Difference between revisions of "TB3 RealSense Test"
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===Reference === | ===Reference === | ||
| + | * [https://github.com/intel-ros/realsense ROS Realsense Guide] | ||
* [https://github.com/IntelRealSense/librealsense/blob/v2.9.1/doc/distribution_linux.md Distribution README] | * [https://github.com/IntelRealSense/librealsense/blob/v2.9.1/doc/distribution_linux.md Distribution README] | ||
Revision as of 11:20, 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
Note To Resolve: These steps are from the TB3 build e-manual referenced above. They are the same as in the ROS Intel Movidius README reference in the Linux Distribution above except for the checkout version number (2.0.2).
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
Linux Distribution
Reference
How I got to the above link
- Intel ROS Project Started at this link and went to ROS Intel Movidius NCS link in Section 3 (Packages)
- ROS Intel Movidius NCS The last bullet Install from Source Code (Recommended) in Section 3 (Environment Setup) took me to the next link.
- Installation
Note To Resolve I stopped here for now. The TB3 installation is currently working with an older version (See above). I'll wait to see if this gets me in trouble.
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
