Difference between revisions of "Intel RealSense Foxy 20210511"

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(→‎Install ros2_intel_realsense From Source - Better)
(→‎Other RealSense Images)
 
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* [https://github.com/intel/ros2_intel_realsense Intel RealSense Dashing Release]
 
* [https://github.com/intel/ros2_intel_realsense Intel RealSense Dashing Release]
 
* [https://index.ros.org/r/ros2_intel_realsense/#foxy ROS org RealSense Foxy Release]
 
* [https://index.ros.org/r/ros2_intel_realsense/#foxy ROS org RealSense Foxy Release]
−
* [https://github.com/IntelRealSense/librealsense/tree/master/tools/enumerate-devices rs-enumerate-devices tool repository]
+
* [[TB3 Install ROS RealSense 2]]: Notes from my February 2019 install Sisters (Dell laptop)
  
 
== Information About All Things RealSense ==
 
== Information About All Things RealSense ==
Line 61: Line 61:
 
* libglfw3-dev
 
* libglfw3-dev
  
−
== Install RealSense Utilities ==
+
== Install ros2_intel_realsense From Source - Success ==
−
 
+
−
* [[Intel RealSense D435 lsusb 20210515]]
+
−
* [[Intel RealSense D435 Enumerate Devices 20210515]]
+
−
 
+
−
== Install ros2_intel_realsense Binary Packages - failed ==
+
−
 
+
−
It could not locate the following packages.
+
−
 
+
−
* ros-foxy-realsense-camera-msgs
+
−
* ros-foxy-realsense-ros2-camera
+
−
 
+
−
So I move to the source process.
+
−
 
+
−
== Install ros2_intel_realsense from Source - Failed ==
+
−
 
+
−
  $ cd image_ws/src/
+
−
+
−
  $ git clone https://github.com/intel/ros2_intel_realsense.git
+
−
        Cloning into 'ros2_intel_realsense'...
+
−
        remote: Enumerating objects: 961, done.
+
−
        remote: Total 961 (delta 0), reused 0 (delta 0), pack-reused 961
+
−
        Receiving objects: 100% (961/961), 1.08 MiB | 7.80 MiB/s, done.
+
−
        Resolving deltas: 100% (567/567), done.
+
−
 
+
−
  $ ls
+
−
        image_pipeline  ros2_intel_realsense
+
−
 
+
−
The image_pipeline did not compile cleanly. So to avoid getting error messages from its packages that did not compile, disable compiling it.
+
−
 
+
−
  $ cd image_pipeline/
+
−
+
−
  $ cp ~/eepp_ws/src/image_listener/CATKIN_IGNORE .
+
−
+
−
  $ cd ..
+
−
+
−
  $ cd ..
+
−
 
+
−
  $ colcon build --symlink-install --parallel-workers 1
+
−
        ...
+
−
        ...
+
−
 
+
−
These are the results for each package
+
−
 
+
−
* Success: realsense_camera_msgs
+
−
* Failed: realsense_ros2_camera - It could not find some of the stuff for librealsense2 which compiled fine above. Not sure what to do.
+
−
 
+
−
== Install ros2_intel_realsense From Source - Better ==
+
  
 
Moved to the following instructions on the ROS org repository site which changed the source compile for Foxy
 
Moved to the following instructions on the ROS org repository site which changed the source compile for Foxy
Line 145: Line 98:
 
         Summary: 4 packages finished [2.04s]
 
         Summary: 4 packages finished [2.04s]
  
−
=== TBD ===
+
= Configure =
  
−
* What is causing the realsense_node compile error
+
== USB Info ==
−
* How to install the tools: in particular rs-enumerate-devices from ROS org's Usage Instructions
+
 
−
** [[TB3 Install ROS RealSense 2]]
+
  $ lsusb
−
* Why didn't the realsense_node binary get installed in the image_ws/install directory
+
        Bus 001 Device 002: ID 8087:8000 Intel Corp.
 +
        Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
 +
        Bus 003 Device 003: ID 8086:0b07 Intel Corp. Intel(R) RealSense(TM) Depth Camera 435
 +
        Bus 003 Device 002: ID 05e3:0617 Genesys Logic, Inc. USB3.0 Hub
 +
        Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
 +
        Bus 002 Device 008: ID 8087:07dc Intel Corp.
 +
        Bus 002 Device 005: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
 +
        Bus 002 Device 003: ID 0483:5740 STMicroelectronics Virtual COM Port
 +
        Bus 002 Device 006: ID 413c:3200 Dell Computer Corp. Mouse
 +
        Bus 002 Device 004: ID f617:0905 Silicon Labs CP2102 USB to UART Bridge Controller
 +
        Bus 002 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
 +
        Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
 +
 +
  $ lsusb -s 3:3 -v
 +
 +
        Bus 003 Device 003: ID 8086:0b07 Intel Corp. Intel(R) RealSense(TM) Depth Camera 435
 +
        Couldn't open device, some information will be missing
 +
        ...
 +
        ...
 +
 
 +
* [[Intel RealSense D435 lsusb 20210515]]: the complete listing
 +
* Just curious: no action taken.
 +
 
 +
== Setting udev Rules ==
 +
 
 +
librealsense2-udev-rules found here referenced in the Installing the Packages section
 +
* [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md librealsense Linux Distribution]
 +
 
 +
  $ sudo cp /lib/udev/rules.d/60-librealsense2-udev-rules.rules /etc/udev/rules.d/
 +
        [sudo] password for eepp:
 +
 
 +
== Configure with the Camera's Serial Number ==
 +
 
 +
* [[Intel RealSense Utilities Ubuntu 20.04 Focal 20210518]]: Install Instructions
 +
 
 +
  $ rs-enumerate-devices
 +
      Device info:
 +
          Name                          : Intel RealSense D435
 +
          Serial Number                : 935322071334
 +
          Firmware Version              : 05.11.01.100
 +
          Recommended Firmware Version  : 05.12.13.50
 +
          ...
 +
 
 +
* Notice the Serial Number
 +
* [[Intel RealSense D435 Enumerate Devices 20210515]]: the complete listing of my D435.
 +
* Now modify the d435.yaml file with the correct serial number
 +
 
 +
  $ cd ~/image_ws/src/ros2_intel_realsense/realsense_examples/config
 +
 +
  $ cp d435.yaml d435.yaml.org
 +
 +
  $ emacs d435.yaml&
 +
 +
  $ diff d435.yaml d435.yaml.org
 +
        4c4
 +
        <      serial_no: 935322071334 # d435
 +
        ---
 +
        >      serial_no: 819312071869 # d435
 +
 
 +
* [[Turtlebot Waffle NUC D435.yaml 20210514]] new listing for the D435.yaml file
  
 
= Execution =
 
= Execution =
  
−
== TBD ==
+
== Publishing Realsense ==
 +
 
 +
'''Plug in D435'''
 +
 
 +
'''TERMINAL 1'''
 +
 
 +
  $ source image_ws/install/local_setup.bash
 +
 +
  $ ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/d435.yaml __ns:=/d435
 +
        [WARN] [1621277685.022811473] [rcl]: Found remap rule '__ns:=/d435'. This syntax is deprecated. Use '--ros-args --remap __ns:=/d435' instead.
 +
        [INFO] [1621277685.065798831] [d435.camera]: Device's serial number is not set, enabling the default device!
 +
        [INFO] [1621277685.299402714] [d435.camera]: Device with serial number 935322071334 was found.
 +
        [INFO] [1621277685.299500802] [d435.camera]: Create a node for D4X5 Camera
 +
 
 +
=== Display Color Raw Image ===
 +
 
 +
'''TERMINAL 2'''
 +
 
 +
  $ ros2 topic list
 +
        /d435/camera/aligned_depth_to_color/camera_info
 +
        /d435/camera/aligned_depth_to_color/image_raw
 +
        /d435/camera/color/camera_info
 +
        /d435/camera/color/image_raw
 +
        /d435/camera/depth/camera_info
 +
        /d435/camera/depth/image_rect_raw
 +
        /d435/camera/infra1/camera_info
 +
        /d435/camera/infra1/image_rect_raw
 +
        /d435/camera/infra2/camera_info
 +
        /d435/camera/infra2/image_rect_raw
 +
        /d435/camera/pointcloud
 +
        /parameter_events
 +
        /rosout
 +
        /tf_static
 +
 +
  eepp@hood:~$ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/color/image_raw
 +
        ^C[INFO] [1621356720.889545172] [rclcpp]: signal_handler(signal_value=2)
 +
 
 +
/d435/camera/color/image_raw is RGB. opencv_ros2sub tells opencv that it is BGR.
 +
 
 +
[[File: opencv_rossub_colorimageraw.png | 400px]]
 +
 
 +
'''TERMINAL 3'''
 +
 
 +
$ ros2 topic echo d435/camera/color/image_raw
 +
      ---
 +
      header:
 +
        stamp:
 +
          sec: 1621719587
 +
          nanosec: 920183274
 +
        frame_id: camera_color_optical_frame
 +
      height: 480
 +
      width: 640
 +
      encoding: rgb8
 +
      is_bigendian: 0
 +
        step: 1920
 +
        data:
 +
        - 170
 +
        - 178
 +
        ...
 +
 
 +
=== Other RealSense Images ===
 +
 
 +
'''TBD''': modify opencv_rossub to handle other images and fix the one above
 +
 
 +
  $ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/depth/image_rect_raw
 +
        terminate called after throwing an instance of 'cv::Exception'
 +
          what():  OpenCV(4.2.0) ../modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<3, 4>; VDcn = cv::impl::{anonymous}::Set<3>; VDepth = cv::impl::{anonymous}::Set<0, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'
 +
        > Invalid number of channels in input image:
 +
        >    'VScn::contains(scn)'
 +
        > where
 +
        >    'scn' is 1
 +
 
 +
 
 +
  /d435/camera/aligned_depth_to_color/image_raw  16UC1
 +
  /d435/camera/color/image_raw                    rgb8
 +
  /d435/camera/depth/image_rect_raw              16UC1
 +
  /d435/camera/infra1/image_rect_raw              8UC1
 +
  /d435/camera/infra2/image_rect_raw              8UC1
 +
 
 +
== Using rbiz ==
 +
 
 +
'''TBD''' doesn't work
 +
 
 +
 
 +
 
 +
https://github.com/intel/ros2_intel_realsense
 +
 
 +
  eepp@hood:~$ ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz
 +
      [INFO] [1621280162.151564317] [rviz2]: Stereo is NOT SUPPORTED
 +
      [INFO] [1621280162.151725581] [rviz2]: OpenGl version: 3 (GLSL 1.3)
 +
      [INFO] [1621280162.182381340] [rviz2]: Stereo is NOT SUPPORTED
 +
  eepp@hood:~$ ros2 run realsense_ros2_camera realsense_ros2_camera
 +
      Package 'realsense_ros2_camera' not found
 +
 
 +
Doesn't help to do a turtlebot bringup first.
 +
 
 +
= Investigate =
 +
 
 +
'''TBD'''
 +
 
 +
  rqt_graph
  
 
= Notes and Logs =
 
= Notes and Logs =
  
−
* [[Turtlebot3 Willow NUC Foxy RealSense 20210513 Notes and Logs]]
+
* [[Turtlebot3 Waffle NUC Foxy RealSense 20210513 Notes and Logs]]
−
* [[Turtlebot3 Willow NUC Lib RealSense2 Utilities 20210515 Notes and Logs]]
+
* [[Turtlebot3 Waffle NUC RealSense2 Configure 20210514 Notes and Logs]]
 +
* [[Turtlebot3 Waffle NUC RealSense2 udev 20210517 Notes and Logs]]
 +
* [[Turtlebot3 Waffle NUC RealSense2 Use 20210518 Notes and Logs]]
 +
 
 +
= Depreciated =
 +
 
 +
== Install ros2_intel_realsense Binary Packages - failed ==
 +
 
 +
It could not locate the following packages.
 +
 
 +
* ros-foxy-realsense-camera-msgs
 +
* ros-foxy-realsense-ros2-camera
 +
 
 +
So I move to the source process.
 +
 
 +
== Install ros2_intel_realsense from Source - Failed ==
 +
 
 +
  $ cd image_ws/src/
 +
 +
  $ git clone https://github.com/intel/ros2_intel_realsense.git
 +
        Cloning into 'ros2_intel_realsense'...
 +
        remote: Enumerating objects: 961, done.
 +
        remote: Total 961 (delta 0), reused 0 (delta 0), pack-reused 961
 +
        Receiving objects: 100% (961/961), 1.08 MiB | 7.80 MiB/s, done.
 +
        Resolving deltas: 100% (567/567), done.
 +
 
 +
  $ ls
 +
        image_pipeline  ros2_intel_realsense
 +
 
 +
The image_pipeline did not compile cleanly. So to avoid getting error messages from its packages that did not compile, disable compiling it.
 +
 
 +
  $ cd image_pipeline/
 +
 +
  $ cp ~/eepp_ws/src/image_listener/CATKIN_IGNORE .
 +
 +
  $ cd ..
 +
 +
  $ cd ..
 +
 
 +
  $ colcon build --symlink-install --parallel-workers 1
 +
        ...
 +
        ...
 +
 
 +
These are the results for each package
 +
 
 +
* Success: realsense_camera_msgs
 +
* Failed: realsense_ros2_camera - It could not find some of the stuff for librealsense2 which compiled fine above. Not sure what to do.

Latest revision as of 17:52, 14 June 2021

References

Background

Repositories - Installation, Test, Demos

Information About All Things RealSense

Install

I adapted the following Dashing instructions below to Foxy.

Then I tried these Foxy instructions I found did the source install differently

Install ROS2 Dependences

sudo apt update

TBD: I didn't do an upgrade because that has sometimes broken things. This may be a mistake.

The following were already installed.

  • ros-foxy-cv-bridge
  • ros-foxy-message-filters
  • ros-foxy-image-transport

The following installed successfully.

  • rose-foxy-librealsense2

Install Other non-ROS Debian Packages

The following were already installed.

  • libssl-dev
  • libusb-1.0-0-dev
  • pkg-config
  • libgl1-mesa-dev
  • libglu1-mesa-dev

The following were installed successfully

  • libgtk-3-dev
  • libglfw3-dev

Install ros2_intel_realsense From Source - Success

Moved to the following instructions on the ROS org repository site which changed the source compile for Foxy 

 $ cd src/

 $ ls
       image_pipeline  ros2_intel_realsense

 $ cd ros2_intel_realsense/

 $ git checkout refactor
       Branch 'refactor' set up to track remote branch 'refactor' from 'origin'.
       Switched to a new branch 'refactor'

 $ ls
       CHANGELOG.rst  README.md           realsense_msgs  realsense_ros
       LICENSE        realsense_examples  realsense_node

 $ cd ../..

 $ source install/local_setup.bash 

 $ colcon build --symlink-install --parallel-workers 1
       Starting >>> realsense_msgs
       Finished <<< realsense_msgs [0.85s]                     
       Starting >>> realsense_ros
       Finished <<< realsense_ros [0.43s]                     
       Starting >>> realsense_node
       Finished <<< realsense_node [0.28s]                     
       Starting >>> realsense_examples
       Finished <<< realsense_examples [0.22s]                  

       Summary: 4 packages finished [2.04s]

Configure

USB Info

 $ lsusb
       Bus 001 Device 002: ID 8087:8000 Intel Corp. 
       Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
       Bus 003 Device 003: ID 8086:0b07 Intel Corp. Intel(R) RealSense(TM) Depth Camera 435 
       Bus 003 Device 002: ID 05e3:0617 Genesys Logic, Inc. USB3.0 Hub
       Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
       Bus 002 Device 008: ID 8087:07dc Intel Corp. 
       Bus 002 Device 005: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
       Bus 002 Device 003: ID 0483:5740 STMicroelectronics Virtual COM Port
       Bus 002 Device 006: ID 413c:3200 Dell Computer Corp. Mouse
       Bus 002 Device 004: ID f617:0905 Silicon Labs CP2102 USB to UART Bridge Controller
       Bus 002 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
       Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

 $ lsusb -s 3:3 -v

       Bus 003 Device 003: ID 8086:0b07 Intel Corp. Intel(R) RealSense(TM) Depth Camera 435 
       Couldn't open device, some information will be missing
       ...
       ...

Setting udev Rules

librealsense2-udev-rules found here referenced in the Installing the Packages section 

 $ sudo cp /lib/udev/rules.d/60-librealsense2-udev-rules.rules /etc/udev/rules.d/
       [sudo] password for eepp:

Configure with the Camera's Serial Number

 $ rs-enumerate-devices
     Device info: 
         Name                          : 	Intel RealSense D435
         Serial Number                 : 	935322071334
         Firmware Version              : 	05.11.01.100
         Recommended Firmware Version  : 	05.12.13.50
         ...

 $ cd ~/image_ws/src/ros2_intel_realsense/realsense_examples/config

 $ cp d435.yaml d435.yaml.org

 $ emacs d435.yaml&

 $ diff d435.yaml d435.yaml.org 
       4c4
       <       serial_no: 935322071334 # d435
       ---
       >       serial_no: 819312071869 # d435

Execution

Publishing Realsense

Plug in D435

TERMINAL 1 

 $ source image_ws/install/local_setup.bash 

 $ ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/d435.yaml __ns:=/d435
       [WARN] [1621277685.022811473] [rcl]: Found remap rule '__ns:=/d435'. This syntax is deprecated. Use '--ros-args --remap __ns:=/d435' instead.
       [INFO] [1621277685.065798831] [d435.camera]: Device's serial number is not set, enabling the default device!
       [INFO] [1621277685.299402714] [d435.camera]: Device with serial number 935322071334 was found.
       [INFO] [1621277685.299500802] [d435.camera]: Create a node for D4X5 Camera

Display Color Raw Image

TERMINAL 2 

 $ ros2 topic list
       /d435/camera/aligned_depth_to_color/camera_info
       /d435/camera/aligned_depth_to_color/image_raw
       /d435/camera/color/camera_info
       /d435/camera/color/image_raw
       /d435/camera/depth/camera_info
       /d435/camera/depth/image_rect_raw
       /d435/camera/infra1/camera_info
       /d435/camera/infra1/image_rect_raw
       /d435/camera/infra2/camera_info
       /d435/camera/infra2/image_rect_raw
       /d435/camera/pointcloud
       /parameter_events
       /rosout
       /tf_static

 eepp@hood:~$ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/color/image_raw
       ^C[INFO] [1621356720.889545172] [rclcpp]: signal_handler(signal_value=2)

/d435/camera/color/image_raw is RGB. opencv_ros2sub tells opencv that it is BGR.

Opencv rossub colorimageraw.png

TERMINAL 3 

$ ros2 topic echo d435/camera/color/image_raw
     ---
     header:
       stamp:
         sec: 1621719587
         nanosec: 920183274
       frame_id: camera_color_optical_frame
     height: 480
     width: 640
     encoding: rgb8
     is_bigendian: 0
       step: 1920
       data:
       - 170
       - 178
       ...

Other RealSense Images

TBD: modify opencv_rossub to handle other images and fix the one above 

 $ ros2 run opencv_ros2sub opencv_exp --ros-args -r image:=d435/camera/depth/image_rect_raw
       terminate called after throwing an instance of 'cv::Exception'
         what():  OpenCV(4.2.0) ../modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<3, 4>; VDcn = cv::impl::{anonymous}::Set<3>; VDepth = cv::impl::{anonymous}::Set<0, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'
       > Invalid number of channels in input image:
       >     'VScn::contains(scn)'
       > where
       >     'scn' is 1



 /d435/camera/aligned_depth_to_color/image_raw   16UC1
 /d435/camera/color/image_raw                    rgb8
 /d435/camera/depth/image_rect_raw               16UC1
 /d435/camera/infra1/image_rect_raw              8UC1
 /d435/camera/infra2/image_rect_raw              8UC1

Using rbiz

TBD doesn't work


https://github.com/intel/ros2_intel_realsense 

 eepp@hood:~$ ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz
     [INFO] [1621280162.151564317] [rviz2]: Stereo is NOT SUPPORTED
     [INFO] [1621280162.151725581] [rviz2]: OpenGl version: 3 (GLSL 1.3)
     [INFO] [1621280162.182381340] [rviz2]: Stereo is NOT SUPPORTED
 eepp@hood:~$ ros2 run realsense_ros2_camera realsense_ros2_camera
     Package 'realsense_ros2_camera' not found

Doesn't help to do a turtlebot bringup first.

Investigate

TBD 

 rqt_graph

Notes and Logs

Depreciated

Install ros2_intel_realsense Binary Packages - failed

It could not locate the following packages.

  • ros-foxy-realsense-camera-msgs
  • ros-foxy-realsense-ros2-camera

So I move to the source process.

Install ros2_intel_realsense from Source - Failed

 $ cd image_ws/src/

 $ git clone https://github.com/intel/ros2_intel_realsense.git
       Cloning into 'ros2_intel_realsense'...
       remote: Enumerating objects: 961, done.
       remote: Total 961 (delta 0), reused 0 (delta 0), pack-reused 961
       Receiving objects: 100% (961/961), 1.08 MiB | 7.80 MiB/s, done.
       Resolving deltas: 100% (567/567), done.
 
 $ ls
       image_pipeline  ros2_intel_realsense

The image_pipeline did not compile cleanly. So to avoid getting error messages from its packages that did not compile, disable compiling it. 

 $ cd image_pipeline/

 $ cp ~/eepp_ws/src/image_listener/CATKIN_IGNORE .

 $ cd ..

 $ cd ..
 
 $ colcon build --symlink-install --parallel-workers 1
       ...
       ...

These are the results for each package

  • Success: realsense_camera_msgs
  • Failed: realsense_ros2_camera - It could not find some of the stuff for librealsense2 which compiled fine above. Not sure what to do.
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