TB3 Install ROS RealSense 2

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Reference

Prerequisites

  • Skipped section 2 on prerequisites. I may have to come back to this later.

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

Tests

Capable viewer

 $ realsense-viewer
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.22.auto
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.10.auto

It works but I get the WARNING messages above. The following are not helpful.

Point Cloud

 $ rs-pointcloud

Simple interface

 $ rs-capture 

     #### RS Frame Rate Printer ####
     Depth[0]: 27.8/30 [FPS] || Color[0]: 15.0/30 [FPS] ||

Others

Look in the util package in the next section.

Install Results

 $ sudo aptitude search librealsense2
     [sudo] password for eepp: 
     i A librealsense2                   - Intel(R) RealSense(tm) Cross Platform API 
     i   librealsense2-dbg               - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-dev               - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-dkms              - Modified kernel modules for librealsense2 
     i A librealsense2-udev-rules        - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-utils             - Intel(R) RealSense(tm) Camera Capture API  

 $ dpkg -L librealsense2
     /.
     /usr
     /usr/share
     /usr/share/doc
     /usr/share/doc/librealsense2
     /usr/share/doc/librealsense2/copyright
     /usr/share/doc/librealsense2/changelog.Debian.gz
     /usr/lib
     /usr/lib/x86_64-linux-gnu
     /usr/lib/x86_64-linux-gnu/librealsense2.so.2.18.0
     /usr/lib/x86_64-linux-gnu/librealsense2.so.2

 $ dpkg -L librealsense2-utils
     /.
     /usr
     /usr/share
     /usr/share/doc
     /usr/share/doc/librealsense2-utils
     /usr/share/doc/librealsense2-utils/copyright
     /usr/share/doc/librealsense2-utils/changelog.Debian.gz
     /usr/bin
     /usr/bin/rs-terminal
     /usr/bin/rs-depth
     /usr/bin/realsense-viewer
     /usr/bin/rs-multicam
     /usr/bin/rs-distance
     /usr/bin/rs-depth-quality
     /usr/bin/rs-fw-logger
     /usr/bin/rs-color
     /usr/bin/rs-convert
     /usr/bin/rs-enumerate-devices
     /usr/bin/rs-rosbag-inspector
     /usr/bin/rs-capture
     /usr/bin/rs-sensor-control
     /usr/bin/rs-save-to-disk
     /usr/bin/rs-measure
     /usr/bin/rs-pointcloud
     /usr/bin/rs-record-playback
     /usr/bin/rs-callback
     /usr/bin/rs-post-processing
     /usr/bin/rs-align
     /usr/bin/rs-data-collect
     /usr/bin/rs-software-device

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

The first line, "3.0 root hub", says we are working with USB3 on bus 002

After plugging in the D415

 $ lsusb 
   Bus 002 Device 002: ID 8086:0ad3 Intel Corp. 
   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

Installing ROS Wrapper for the realsense2_camera

References

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

source zip

 cd src

 mv ~/Downloads/realsense-2.1.3.zip .    SHOULD BE 2.1.4

 unzip realsense-2.1.3.zi

 cd ..

 catkin_make

plugged in the D415.

Tests

Test 1

TBD need to figure out how to configure rviz

Terminal 1

 roscore

Terminal 2

 roslaunch realsense2_camera rs_camera.launch

Terminal 3 - rviz howto?

 rviz

or

 rosrun image_view image_view image:=/camera/color/image_raw

or

 rosrun image_view image_view image:=/camera/depth/image_rect_raw

Use the following for other topics

 rostopic list

Reference

Demo

Preconditions

plugged in the D415.

Terminal 1

 roscore

Terminal 2

This is really cool

 $ roslaunch realsense2_camera demo_pointcloud.launch

Doc

Fix Link

Intel-RealSense-SDK2-Github-Guide.pdf find Intel-RealSense-SDK2-Github-Guide.pdf --