TB3 RealSense Test
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Contents
Reference
Install and Build
Check if Phyton 2's cv2.so is available. See TB3_Movidius_Applications#Fix. The librealsense will fail if the Movidius fix is in place.
353 sudo apt-get install linux-headers-generic 354 sudo apt-get install ros-kinetic-librealsense
356 cd ~/catkin_ws/src 357 git clone https://github.com/intel-ros/realsense.git 358 ls 359 cd realsense 360 git checkout 1.8.0 361 cd ../.. 362 catkin_make -j2
Run RealSense node
On Joule
** Fails **
roslaunch realsense_camera r200_nodelet_default.launch ROS_MASTER_URI=http://10.0.0.157:11311 process[camera/nodelet_manager-1]: started with pid [3347] process[camera/driver-2]: started with pid [3348] [ERROR] [1520401984.426480445]: Skipped loading plugin with error: XML Document '/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing.. [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager' [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads. [camera/driver-2] process has died [pid 3348, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/R200Nodelet nodelet_manager depth:=depth color:=color ir:=ir ir2:=ir2 fisheye:=fisheye imu:=imu __name:=driver __log:=/home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2.log]. log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log ^C[camera/nodelet_manager-1] killing on exit
On Dell
USB Dev
video0 is the internal camera. video1, 2, and 3 belong to RealSense. See below when it RealSense in plugged in
$ ll /dev/video* crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0 $ ll /dev/video* crw-rw----+ 1 root video 81, 0 Jun 23 16:40 /dev/video0 crw-rw----+ 1 root plugdev 81, 1 Jun 23 18:47 /dev/video1 crw-rw----+ 1 root plugdev 81, 2 Jun 23 18:47 /dev/video2 crw-rw----+ 1 root plugdev 81, 3 Jun 23 18:47 /dev/video3
Succeeds
Terminal 1
roslaunch realsense_camera r200_nodelet_default.launch
Terminal 2
rqt_image_view
In the Image View drop box select
- "/camera/color/image_raw" for a raw image
- "/camera/depth/image_raw" and adjust the threshold for a depth image
Status
- Fails on Joule
- Runs on Dell