[Active IR Stereo Camera][Intel Realsense][ROS2 Dashing] install realsense-ros in jetson

 

https://github.com/IntelRealSense/realsense-ros/tree/ros2

GitHub - IntelRealSense/realsense-ros: Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module

 

Test ENV.

HW : Jetson AGX Xaiver with jetpack 4.5.1(Ubuntu 18.04)

ROS : ROS2 Dashing

 

 

ROS2 Wrapper for Intel® RealSense™ Devices

---

These are packages for using Intel RealSense cameras (D400 and L500 series, SR300 camera and T265 Tracking Module) with ROS2.

LibRealSense supported version: v2.48.0 (see realsense2_camera release notes)

 

 

Installation Instructions

---

This version supports ROS2 Dashing, Eloquent and Foxy.

 

 

1. Install the ROS2 distribution

• Install ROS2 Dashing, on Ubuntu 18.04 or ROS2 Foxy, on Ubuntu 20.04

 

 

 

2. Install realsense2_camera from The RealSense™ distribution:

• This option is demonstrated in the .travis.yml file. It basically summerize the elaborate instructions in the following 2 steps:

 

2-1. Method 1: The ROS distribution

Ubuntu

realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing:

$ sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules.

 

Notice:

• The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository.
• librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms. This have limitations when running multiple cameras and when using T265.
• realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. view_model.launch.py). It can be installed by typing: 
  $ sudo apt-get install ros-$ROS_DISTRO-realsense2-description

 

2-2. The RealSense™ distribution

Install librealsense2 debian package:

 

1. Jetson users - use the Jetson Installation Guide

 

https://jstar0525.tistory.com/69

[Intel Realsense] Install RealSense SDK 2.0 in Jetson AGX Xavier

 

2. Otherwise, install from Linux Debian Installation Guide

• In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages.

 

3. Build from sources by downloading the latest Intel® RealSense™ SDK 2.0 and follow the instructions under Linux Installation

 

 

 

3. Install Intel® RealSense™ ROS2 wrapper from Sources

• Create a ROS2 workspace
  

  $ mkdir -p ~/ros2_ws/src
  $ cd ~/ros2_ws/src/​

• Clone the latest ROS2 Intel® RealSense™ wrapper from here into '~/ros2_ws/src/'
  

  $ git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git
  $ cd ~/ros2_ws​

 

 

 

4. Install dependencies:

$ sudo apt-get install python3-rosdep -y
$ sudo rosdep init
$ rosdep update --include-eol-distros
$ rosdep install -i --from-path src --rosdistro dashing -y
$ sudo apt purge ros-dashing-librealsense2 -y

 

 

 

5. Build:

$ sudo apt install python3-colcon-common-extensions
$ source /opt/ros/dashing/setup.bash
$ colcon build

 

 

 

6 Source (on each new terminal):

$ cd ~/ros2_ws
$ . install/local_setup.bash

 

 

License

Copyright 2018 Intel Corporation

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

*Other names and brands may be claimed as the property of others

 

 

 

Ref.

 

https://github.com/IntelRealSense/realsense-ros

GitHub - IntelRealSense/realsense-ros: Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module