev libxcb-xfixes0-dev libxml-simple-perl libxml-writer-perl libxshmfence-dev libyaml-libyaml-perl libzeitgeist-2.0-0 libzip4 light-themes lintian linux-generic-hwe-18.04 linux-headers-generic-hwe-18.04 linux-image-generic-hwe-18.04 mesa-common-dev multiarch-support nplan patchutils pppconfig pppoeconf printer-driver-gutenprint python-all python-all-dev python-asn1crypto python-attr python-automat python-cbor python-cffi-backend python-click python-colorama python-concurrent.futures python-configparser python-constantly python-crypto python-cryptography python-dbus python-entrypoints python-enum34 python-gi python-hyperlink python-idna python-ipaddress python-keyring python-lz4 python-mpi4py python-nacl python-openssl python-pam python-pyasn1 python-pyasn1-modules python-qrcode python-secretstorage python-serial python-service-identity python-snappy python-talloc python-trie python-trollius python-twisted-bin python-u-msgpack python-ubjson python-wheel python-wsaccel python-xdg python-zope.interface python3-asn1crypto python3-automat python3-cbor python3-constantly python3-hamcrest python3-hyperlink python3-incremental python3-lz4 python3-mpi4py python3-oauth python3-png python3-pyasn1 python3-pyasn1-modules python3-service-identity python3-snappy python3-twisted python3-twisted-bin python3-txaio python3-u-msgpack python3-ubjson python3-wsaccel python3-zope.interface python3.6-minimal qpdf sdformat-sdf t1utils tcl-dev tcl8.6-dev tk-dev tk8.6-dev ubuntu-artwork ubuntu-system-service x11proto-damage-dev x11proto-fixes-dev xserver-xorg-core-hwe-18.04 xserver-xorg-hwe-18.04 xserver-xorg-input-all-hwe-18.04 xserver-xorg-input-libinput-hwe-18.04 xserver-xorg-input-wacom-hwe-18.04 xserver-xorg-legacy-hwe-18.04 xserver-xorg-video-all-hwe-18.04 xserver-xorg-video-amdgpu-hwe-18.04 xserver-xorg-video-ati-hwe-18.04 xserver-xorg-video-fbdev-hwe-18.04 xserver-xorg-video-intel-hwe-18.04 xserver-xorg-video-nouveau-hwe-18.04 xserver-xorg-video-qxl-hwe-18.04 xserver-xorg-video-radeon-hwe-18.04 xserver-xorg-video-vesa-hwe-18.04 xserver-xorg-video-vmware-hwe-18.04 zeitgeist-core Use 'sudo apt autoremove' to remove them. The following additional packages will be installed: at libfl2 librealsense2 librealsense2-gl librealsense2-net librealsense2-udev-rules Suggested packages: default-mta | mail-transport-agent The following NEW packages will be installed: at libfl2 librealsense2 librealsense2-gl librealsense2-net librealsense2-udev-rules librealsense2-utils 0 upgraded, 7 newly installed, 0 to remove and 449 not upgraded. Need to get 22.3 MB of archives. After this operation, 56.2 MB of additional disk space will be used. Do you want to continue? [Y/n] Y Get:1 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2 amd64 2.45.0-0~realsense0.4552 [9,461 kB] Get:2 http://us.archive.ubuntu.com/ubuntu focal/main amd64 libfl2 amd64 2.6.4-6.2 [11.5 kB] Get:3 http://us.archive.ubuntu.com/ubuntu focal/main amd64 at amd64 3.1.23-1ubuntu1 [38.7 kB] Get:4 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-gl amd64 2.45.0-0~realsense0.4552 [1,419 kB] Get:5 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-net amd64 2.45.0-0~realsense0.4552 [813 kB] Get:6 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-udev-rules amd64 2.45.0-0~realsense0.4552 [7,442 B] Get:7 https://librealsense.intel.com/Debian/apt-repo focal/main amd64 librealsense2-utils amd64 2.45.0-0~realsense0.4552 [10.6 MB] Fetched 22.3 MB in 3s (7,754 kB/s) Selecting previously unselected package libfl2:amd64. (Reading database ... 308623 files and directories currently installed.) Preparing to unpack .../0-libfl2_2.6.4-6.2_amd64.deb ... Unpacking libfl2:amd64 (2.6.4-6.2) ... Selecting previously unselected package at. Preparing to unpack .../1-at_3.1.23-1ubuntu1_amd64.deb ... Unpacking at (3.1.23-1ubuntu1) ... Selecting previously unselected package librealsense2:amd64. Preparing to unpack .../2-librealsense2_2.45.0-0~realsense0.4552_amd64.deb ... Unpacking librealsense2:amd64 (2.45.0-0~realsense0.4552) ... Selecting previously unselected package librealsense2-gl:amd64. Preparing to unpack .../3-librealsense2-gl_2.45.0-0~realsense0.4552_amd64.deb ... Unpacking librealsense2-gl:amd64 (2.45.0-0~realsense0.4552) ... Selecting previously unselected package librealsense2-net:amd64. Preparing to unpack .../4-librealsense2-net_2.45.0-0~realsense0.4552_amd64.deb ... Unpacking librealsense2-net:amd64 (2.45.0-0~realsense0.4552) ... Selecting previously unselected package librealsense2-udev-rules:amd64. Preparing to unpack .../5-librealsense2-udev-rules_2.45.0-0~realsense0.4552_amd64.deb ... Unpacking librealsense2-udev-rules:amd64 (2.45.0-0~realsense0.4552) ... Selecting previously unselected package librealsense2-utils:amd64. Preparing to unpack .../6-librealsense2-utils_2.45.0-0~realsense0.4552_amd64.deb ... Unpacking librealsense2-utils:amd64 (2.45.0-0~realsense0.4552) ... Setting up librealsense2:amd64 (2.45.0-0~realsense0.4552) ... Setting up libfl2:amd64 (2.6.4-6.2) ... Setting up librealsense2-gl:amd64 (2.45.0-0~realsense0.4552) ... Setting up librealsense2-net:amd64 (2.45.0-0~realsense0.4552) ... Setting up at (3.1.23-1ubuntu1) ... Created symlink /etc/systemd/system/multi-user.target.wants/atd.service → /lib/systemd/system/atd.service. Setting up librealsense2-udev-rules:amd64 (2.45.0-0~realsense0.4552) ... Setting up librealsense2-utils:amd64 (2.45.0-0~realsense0.4552) ... Processing triggers for ureadahead (0.100.0-21) ... ureadahead will be reprofiled on next reboot Processing triggers for libc-bin (2.31-0ubuntu9.2) ... Processing triggers for systemd (245.4-4ubuntu3.4) ... Processing triggers for man-db (2.9.1-1) ... -- adding keys and repository searches allows more information eepp@hood:~$ apt list --installed | grep librealsense WARNING: apt does not have a stable CLI interface. Use with caution in scripts. librealsense2-gl/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-net/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-udev-rules/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-utils/focal,now 2.45.0-0~realsense0.4552 amd64 [installed] librealsense2/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] ros-foxy-librealsense2/focal,now 2.42.0-1focal.20210422.235523 amd64 [installed] eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ eepp@hood:~$ apt list | grep librealsense WARNING: apt does not have a stable CLI interface. Use with caution in scripts. librealsense2-dbg/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-dev/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-dkms/focal 1.3.17-0ubuntu1 all librealsense2-gl-dbg/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-gl-dev/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-gl/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-net-dbg/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-net-dev/focal 2.45.0-0~realsense0.4552 amd64 librealsense2-net/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-udev-rules/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] librealsense2-utils/focal,now 2.45.0-0~realsense0.4552 amd64 [installed] librealsense2/focal,now 2.45.0-0~realsense0.4552 amd64 [installed,automatic] ros-foxy-librealsense2-dbgsym/focal 2.42.0-1focal.20210422.235523 amd64 ros-foxy-librealsense2/focal,now 2.42.0-1focal.20210422.235523 amd64 [installed] eepp@hood:~$ epp@hood:image_ws$ eepp@hood:image_ws$ su passwd root su: user passwd does not exist eepp@hood:image_ws$ sudo passwd root New password: Retype new password: passwd: password updated successfully eepp@hood:image_ws$ eepp@hood:image_ws$ eepp@hood:image_ws$ su Password: root@hood:/home/eepp/image_ws# root@hood:/home/eepp/image_ws# root@hood:/home/eepp/image_ws# source /opt/ros/foxy/setup.bash root@hood:/home/eepp/image_ws# source /home/eepp/image_ws/install/local_setup.bash root@hood:/home/eepp/image_ws# ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_examples/config/d435.yaml __ns:=/d435 [WARN] [1621102641.604729090] [rcl]: Found remap rule '__ns:=/d435'. This syntax is deprecated. Use '--ros-args --remap __ns:=/d435' instead. [INFO] [1621102641.633608211] [d435.camera]: Device's serial number is not set, enabling the default device! [INFO] [1621102641.875625351] [d435.camera]: Device with serial number 935322071334 was found. [INFO] [1621102641.875735099] [d435.camera]: Create a node for D4X5 Camera terminal 2 root@hood:/home/eepp/image_ws# ps -aux | grep realsense eepp 2549 0.2 0.4 732164 70368 pts/2 Sl 13:29 0:09 emacs notes21/librealsense220210515.txt root 10788 0.0 0.1 27500 19000 pts/0 S+ 14:17 0:00 /usr/bin/python3 /opt/ros/foxy/bin/ros2 run realsense_node realsense_node __params:=/home/eepp/image_ws/install/realsense_examples/share/realsense_examples/config/d435.yaml __ns:=/d435 root 10789 14.3 0.4 1934920 75288 pts/0 Sl+ 14:17 1:24 /home/eepp/image_ws/install/realsense_node/lib/realsense_node/realsense_node __params:=/home/eepp/image_ws/install/realsense_examples/share/realsense_examples/config/d435.yaml __ns:=/d435 root 11235 0.0 0.0 9344 736 pts/1 S+ 14:27 0:00 grep --color=auto realsense
