IntelRealSense D435i

Resources

• Get started
• IntelRealSense/librealsense-Github
• Intel® RealSense™ SDK 2.0 Github User Guide

Preparation

• Ubuntu 16.04

Ubuntu 16.04/18.04 LTS (Linux Kernels 4.4, 4.8 ,4.10, 4.13, 4.15 and 4.16)

Linux yubao-Z370M-S01 4.15.0-46-generic #49~16.04.1-Ubuntu SMP Tue Feb 12 17:45:24 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux

• ROS Kinetic
• Intel® RealSense™ SDK 2.0 (build 2.19.0) Download
• Intel® RealSense™ Depth Cameras D435i
• ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.1) Download

Important notes:

• Don’t use the Using pre-build packages, try to build with source code. I don’t know why
• Make sure the SDK’s version is compatible with ROS Wrapper’s version

Building librealsense2 SDK

Refer Linux Ubuntu Installation

Error when execute ./scripts/patch-realsense-ubuntu-lts.sh

Error Description:

make: Leaving directory '/home/yubao/GitProject/librealsense-2.19.0/ubuntu-xenial-hwe'
Patched kernels modules were created successfully

Replacing videodev :
	Module videodev  is used by videobuf2_core
	Unloading dependency videobuf2_core
	modprobe: FATAL: Module videobuf2_core is in use.
Failed to unload module videobuf2_core. error type 1 . Operation is aborted
yubao@yubao-Z370M-S01:~/GitProject/librealsense-2.19.0$

Solution:

yubao@yubao-Z370M-S01:~/catkin_ws$ lsmod | grep videobuf2_core
videobuf2_core         40960  2 videobuf2_v4l2,uvcvideo
videodev              180224  3 videobuf2_core,videobuf2_v4l2,uvcvideo
yubao@yubao-Z370M-S01:~/catkin_ws$ sudo modprobe -r uvcvideo
yubao@yubao-Z370M-S01:~/catkin_ws$ lsmod | grep videobuf2_core

build and installation

mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release
make && sudo make install

Recompile and install librealsense binaries

sudo make uninstall && make clean && make && sudo make install

Remove all RealSense™ SDK-related packages with:

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

realsense-viewer

Reconnect the Intel RealSense depth camera and run:

realsense-viewer

to verify the installation.

If not working, reboot your PC and try again.

ROS: RGBD Poind Cloud

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

ROS: Start the camera node

roslaunch realsense2_camera rs_camera.launch

SLAM with D435i

wiki

OpenNI2 Interface

refer

cd build
cmake-gui ..

make

cp _out/librs2driver.so ~/GitProject/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/
cp librealsense2.so ~/GitProject/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/

./SimpleViewer

./NiViewer