Difference between revisions of "Intel RealSense Foxy 20210511"
(→Repositories - Installation, Test, Demos) |
(→Notes and Logs) |
||
Line 167: | Line 167: | ||
* [[Turtlebot3 Willow NUC Foxy RealSense 20210513 Notes and Logs]] | * [[Turtlebot3 Willow NUC Foxy RealSense 20210513 Notes and Logs]] | ||
* [[Turtlebot3 Willow NUC Lib RealSense2 Utilities 20210515 Notes and Logs]] | * [[Turtlebot3 Willow NUC Lib RealSense2 Utilities 20210515 Notes and Logs]] | ||
+ | * [[Turtlebot3 Waffle NUC RealSense2 Configure 20210514 Notes and Logs]] |
Revision as of 11:32, 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
- TB3 Install ROS RealSense 2: Notes from my February 2019 install Sisters (Dell laptop)
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.
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 RealSense Utilities
Installing rs-enumerate-devices is the goal of this step. It is required in the configuration step.
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
$ 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
- Why didn't the realsense_node binary get installed in the image_ws/install directory
Configure
librealsense2-udev-rules found here