Revision as of 11:10, 17 May 2021

References

Background

• Intel ReasSense SDK2.0 Github User Guide May 2018 Revision 002

Repositories - Installation, Test, Demos

• Intel RealSense Dashing Release
• ROS org RealSense Foxy Release
• rs-enumerate-devices tool repository

Information About All Things RealSense

• Intel RealSense SDK 2.0
• Documentation
  • Intel Ubuntu Guide
  • ROS and ROS 2 Wrapper Guide
    • Includes Foxy
    • Contains a list of tools and message explainations

Install

I adapted the following Dashing instructions below to Foxy.

• Intel RealSense Dashing Release

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

• ROS org RealSense Foxy Release

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 RealSense Utilities

• 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 - Success

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

• ROS org RealSense Foxy Release

 $ 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]

TBD

• What is causing the realsense_node compile error
• How to install the tools: in particular rs-enumerate-devices from ROS org's Usage Instructions
  • TB3 Install ROS RealSense 2
• Why didn't the realsense_node binary get installed in the image_ws/install directory

Configure

librealsense2-udev-rules found here

• librealsense Linux Distribution

Execution

TBD

Notes and Logs

• Turtlebot3 Willow NUC Foxy RealSense 20210513 Notes and Logs
• Turtlebot3 Willow NUC Lib RealSense2 Utilities 20210515 Notes and Logs