Revision as of 13:13, 24 January 2019

Reference

• ROS RealSense

Prerequisites

Skipping section 2 on prerequisites for now because it may refer to realsense and not realsense2. I can come back if I misunderstood.

Installing librealsense2

References

• ROS librealsense2
• librealsense 2

Install

 sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE
 sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

 sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

 sudo apt-get install librealsense2-dkms
     DKMS: install completed.
 
     Loading the modified modules into kernel... complete
     Current status:
     librealsense2-dkms, 1.3.4, 4.15.0-43-generic, x86_64: installed
     mod: videodev 			 version: realsense2-dkms
     mod: uvcvideo 			 version: 1.1.2.realsense-1.3.4
     mod: hid_sensor_gyro_3d 	 version: realsense2-dkms
     mod: hid_sensor_accel_3d 	 version: realsense2-dkms
     Setting up librealsense2-udev-rules:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for shim-signed (1.33.1~16.04.1+13-0ubuntu2) ...
     Secure Boot not enabled on this system.

 sudo apt-get install librealsense2-utils
     Unpacking librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for man-db (2.7.5-1) ...
     Processing triggers for libc-bin (2.23-0ubuntu10) ...
     Processing triggers for doc-base (0.10.7) ...
     Processing 1 added doc-base file...
     Processing triggers for install-info (6.1.0.dfsg.1-5) ...
     Processing triggers for libglib2.0-0:amd64 (2.48.2-0ubuntu4.1) ...
     Setting up libdbus-1-dev:amd64 (1.10.6-1ubuntu3.3) ...
     Setting up x11proto-record-dev (1.14.2-1) ...
     Setting up libxtst-dev:amd64 (2:1.2.2-1) ...
     Setting up libatspi2.0-dev (2.18.3-4ubuntu1) ...
     Setting up libatk-bridge2.0-dev:amd64 (2.18.1-2ubuntu1) ...
     Setting up libepoxy-dev:amd64 (1.3.1-1ubuntu0.16.04.2) ...
     Setting up libglfw3:amd64 (3.1.2-3) ...
     Setting up libgmpxx4ldbl:amd64 (2:6.1.0+dfsg-2) ...
     Setting up libgmp-dev:amd64 (2:6.1.0+dfsg-2) ...
     Setting up nettle-dev (3.2-1ubuntu0.16.04.1) ...
     Setting up libgtk-3-dev:amd64 (3.18.9-1ubuntu3.3) ...
     Setting up librealsense2:amd64 (2.17.1-0~realsense0.372) ...
     Setting up librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for libc-bin (2.23-0ubuntu10) ...

Verified because the following include realsense string.

 modinfo uvcvideo | grep "version:"
     version:        1.1.2.realsense-1.3.4
     srcversion:     C4FB5E9B212E9C39ED6CD7C

The optionally developer and debug packages must me installed for Step 3 to work. If note, *.cmake files cannot be found.

 sudo apt-get install librealsense2-dev
 
 sudo apt-get install librealsense2-dbg

Installing realsense2_camera

References

• ROS realsense 2 camera. This is the ROS reference page.
• ROS RealSense2 Wrapper. This contains the instructions followed below.

Step 1: From Debian Packages: Install Latest SDK 2.0

Done See TB3_Install_ROS_RealSense_2#Installing_librealsense2 above. Installed from Debian Package.

• Install SDK 2.0
• install the packages

Step 2: Install ROS Distribution

Done Sisters_Install_ROS

Step 3: Install Intel RealSense ROS from Sources

Tried but didn't work

 cd src/

 git clone https://github.com/intel-ros/realsense

 cd ..

 catkin_make

 ...
 -- +++ processing catkin package: 'realsense2_camera'
 -- ==> add_subdirectory(realsense/realsense2_camera)
 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
 CMake Error at realsense/realsense2_camera/CMakeLists.txt:36 (find_package):
   By not providing "Findrealsense2.cmake" in CMAKE_MODULE_PATH this project
   has asked CMake to find a package configuration file provided by
   "realsense2", but CMake did not find one.
 
   Could not find a package configuration file provided by "realsense2"
   (requested version 2.17.1) with any of the following names:
 
     realsense2Config.cmake
     realsense2-config.cmake
 ...

Tried but didn't work

source zip

 cd src

 mv ~/Downloads/realsense-2.1.3.zip .

 unzip realsense-2.1.3.zi

 cd ..

 catkin_make