TB3 Install ROS RealSense 2
Contents
Reference
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
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.
Step 2: Install ROS Distribution
Done Sisters_Install_ROS
Step 3: Install Intel RealSense ROS from Sources
Notice the optional note in Step 1.
cd src/ git clone https://github.com/intel-ros/realsense cd .. catkin_make
POTENTIAL ALTERNATIVE TO ABOVE. Zip file is found here Intel ROS Realsens releases
cd src mv ~/Downloads/realsense-2.1.3.zip . unzip realsense-2.1.3.zi cd .. catkin_make
Test: Usage Instructions
Install
ros-kinetic-rgbd-launch was already installed.
Run
plugged in the ZR300. I hope it is supported. SR300 is.
Terminal 1
roscore
Terminal 2
FAILED
roslaunch realsense2_camera rs_camera.launch
Debug
$ lsusb Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp. Bus 001 Device 004: ID 8087:0a2a Intel Corp. Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp. Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
After plugging in the ZR300
$ lsusb Bus 002 Device 003: ID 8086:0ad0 Intel Corp. Bus 002 Device 004: ID 8086:0acb Intel Corp. Bus 002 Device 002: ID 0451:8025 Texas Instruments, Inc. Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp. Bus 001 Device 004: ID 8087:0a2a Intel Corp. Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp. Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver Bus 001 Device 006: ID 0451:8027 Texas Instruments, Inc. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Doc
find Intel-RealSense-SDK2-Github-Guide.pdf --