Realsense camera

eiei zaza we use d455 camera naja

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Usage instruction

• Basic launch ros-realsens2_camera

  ros2 launch realsense2_camera rs_launch.py \
              rgb_camera.profile:=640x480x30 \
              depth_module.profile:=640x480x30 \
              pointcloud.enable:=true
  

  Note

  Add parameter guide

  Set RGB camera parameter: rgb_camera.profile:=<width>x<heigh>x<FPS>

  Set depth camera parameter: depth_module.profile:=<width>x<heigh>x<FPS>

  Enable pointclound: pointcloud.enable:=true

• launch realsense2 in RVIZ

  ros2 launch realsense2_description view_model.launch.py \
              model:=test_d455_camera.urdf.xacro
  

• the following command will contain topic as listed below:

  • /camera/aligned_depth_to_color/camera_info

  • /camera/aligned_depth_to_color/image_raw

  • /camera/color/camera_info

  • /camera/color/image_raw

  • /camera/color/metadata

  • /camera/depth/camera_info

  • /camera/depth/color/points

  • /camera/depth/image_rect_raw

  • /camera/depth/metadata

  • /camera/extrinsics/depth_to_color

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Installation

ROS2 Wrapper for Intel® RealSense™ Devices support kernel version 4.[4, 8,10,13,15], 4.16(2) , 4.18, 5.[0, 3, 4, 8] To check your kernel version:

uname -r

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• Install the latest Intel® RealSense™ SDK 2.0

  • Make Ubuntu Up-to-date

    sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
    sudo update-grub && sudo reboot
    

  • Download/Clone librealsense github repository

    git clone https://github.com/IntelRealSense/librealsense.git
    

  • Prepare Linux Backend and the Dev. Environment

    sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
    sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
    

  • Run Intel Realsense permissions script from librealsense root directory

    cd librealsense
    ./scripts/setup_udev_rules.sh
    

  • Build and apply patched kernel modules for

    ./scripts/patch-realsense-ubuntu-lts.sh
    

  • Building librealsense2 SDK

    mkdir build && cd build
    cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false
    make uninstall && make clean && make -j8 && make install
    

    Note

    Run the top level CMake command with the following additional flag -DBUILD_PYTHON_BINDINGS:bool=true:

    For building a self-contained (statically compiled) pyrealsense2 library add the CMake flag: -DBUILD_SHARED_LIBS=false

• 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

    git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
    cd ~/ros2_ws
    

  • Install dependencies

    sudo apt-get install python3-rosdep -y
    sudo rosdep init
    rosdep update
    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
    

    Note

    If error occurred on line 4 change command to

    rosdep install -i –from-path src –ignore-src -r -y –rosdistro foxy

  • Build and Terminal environment

    colcon build
    ##### example for foxy distro
    ROS_DISTRO=foxy
    source /opt/ros/foxy/setup.bash && cd ~/ros2_ws
    . install/local_setup.bash
    

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Reference

[1] : https://github.com/IntelRealSense/realsense-ros/tree/ros2-development

[2] : https://github.com/IntelRealSense/librealsense/releases/tag/v2.51.1

[3] : https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

[4] : https://github.com/IntelRealSense/realsense-ros/tree/ros2-beta