Install RealSense camera¶
SDK
– Intel Realsense SDK 2.0 (librealsense): https://github.com/IntelRealSense/librealsense – ROS Wrapper for Intel® RealSense™ Devices (realsense-ros): https://github.com/IntelRealSense/realsense-ros
Data Sheet of RealSense Products
– T265: https://www.intelrealsense.com/wp-content/uploads/2019/09/Intel_RealSense_Tracking_Camera_Datasheet_Rev004_release.pdf – D400 Series: https://www.intelrealsense.com/wp-content/uploads/2020/06/Intel-RealSense-D400-Series-Datasheet-June-2020.pdf – SR300: https://software.intel.com/sites/default/files/managed/0c/ec/realsense-sr300-product-datasheet-rev-1-0.pdf
You need to install Intel® RealSense™ SDK 2.0 (librealsense2) and ROS Wrapper for Intel® RealSense™ Devices (realsense-ros).
And there are 3 ways to install librealsense.
Method 1: Install deb packages of librealsense2 from Intel Repository and build realsense-ros from source.
Method 2: Install deb packages of librealsense2 from ROS Repository and install deb packages of realsense-ros from ROS Repository.
Method 3: Build librealsense2 and realsense-ros from source.
Basically method 1 is most stable. Please consider which case you use depend on your use case.
If you want to use 14.04 or older ubuntu versions, Intel® RealSense™ SDK 2.0 is not released as deb packages. So you need to build them from source. In addition, librealsense works stably on 4.4.xx kernels. So you may need to upgrade your ubuntu kernel Please see this page for more details about manual installation.
And if you want to use legacy devices like (F200, R200, LR200 and ZR300), please use old librealsense._
Method 1: Install librealsense2 from Intel repo and build realsense-ros from source¶
Intel® RealSense™ SDK 2.0 is released as deb packages. So you can install it with apt command. Please see this page and this page for more details.
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt update
sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
and please build realsense-ros from source
mkdir -p ~/catkin_ws/src
cd catkin_ws/
catkin init
cd src/
git clone https://github.com/IntelRealSense/realsense-ros.git
catkin build
If you install librealsense2 from Intel repo, make sure realsense-ros and librealsense are not installed from ROS repository. This will happen if you run rosdep install with some package have dependencies for them. Please run rosdep with –skip-keys=librealsense2.
Method 2: Install librealsense2 and realsense-ros from ROS Repository¶
librealsense2 and realsense-ros are also released as debian packages from ROS repository. Please see this page for more details.
sudo apt install ros-$ROS_DISTRO-librealsense2 ros-$ROS_DISTRO-realsense2-camera ros-$ROS_DISTRO-realsense2-description
And these packages lack a udev file for realsense devices. So you need to install it manually. Please see this issue for more details about this issue.
wget https://github.com/IntelRealSense/librealsense/raw/master/config/99-realsense-libusb.rules
sudo cp 99-realsense-libusb.rules /etc/udev/rules.d/
Installation of librealsense for ubuntu 14.04 or older (Old documentation)¶
librealsense 2.0 or above is not distributed with debian package for ubuntu 14.04. so you have to build librealsense from source. In addition, librealsense works stably on 4.4.xx kernels. So you need to upgrade your ubuntu kernel Please see this page for more details about manual installation.
sudo apt-get install ros-indigo-realsense-camera
cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
git checkout v0.9.2
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
# Requirement Installation
# If you already installed, you can skip here.
## gcc-4.9 and g++-4.9
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-4.9 g++-4.9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-4.9
## openssl
sudo apt-get install libssl-dev
# uvcvideo patch Installation
./scripts/patch-uvcvideo-4.4.sh v4.4-wily
# this script sometimes causes error below with Ubuntu 14.04
#
# cp: will not overwrite just-created ‘./.config’ with ‘/usr/src/linux-headers-4.4.4-040404-generic/.config’
#
# If you got this error, see https://github.com/IntelRealSense/librealsense/issues/146
# or see https://github.com/IntelRealSense/librealsense/issues/70
#
# my solution is https://gist.github.com/knorth55/8e76494a694a287a8cf00b54c38e29ad
sudo modprobe uvcvideo
# if you get error below, patch script is not successful.
#
# modprobe: ERROR: could not insert 'uvcvideo'
And then, please build old realsense-ros from source.
mkdir -p ~/catkin_ws/src
cd catkin_ws/src
git clone https://github.com/intel-ros/realsense.git
git checkout 1.5.0
cd ../..
rosdep install --skip-keys=librealsense --ignore-src --from-path -i src -y -r
catkin build
Sample Launch¶
You can launch a realsense driver for D400 Series and see images or point cloud from a device.
roslaunch realsense2_camera demo_pointcloud.launch
If you use L515, please run below commands (be careful that L515 RGB does not support 4:3 images such as 640x480)
roslaunch realsense2_camera rs_rgbd.launch color_width:=1280 color_height:=720 depth_width:=1024 depth_height:=768
rviz -d $(find realsense2_camera)/rviz/pointcloud.rviz
If you use T265, you can launch a demo launch with
roslaunch realsense2_camera demo_t265.launch
If you have both of T265 and D400 Series. you can launch it concurrently and see result of visual odometry with point cloud (please align both camera).
roslaunch realsense2_camera rs_d400_and_t265.launch
rviz -d $(find realsense2_camera)/rviz/t265.rviz
# please add point cloud visualization plugin
For legacy devices
source ~/catkin_ws/devel/setup.bash
# for SR300
roslaunch realsense_camera sr300_nodelet_rgbd.launch
# for R200
roslaunch realsense_camera r200_nodelet_rgbd.launch
# another terminal
rosrun rviz rviz