Difference between revisions of "TB3 RealSense Test"

Latest revision as of 14:03, 8 August 2018

D200 ROS Installation from TB3

Reference

• Overview
• ReaSensel Appendix

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

Added later: See TB3 ROS Moving Object

 $ sudo apt-get install ros-kinetic-realsense-camera

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

This is a 2.0.2 version.

Reference

• ROS Realsense Guide
• Distribution README

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

ZR300

Install

• realsense Link from Dave Shinsel for newer cameras (ZR300 and D400 series)

Step 1: Install the latest Intel® RealSense™ SDK 2.0

* [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages Install Realsense Package]

$ sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE
[sudo] password for eepp: 
Executing: /tmp/tmp.lTl62DOUjd/gpg.1.sh --keyserver
hkp://keys.gnupg.net:80
--recv-key
C8B3A55A6F3EFCDE
gpg: requesting key 6F3EFCDE from hkp server keys.gnupg.net
gpgkeys: key C8B3A55A6F3EFCDE can't be retrieved
gpg: no valid OpenPGP data found.
gpg: Total number processed: 0
gpg: keyserver communications error: keyserver helper general error
gpg: keyserver communications error: unknown pubkey algorithm
gpg: keyserver receive failed: unknown pubkey algorithm


$ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
AppStream cache update completed, but some metadata was ignored due to errors.



$ sudo rm -f /etc/apt/sources.list.d/realsense-public.list




$ sudo apt-get update
Hit:1 http://us.archive.ubuntu.com/ubuntu xenial InRelease
Get:2 http://packages.ros.org/ros/ubuntu xenial InRelease [4,040 B]            
Hit:3 http://us.archive.ubuntu.com/ubuntu xenial-updates InRelease             
Hit:4 http://security.ubuntu.com/ubuntu xenial-security InRelease              
Hit:5 http://us.archive.ubuntu.com/ubuntu xenial-backports InRelease           
Ign:6 http://realsense-alm-public.s3.amazonaws.com/apt-repo xenial InRelease   
Get:7 http://packages.ros.org/ros/ubuntu xenial/main amd64 Packages [652 kB]   
Hit:8 http://realsense-alm-public.s3.amazonaws.com/apt-repo xenial Release     
Get:10 http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial InRelease [3,163 B]
Ign:10 http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial InRelease
Fetched 659 kB in 1s (447 kB/s)
Reading package lists... Done
W: GPG error: http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY C8B3A55A6F3EFCDE
W: The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial InRelease' is not signed.
N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
N: See apt-secure(8) manpage for repository creation and user configuration details.




$ sudo apt-get install librealsense2-dkms
Reading package lists... Done
Building dependency tree       
Reading state information... Done
You might want to run 'apt-get -f install' to correct these:
The following packages have unmet dependencies:
 libopencv-dev : Depends: libopencv3.1-java (= 3.1.0+dfsg-1~realsense4.18) but it is not going to be installed
E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).





$ sudo apt-get -f install
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Correcting dependencies... Done
The following additional packages will be installed:
  libopencv3.1-java
The following NEW packages will be installed:
  libopencv3.1-java
0 upgraded, 1 newly installed, 0 to remove and 281 not upgraded.
1 not fully installed or removed.
Need to get 0 B/308 kB of archives.
After this operation, 340 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
(Reading database ... 419336 files and directories currently installed.)
Preparing to unpack .../libopencv3.1-java_3.1.0+dfsg-1~realsense4.18_all.deb ...
Unpacking libopencv3.1-java (3.1.0+dfsg-1~realsense4.18) ...
dpkg: error processing archive /var/cache/apt/archives/libopencv3.1-java_3.1.0+dfsg-1~realsense4.18_all.deb (--unpack):
 trying to overwrite '/usr/share/java/opencv.jar', which is also in package libopencv2.4-java 2.4.9.1+dfsg-1.5ubuntu1
Errors were encountered while processing:
 /var/cache/apt/archives/libopencv3.1-java_3.1.0+dfsg-1~realsense4.18_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

ok - libopencv must be fixed first.