Install RealSense camera¶
- librealsense: https://github.com/IntelRealSense/librealsense
- realsense-ros: https://github.com/intel-ros/realsense
- Intel realsense robotic development kit: https://01.org/developerjourney/recipe/intel-realsense-robotic-development-kit
- SR300 Data Sheet: https://software.intel.com/sites/default/files/managed/0c/ec/realsense-sr300-product-datasheet-rev-1-0.pdf
- R200 Data Sheet: https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet.pdf
Kernel Update¶
librealsense works stably on 4.4.xx kernels.
This installation guide is only appropriate for 4.4.xx kernels
RealSense-ROS 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'
Build¶
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¶
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