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 |
Please note that you need to use librealsense v1.12.1 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 |
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).
