Difference between revisions of "Intel RealSense Foxy 20210511"
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'''TBD''' See | '''TBD''' See |
Revision as of 20:54, 21 May 2021
Contents
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.
- librealsense distribution These utilities run under Ubuntu (not ROS 2)
- Followed the instuctions for Ubuntu 20.04 LTS (Focal Fossa). See the reference to "focal" in the second step below.
- The order is important which I messed up. See the log and notes at the bottom.
$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE $ sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u $ sudo apt-get install librealsense2-utils $ apt list | grep librealsense
The apt list returns more hits because we expanded the apt repository above.
TBD See
librealsense22021... enumerateD435 realsense 2021... relasenseconfig...
and notes at end
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 ... ...
More detail in
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
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
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)
TBD add screen shot
TBD Errors for other published images.
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
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.
Notes and Logs
- Turtlebot3 Waffle NUC Foxy RealSense 20210513 Notes and Logs
- Turtlebot3 Waffle 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