Update 1st may 2018: added a note to use realsense nodelet tag 1.8.1 and some patches to use ROS built from sources or GCC7.
This post will guide you through the configuration of a Realsense R200 on Odroid XU4. There is nothing strictly related to this platform so they should apply to any armhf/x86 Ubuntu 16.04.xx systems.
Let’s start from the requirements:
- an Ubuntu 16.04.xx installation (Odroid XU4 image);
- ROS Kinetic (installation instructions);
- obviously a Realsense R200 🙂
Preparing the workspace
Skip this section if you have already a workspace.
If don’t, let’s do it now (remember to ‘source /opt/ros/kinetic/setup.bash’ in case you have not added it to your .bashrc):
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mkdir -p ros_ws/src cd ros_ws/src catkin_init_workspace |
Prerequisites
Librealsense requires some prerequisites to be built:
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sudo apt-get install libusb-1.0-0-dev pkg-config libglfw3-dev |
Cloning the repositories
now it’s time to clone the librealsense and the Realsense nodelet repo:
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#librealsense git clone https://github.com/IntelRealSense/librealsense.git cd librealsense git checkout v1.12.1 #setup udev rules. Connect or reconnect the camera the camera after the following two lines are executed sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules && udevadm trigger |
NOTE: if using ros built from source (and not installed under /opt/ros/* apply the following patch to librealsense:
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diff --git a/CMakeLists.txt b/CMakeLists.txt index d6ed86e1..784da760 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,10 +37,8 @@ assign_version_property(PATCH) set(REALSENSE_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH}) infoValue(REALSENSE_VERSION_STRING) -IF(DEFINED CMAKE_PREFIX_PATH) - IF("${CMAKE_PREFIX_PATH}" MATCHES "/opt/ros") - set(ROS_BUILD_TYPE TRUE) - ENDIF() +IF(DEFINED CATKIN_DEVEL_PREFIX) + set(ROS_BUILD_TYPE TRUE) ENDIF() IF (${ROS_BUILD_TYPE}) |
Also if you are using gcc7 you probably need the next patch as well:
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diff --git a/src/types.h b/src/types.h index 0455c836..ed3b818a 100644 --- a/src/types.h +++ b/src/types.h @@ -22,6 +22,7 @@ #include <atomic> #include <map> #include <algorithm> +#include <functional> const uint8_t RS_STREAM_NATIVE_COUNT = 5; const int RS_USER_QUEUE_SIZE = 20; |
Please note that you need to use librealsense v1.12.1 and realsense 1.8.1 with R200 as the support was dropped in later versions.
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#realsense nodelet cd .. git clone https://github.com/intel-ros/realsense.git git checkout 1.8.1 |
Building and testing
You may move to the root of your workspace (ros_ws) and build it:
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catkin_make -j4 |
(j4 is required to prevent the compilation failures due to RAM constraints)
In case of failure check whether it is asking for some dependencies (every distribution has always a slightly different set of packages preinstalled).
Now you can test if everything is working fine.
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source ./devel/setup.sh #run the nodelet with default settings roslaunch realsense_camera r200_nodelet_default.launch |
Ensure to have ROS Kinetic installed on your pc and to configure properly the odroid XU4 netbios name inside your PC /etc/hosts file (all details for network setup here).
then you can show the image topics from camera using:
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ROS_MASTER_URI=http://192.168.2.15:11311 rqt |
Change 192.168.2.15 with the IP of your embedded linux box(Odroid XU4).
Hello thank you , i try this but i have a problem when i launch camera :
r200_nodelet_default.launch] is neither a launch file in package [realsense_camera] nor is [realsense_camera] a launch file name
The traceback for the exception was written to the log file
can you help me ?
have you sourced the setup.bash file as in
source ./devel/setup.sh?