Installing driver on Ubuntu for Intel RealSense R200

本教程介绍了如何在Linux环境中安装Intel RealSense R200摄像头的摄像头驱动程序。 RealSense R200相机头如下所示：

• The installation of the driver package is executed on a Ubuntu operation system (OS) that runs as a guest OS in a Virtual Box. The specifications of the host computer where the Virtual Box is running, the Virtual Box and the guest system are given below:

  • Host Operation System: Windows 8
  • Processor: Intel(R) Core(TM) i7-4702MQ CPU @ 2.20GHz
  • Virtual Box: Oracle VM. Version 5.0.14 r105127
  • Extensions: Extension package for Virtual Box installed (Needed for USB3 support)
  • Guest Operation System: Linux - Ubuntu 14.04.3 LTS

• The tutorial is ordered in the following way: In a first part it is shown how to install Ubuntu 14.04 as a guest OS in the Virtual Box. In a second part is shown how to install ROS Indigo and the camera driver. The ensuing frequently used expressions have the following meaning:

  • Virtual Box (VB): Program that runs different Virtual Machines. In this case the Oracle VM.
  • Virtual Machine (VM): The operation system that runs in the Virtual Box as a guest system. In this case Ubuntu.

Installing Ubuntu 14.04.3 LTS in Virtual Box

• Create a new Virtual Machine (VM): Linux 64-Bit.

• Download the iso file of Ubuntu 14.04.3 LTS: (ubuntu-14.04.3-desktop-amd64.iso).

  • Installation of Ubuntu: ◦During the installation procedure leave the following two options unchecked:

    • Download updates while installing

    • Install this third party software

• After the installation you might need to enable the Virtual Box to display Ubuntu on the whole desktop:

  • Start VM Ubuntu and login, Click on Devices->Insert Guest
    Additions CD image in the menu bar of the Virtual Box.

  • Click on "Run" and enter password on the windows that pop up in Ubuntu.

  • Wait until the installation is completed and then restart. Now, it should be possible to display the VM on the whole desktop.

  • If a window pops up in Ubuntu that asks whether to update, reject to update at this point.

• Enable USB 3 Controller in Virtual Box:

  • Shut down Virtual Machine.

  • Go to the settings of the Virtual Machine to the menu selection USB and choose: "USB 3.0(xHCI)". This is only possible if you have installed the extension package for the Virtual Box.

  • Start the Virtual Machine again.

Installing ROS Indigo

• Follow instructions given at ROS indigo installation guide:

  • Install Desktop-Full version.

  • Execute steps described in the sections "Initialize rosdep" and "Environment setup".

Installing camera driver

• Install git:

sudo apt-get install git

• Download and install the driver

  • Clone RealSense_ROS repository:

git clone https://github.com/PercATI/RealSense_ROS.git

Follow instructions given in here.

• Press the enter button when the questions whether to install the following installation packages show up:

Intel Low Power Subsystem support in ACPI mode (MFD_INTEL_LPSS_ACPI) [N/m/y/?] (NEW)



 Intel Low Power Subsystem support in PCI mode (MFD_INTEL_LPSS_PCI) [N/m/y/?] (NEW)



 Dell Airplane Mode Switch driver (DELL_RBTN) [N/m/y/?] (NEW)

• The following error message that can appear at the end of the installaltion process should not lead to a malfunction of the driver: rmmod: ERROR: Module uvcvideo is not currently loaded

• After the installation has completed, reboot the Virtual Machine.

• Test camera driver:

  • Connect the Intel RealSense camera head with the computer with a USB3 cable that is pluggged into a USB3 receptacle on the computer.

  • Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine.

  • Execute the file [unpacked folder]/Bin/DSReadCameraInfo:

    • If the following error message appears, unplug the camera (physically unplug USB cable from the computer). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo.

    DSAPI call failed at ReadCameraInfo.cpp:134!

    • If the camera driver works and recognises the Intel RealSense R200, you should see specific information about the Intel RealSense R200 camera head.

• Installation and testing of the ROS nodlet:

  • Follow the installation instructions in the "Installation" section given here, to install the ROS nodlet.

  • Follow the instructions in the "Running the R200 nodelet" section given here, to test the ROS nodlet together with the Intel RealSense R200 camera head.

    • If everything works, the different data streams from the Intel RealSense R200 camera are published as ROS topics.