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This commit is contained in:
Simon Pirkelmann 2019-08-12 12:24:07 +02:00
parent 5e5ee609a2
commit 31804b4f34
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44
docs/notes/notes_intel_realsense.txt Normal file
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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

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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 <package_name> std_msgs rospy roscpp
$ cd ..
$ catkin_make # this build the package
3. Create the custom messages:
------------------------------
$ cd catkin_ws/src/<package_name>
$ mkdir msg
$ cd msg
$ echo "int64 num" > Num.msg
Then edit the package.xml file and add the following:
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
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!