maplab_realsense
This repository contains a ros wrapper for the Intel RealSense ZR300 driver, with a focus on its application for visual-inertial mapping.
Contents:
Installation for maplab users
This installation instruction assumes you already have maplab installed based on this page.
Install Realsense driver
- Ubuntu LTS 16.04
sudo apt install ros-kinetic-librealsense - Ubuntu LTS 14.04
sudo apt-get install ros-indigo-librealsense
Add maplab_realsense and dependencies to your maplab workspace
cd $CATKIN_WS/src
git clone https://github.com/ethz-asl/maplab_realsense.git
git clone https://github.com/ethz-asl/cuckoo_time_translator.git
Build maplab_realsense
catkin build maplab_realsenseRun maplab_realsense
Source the catkin workspace:
source $CATKIN_WS/devel/setup.bashThere is an example launch file with a list of all available ros parameters:
roslaunch maplab_realsense maplab_realsense.launch
Stand-alone Installation
Install ROS
Skip this part if you have ROS installed.
export UBUNTU_VERSION=xenial #(Ubuntu 16.04: xenial, Ubuntu 14.04: trusty)
export ROS_VERSION=kinetic #(Ubuntu 16.04: kinetic, Ubuntu 14.04: indigo)
sudo apt install software-properties-common
sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu $UBUNTU_VERSION main"
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install ros-$ROS_VERSION-desktop-full "ros-$ROS_VERSION-tf2-*" "ros-$ROS_VERSION-camera-info-manager*" --yes
Initialize ROS installation
Skip this part if you have ROS installed.
sudo rosdep init
rosdep update
echo ". /opt/ros/$ROS_VERSION/setup.bash" >> ~/.bashrc
source ~/.bashrcInstall librealsense
sudo apt install ros-${ROS_VERSION}-librealsenseCreate catkin workspace
Skip this part if you would like to add maplab_realsense to an existing workspace.
export ROS_VERSION=kinetic #(Ubuntu 16.04: kinetic, Ubuntu 14.04: indigo)
export CATKIN_WS=~/maplab_ws
mkdir -p $CATKIN_WS/src
cd $CATKIN_WS
catkin init
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --extend /opt/ros/$ROS_VERSION
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd srcClone maplab_realsense and dependencies
Be aware that if you would like to add maplab_realsense to an existing workspace, there might be conflicts with the dependencies and/or wstool.
cd ${CATKIN_WS}/src
git clone https://github.com/ethz-asl/maplab_realsense.git
wstool init # If you are using a pre-existing workspace and
# have used wstool before, this won't be necessary
wstool merge maplab_realsense/dependencies.rosinstall
wstool update -j4