Difference between revisions of "TB3 RealSense Test"
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| − | = Reference = | + | = TB3 ROS Installation = |
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| + | == Reference == | ||
* [http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Overview] | * [http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Overview] | ||
* [http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_realsense/ ReaSensel Appendix] | * [http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_realsense/ ReaSensel Appendix] | ||
| − | = Install and Build = | + | == Install and Build == |
Check if Phyton 2's cv2.so is available. See [[TB3_Movidius_Applications#Fix]]. The librealsense will fail if the Movidius fix is in place. | Check if Phyton 2's cv2.so is available. See [[TB3_Movidius_Applications#Fix]]. The librealsense will fail if the Movidius fix is in place. | ||
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362 catkin_make -j2 | 362 catkin_make -j2 | ||
| − | = Run RealSense node = | + | == Run RealSense node == |
| − | == On Joule == | + | === On Joule === |
<b>** Fails **</b> | <b>** Fails **</b> | ||
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^C[camera/nodelet_manager-1] killing on exit | ^C[camera/nodelet_manager-1] killing on exit | ||
| − | == On Dell == | + | === On Dell === |
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<b> Succeeds </b> | <b> Succeeds </b> | ||
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* "/camera/depth/image_raw" and adjust the threshold for a depth image | * "/camera/depth/image_raw" and adjust the threshold for a depth image | ||
| − | = Status = | + | == Status == |
* Fails on Joule | * Fails on Joule | ||
* Runs on Dell | * Runs on Dell | ||
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| + | = USB Dev on Dell = | ||
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| + | video0 is the internal camera. video1, 2, and 3 belong to RealSense. See below when it RealSense in plugged in | ||
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| + | $ ll /dev/video* | ||
| + | crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0 | ||
| + | |||
| + | $ ll /dev/video* | ||
| + | crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0 | ||
| + | crw-rw----+ 1 root plugdev 81, 1 Jun 23 18:47 /dev/video1 | ||
| + | crw-rw----+ 1 root plugdev 81, 2 Jun 23 18:47 /dev/video2 | ||
| + | crw-rw----+ 1 root plugdev 81, 3 Jun 23 18:47 /dev/video3 | ||
| + | |||
| + | * video0: Dell laptop built-in camera | ||
| + | * video1: RealSense IR camera? | ||
| + | * video2: RealSense Depth camera? | ||
| + | * video3: RealSense Color Image camera | ||
Revision as of 10:10, 26 June 2018
Contents
TB3 ROS Installation
Reference
Install and Build
Check if Phyton 2's cv2.so is available. See TB3_Movidius_Applications#Fix. The librealsense will fail if the Movidius fix is in place.
353 sudo apt-get install linux-headers-generic 354 sudo apt-get install ros-kinetic-librealsense
356 cd ~/catkin_ws/src 357 git clone https://github.com/intel-ros/realsense.git 358 ls 359 cd realsense 360 git checkout 1.8.0 361 cd ../.. 362 catkin_make -j2
Run RealSense node
On Joule
** Fails **
roslaunch realsense_camera r200_nodelet_default.launch ROS_MASTER_URI=http://10.0.0.157:11311 process[camera/nodelet_manager-1]: started with pid [3347] process[camera/driver-2]: started with pid [3348] [ERROR] [1520401984.426480445]: Skipped loading plugin with error: XML Document '/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing.. [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager' [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads. [camera/driver-2] process has died [pid 3348, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/R200Nodelet nodelet_manager depth:=depth color:=color ir:=ir ir2:=ir2 fisheye:=fisheye imu:=imu __name:=driver __log:=/home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2.log]. log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log ^C[camera/nodelet_manager-1] killing on exit
On Dell
Succeeds
Terminal 1
roslaunch realsense_camera r200_nodelet_default.launch
Terminal 2
rqt_image_view
In the Image View drop box select
- "/camera/color/image_raw" for a raw image
- "/camera/depth/image_raw" and adjust the threshold for a depth image
Status
- Fails on Joule
- Runs on Dell
USB Dev on Dell
video0 is the internal camera. video1, 2, and 3 belong to RealSense. See below when it RealSense in plugged in
$ ll /dev/video*
crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0
$ ll /dev/video*
crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0
crw-rw----+ 1 root plugdev 81, 1 Jun 23 18:47 /dev/video1
crw-rw----+ 1 root plugdev 81, 2 Jun 23 18:47 /dev/video2
crw-rw----+ 1 root plugdev 81, 3 Jun 23 18:47 /dev/video3
- video0: Dell laptop built-in camera
- video1: RealSense IR camera?
- video2: RealSense Depth camera?
- video3: RealSense Color Image camera
