45 lines
1.7 KiB
Plaintext
45 lines
1.7 KiB
Plaintext
|
Installing Intel RealSense drivers:
|
||
|
|
###################################
|
||
|
|
echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' || sudo tee /etc/apt/sources.list.d/realsense-public.list
|
||
|
|
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
|
||
|
|
sudo apt-get update
|
||
|
|
sudo apt-get install librealsense2-dev
|
||
|
|
sudo apt-get install librealsense2-dkms # enter a key for installing driver when asked (in my case the pw was realsense2019bt)
|
||
|
|
sudo apt-get install librealsense2-utils
|
||
|
|
|
||
|
|
Check if drivers were installed sucessfully:
|
||
|
|
modinfo uvcvideo | grep "version:" # -> this should report the realsense camera driver
|
||
|
|
|
||
|
|
|
||
|
|
# Installing the ROS package (assuming ros base is installed):
|
||
|
|
Install dependencies:
|
||
|
|
sudo apt-get install ros-kinetic-cv-bridge -y
|
||
|
|
sudo apt-get install ros-kinetic-image-transport
|
||
|
|
sudo apt-get install ros-kinetic-tf -y
|
||
|
|
sudo apt-get install ros-kinetic-diagnostic-updater -y
|
||
|
|
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
|
||
|
|
sudo apt-get update
|
||
|
|
sudo apt-get install ros-kinetic-ddynamic-reconfigure -y
|
||
|
|
|
||
|
|
# clone github repo:
|
||
|
|
git clone https://github.com/IntelRealSense/realsense-ros.git
|
||
|
|
cd realsense-ros/
|
||
|
|
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
|
||
|
|
mkdir -p ~/realsense_catkin_ws/src/realsense
|
||
|
|
mv * ~/realsense_catkin_ws/src/realsense/
|
||
|
|
|
||
|
|
cd ~/realsense_catkin_ws/src/
|
||
|
|
catkin_init_workspace
|
||
|
|
cd ..
|
||
|
|
catkin_make clean
|
||
|
|
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
|
||
|
|
catkin_make install
|
||
|
|
echo "source ~/realsense_catkin_ws/devel/setup.bash" >> ~/.bashrc
|
||
|
|
source ~/.bashrc
|
||
|
|
|
||
|
|
Test with:
|
||
|
|
roslaunch realsense2_camera rs_camera.launch
|
||
|
|
|
||
|
|
Possible issue:
|
||
|
|
The camera requires a USB 3 port to provide full resolution streams
|