Setting up Realsense R200 on Odroid XU4 with ROS

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:

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):

Prerequisites

Librealsense requires some prerequisites to be built:

Cloning the repositories

now it’s time to clone the librealsense and the Realsense nodelet┬árepo:

NOTE: if using ros built from source (and not installed under /opt/ros/* apply the following patch to librealsense:

Also if you are using gcc7 you probably need the next patch as well:

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.

Building and testing

You may move to the root of your workspace (ros_ws) and build it:

(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.

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:

Change 192.168.2.15 with the IP of your embedded linux box(Odroid XU4).

2 Comments

  1. 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 ?

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