[Active IR Stereo Camera][Intel Realsense][ROS Melodic] Install realsense-ros on jetson

https://github.com/IntelRealSense/realsense-ros/blob/development/README.md#installation-instructions

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 : ROS Melodic

 

 

ROS Wrapper for Intel® RealSense™ Devices

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

This version supports Kinetic, Melodic and Noetic distributions.

For running in ROS2 environment please switch to the ros2 branch.

LibRealSense2 supported version: v2.48.0 (see realsense2_camera release notes)

 

 

Installation Instructions

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Step 1: Install the ROS distribution

• Install ROS Kinetic, on Ubuntu 16.04, ROS Melodic on Ubuntu 18.04 or ROS Noetic on Ubuntu 20.04.

 

https://jstar0525.tistory.com/116

[ROS melodic] Installation

 

Step 2: Install the latest Intel® RealSense™ SDK 2.0

Install librealsense2 debian package:

• Jetson users - use the Jetson Installation Guide
• Otherwise, install from Linux Debian Installation Guide (but, if you have some problem, follow this)
  • In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages.

 

https://jstar0525.tistory.com/69

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

 

Step 3: Install Intel® RealSense™ ROS from Sources

• Create a catkin workspace Ubuntu

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/

• Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'

$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/
$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`

• Make sure all dependent packages are installed. You can check .travis.yml file for reference.
• Specifically, make sure that the ros package ddynamic_reconfigure is installed. If ddynamic_reconfigure cannot be installed using APT or if you are using Windows you may clone it into your workspace 'catkin_ws/src/' from here

$ cd ~/catkin_ws/src/
$ catkin_init_workspace
$ cd ~/catkin_ws/
$ catkin_make clean
# 빌드시 에러가 날 경우, 아래의 solution 참고
$ catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
$ catkin_make install

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

 

 

 

 

Error Solution

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https://jstar0525.tistory.com/118

[ROS Melodic] cv_bridge Error

https://jstar0525.tistory.com/119

[ROS Melodic] ddynamic_reconfigure Error

 

 

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