diff --git a/docs/notes/notes_intel_realsense.txt b/docs/notes/notes_intel_realsense.txt new file mode 100644 index 0000000..a6ebdd2 --- /dev/null +++ b/docs/notes/notes_intel_realsense.txt @@ -0,0 +1,44 @@ +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 diff --git a/docs/notes/notes_ros_messages.txt b/docs/notes/notes_ros_messages.txt new file mode 100644 index 0000000..787c10a --- /dev/null +++ b/docs/notes/notes_ros_messages.txt @@ -0,0 +1,56 @@ +Creating ros package with catkin and adding custom messages: +############################################################ +1. Create a workspace: +---------------------- +$ mkdir catkin_ws +$ cd catkin_ws +$ mkdir src +$ catkin_make +$ source devel/setup.bash + +2. Create the package: +---------------------- +$ cd catkin_ws/src +$ catkin_create_pkg std_msgs rospy roscpp +$ cd .. +$ catkin_make # this build the package + +3. Create the custom messages: +------------------------------ +$ cd catkin_ws/src/ +$ mkdir msg +$ cd msg +$ echo "int64 num" > Num.msg +Then edit the package.xml file and add the following: + message_generation + message_runtime + +Also edit CMakeLists.txt and to the find_package() function add: + message_generation +and to the catkin_package() add: + CATKIN_DEPENDS message_runtime + +Then, find add_message_files() (uncomment if necessary) and change it to the following: +add_message_files( + FILES + Num.msg +) + +Finally, uncomment the generate_messages() function such that it reads: + generate_messages( + DEPENDENCIES + std_msgs + ) + +To build the new messages do the following: +$ cd catkin_ws +$ catkin_make # builds the new messages +$ catkin_make install + +As the last step, source the setup.bash: +$ . install/setup.bash + +Now the new messages should be available and you can find them with +$ rosmsg list + +Don't forget to source the setup.bash everytime you want to use the messages!