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):


Librealsense requires some prerequisites to be built:

Cloning the repositories

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

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

Foldable quad for ROS integration experiments

I’m shortly going to work integrating the OpenPilot telemetry with ROS.

Main (long term) focus is indoor positioning and navigation.

This is a quick mockup of the craft that will be used. Plates are going to be rebuilt to better host everything


The reference platform  is made by

  • OpenPilot Revolution flight controller;
  • OpenPilot GPSV9 with integrated magnetometer;
  • Control link using Revolution on board OPLink;
  • ODroid U3 sbc hosting Ubuntu server 14.04 with ROS Indigo;
  • WIFI card TL-WN722N (that uses an external antenna connected with a RPSMA);
  • USB Web Cam, initially used for optical flow.
  • Telemetry link using WIFI connection;
  • Connection between Revolution and Odroid using USB.
  • Sonar sensor for precise agl measurement

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