Turtlebot3-waffle入门教程-Realsense r200安装

Turtlebot3-waffle入门教程-Realsense r200安装

说明：

• 介绍如何在waffle上安装Realsense r200

安装指南

• Intel® RealSense™ packages适合 Intel® RealSense™ R200, F200, SR300 and ZR300 cameras

• 依赖包：

Package	Description
librealsense	Underlying library driver for communicating with Intel® RealSense™ camera
realsense_camera	ROS Intel® RealSense™ camera node for publishing camera

• [waffle]采用deb安装驱动

$ sudo apt-get install ros-kinetic-librealsense
$ sudo apt-get install ros-kinetic-realsense-camera

• 采用deb安装，可能会导致系统非常卡，建议出现此问题，使用源码安装

• [waffle]源码安装驱动

• 更新系统，

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

• 查看核心版本：

uname -r 

• 并确保核心 >= 4.4.0-50
• 安装libusb-1.0 and pkg-config依赖：

sudo apt-get install libusb-1.0-0-dev pkg-config

• 安装glfw3依赖：

sudo apt-get install libglfw3-dev

• 安装librealsense

$ cd 
$ git clone https://github.com/IntelRealSense/librealsense
$ cd librealsense
$ mkdir build && cd build
$ cmake ../ -DBUILD_EXAMPLES=true
$ make && sudo make install

• 库文件安装在/usr/local/lib，头文件安装在/usr/local/include，执行文件，demo，教程安装在/usr/local/bin.
• 安装udev规则

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

• 安装openssl包

sudo apt-get install libssl-dev

• 打核心补丁，针对Ubuntu 14/16 LTS版本

$ cd librealsense
$ ./scripts/patch-realsense-ubuntu-xenial.sh

• 检查是否成功

sudo dmesg | tail -n 50

• 显示：The log should indicate that a new uvcvideo driver has been registered. 字样

• 安装ros-kinetic-realsense-camera包

$ sudo apt-get install ros-kinetic-realsense-camera

• 重启joule

测试运行

• [remote-pc]运行roscore

$ roscore

• [waffle]运行：

$ roslaunch realsense_camera r200_nodelet_default.launch

• [remote-pc] 查看数据

rqt_image_view

• 选择对应的话题即可显示

参考：

• Intel® RealSense™ Datasheet
• Data ranges
• Intel® RealSense™ SDK
• Purchase
• https://github.com/IntelRealSense/librealsense
• https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md