RealSense T265环境配置

RealSense T265环境配置

二进制安装SDK2.0

官网的指导

https://www.intelrealsense.com/

https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md#installing-the-packages

RealSense-ROS

http://wiki.ros.org/RealSense

一些博客

Intel Realsense T265 在ubuntu下的环境配置

Ubuntu 18.04 ———（Intel RealSense D435i）安装相机的驱动librealsense + realsense-ros

二进制装添加软件库的时候会报错说没有数字签名

redwall@redwall-G3-3500:~$ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
命中:1 http://mirrors.aliyun.com/ubuntu bionic InRelease
命中:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease                  
命中:3 http://mirrors.aliyun.com/ubuntu bionic-updates InRelease               
命中:4 http://mirrors.aliyun.com/ubuntu bionic-backports InRelease             
命中:5 http://mirrors.aliyun.com/ubuntu bionic-security InRelease              
命中:6 http://packages.microsoft.com/repos/code stable InRelease               
错误:7 http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic InRelease
  403  Forbidden [IP: 52.218.92.66 80]
E: 无法下载 http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo/dists/xenial/InRelease  403  Forbidden [IP: 52.218.92.66 80]
E: 仓库 “http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial InRelease” 没有数字签名。
N: 无法安全地用该源进行更新，所以默认禁用该源。
N: 参见 apt-secure(8) 手册以了解仓库创建和用户配置方面的细节。

RealSense的issue上也没有解决无法添加软件库的问题

https://github.com/IntelRealSense/librealsense/issues/10197

所以还是用源码安装吧

源码安装SDK2.0

按下面的博客操作，Ubuntu18.04可以正常安装SDK，不过下载的时候稍微有点费时

Ubuntu 18.04 ———（Intel RealSense D435i）安装相机的驱动librealsense + realsense-ros

realsense-ros安装

https://github.com/IntelRealSense/realsense-ros

跟着README.md做就行了，二进制和源码安装都很简单

二进制安装

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

sudo apt-get install ros-$ROS_DISTRO-realsense2-description

源码安装

要先装ddynamic_reconfigure

sudo aptitude install ddynamic_reconfigure

然后

cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
catkin_make -DCMAKE_BUILD_TYPE=Release
catkin_make install

这里要注意处理好其它包，比如ZED相机的包，先编zed_ros_wrapper，再把zed_ros_examples和realsense-ros放进来一起编

安装完成后

roslaunch realsense2_camera rs_t265.launch

查看话题

redwall@redwall-G3-3500:~$ rostopic list 
/camera/accel/imu_info
/camera/accel/metadata
/camera/accel/sample
/camera/gyro/imu_info
/camera/gyro/metadata
/camera/gyro/sample
/camera/odom/metadata
/camera/odom/sample
/camera/realsense2_camera_manager/bond
/camera/tracking_module/parameter_descriptions
/camera/tracking_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static