ubuntu18.04 realsense

1.直接運行

官方网站：Intel RealSense SDK 2.0 – Intel RealSense Depth and Tracking cameras

（1） x86运行

librealsense/distribution_linux.md at master · IntelRealSense/librealsense · GitHub

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

 （2）jeston 使用这种方式无cuda加速

NVIDIA Jetson installation

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

 ubuntu18.04

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u

sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev

 運行

realsense-viewer

2.源碼安裝

官網:Linux/Ubuntu - RealSense SDK 2.0 Build Guide

2.1.更新内核

运行代码（4.4.0-50以上）

uname -r

2.2.更新cmake（需要3.6以上版本）

cmake -version

2.3.安装gcc-c++(gcc 5.00以上):

gcc -v

3.安装依赖

sudo apt-get install libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

4下载安装包

https://github.com/IntelRealSense/librealsense/tags

建议在上述网址选择合适的版本进行安装，测试2.49.0跑ros点云很卡，卸载安装2.48.0

sudo git clone https://github.com/IntelRealSense/librealsense

 5.添加驅動(不插設備)

（1）x86运行

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
./scripts/patch-realsense-ubuntu-lts.sh

 （2）arm运行

./scripts/patch-realsense-ubuntu-L4T.sh
./scripts/setup_udev_rules.sh  

6.安装Openssl库：

sudo apt-get install libssl-dev

8.安装编译

cd librealsense/
sudo mkdir build
cd build

（1） x86運行cmake(程序中有很多例子,若想編譯example,如無例子添加可省略，编译点云-DBUILD_PCL_EXAMPLES=true)

cmake ../ -DBUILD_EXAMPLES=true
sudo make && make install 

（2）jeston 带有cuda加速

cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

 運行

~/Desktop/realsense_document/software/librealsense-2.48.0/build/examples/capture/rs-capture

9.ROS Realsense

https://github.com/IntelRealSense/realsense-ros/blob/development/README.md#installation-instructions

Releases · IntelRealSense/realsense-ros · GitHub

 创建工作空间在src中解压下载的source文件

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

10.错误 

（1） ros在opencv之前安装，导致重新安装了opencv在cv_bridge中找opencv的默认路径不一样，所以要修改。

这里：/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

原来是这样子：

 修改的内容是把 /usr/include/opencv 改为/usr/local/include/opencv4/opencv2，/usr/local/include/opencv4

下面set(libraries)也需要改。

set(libraries "cv_bridge;/usr/lib/libopencv_core.so.4.5.3;/usr/lib/libopencv_imgproc.so.4.5.3;/usr/lib/libopencv_imgcodecs.so.4.5.3")

（2）ddynamic_reconfigure

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "ddynamic_reconfigure" with any of the following names:

    ddynamic_reconfigureConfig.cmake
    ddynamic_reconfigure-config.cmake

修改：

sudo apt install ros-melodic-rgbd-launch
sudo apt-get install ros-melodic-ddynamic-reconfigure

roslaunch realsense2_camera rs_camera.launch  //realsense數據採集節點
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud //點暈
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY enable_color:=false //完全无图像只有点云，换为ture有图像，非对齐后的，直接是图像对其点云
rosrun image_view image_view image:=/camera/color/image_raw  //系統自帶顯示
rosrun recive_rgb recive_rgbc //C++節點,在cmake與xml 要添加image_transfer
rosrun recive_rgb src/recevi_rgb.py   //python監聽節點
rosrun rqt_graph rqt_graph   //節點關系圖
rosrun pcl_cloudc pcl_cloudc //點暈
roslaunch realsense2_camera rs_rgbd.launch//
sudo gedit ~/.bashrc
source /home/catkin_ws/devel/setup.bash
source ~/.bashrc

(3) /opt/ros/kinetic/lib/nodelet/nodelet: symbol lookup error: /opt/ros/kinetic/lib//libexample_pkg.so: undefined symbol: _ZN2cv11namedwindowERKNS_6StringEi

 说明：undefined symbol: _ZN2后的字母，cv =opencv

在camera CMakeLists中添加下面

set(OpenCV_DIR /usr/local/lib)
find_package( OpenCV REQUIRED )

target_link_libraries( ${OpenCV_LIBS})

symbol lookup error: /home/llx/catkin_ws/markerlocalization/devel/lib//liblaneloc.so: undefined symbol: _ZN2tf17TransformListenerC1EN3ros8DurationEb
说明：tf的问题。

使用c++filt 查看報錯的位置： 終端輸入：

c++filt  _ZN2tf17TransformListenerC1EN3ros8DurationEb

tf::TransformListener::TransformListener(ros::Duration, bool)
顯示這個

find_package（tf)

原文链接：https://blog.csdn.net/weixin_39608351/article/details/92843763

11.pcl_cloudc.cpp

说明：点云数据ros提取。

catkin_create_pkg pcl_cloudc cv_bridge image_transport pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs

#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/filters/voxel_grid.h>

ros::Publisher pub;

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
{
  // Container for original & filtered data
  pcl::PCLPointCloud2* cloud = new pcl::PCLPointCloud2; 
  pcl::PCLPointCloud2ConstPtr cloudPtr(cloud);
  pcl::PCLPointCloud2 cloud_filtered;

  // Convert to PCL data type
  pcl_conversions::toPCL(*cloud_msg, *cloud);

  // Perform the actual filtering
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  sor.setInputCloud (cloudPtr);
  sor.setLeafSize (0.1, 0.1, 0.1);
  sor.filter (cloud_filtered);

  // Convert to ROS data type
  sensor_msgs::PointCloud2 output;
  pcl_conversions::moveFromPCL(cloud_filtered, output);

  // Publish the data
  pub.publish (output);
}

int
main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "my_pcl_tutorial");
  ros::NodeHandle nh;

  // Create a ROS subscriber for the input point cloud
  ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("/camera/depth/color/points", 1, cloud_cb);

  // Create a ROS publisher for the output point cloud
  pub = nh.advertise<sensor_msgs::PointCloud2> ("filtered_points", 1);

  // Spin
  ros::spin ();
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(pcl_cloudc)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++0x")
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  pcl_conversions
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
)
catkin_package()
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
add_executable(pcl_cloudc src/pcl_cloudc.cpp)
target_link_libraries(pcl_cloudc ${catkin_LIBRARIES})

package.xml添加：

<build_depend>libpcl-all-dev</build_depend>  

<exec_depend>libpcl-all</exec_depend>

（2） arm64行下面

12.recive_rgb

catkin_create_pkg  recive_rgb cv_bridge roscpp rospy sensor_msgs image_transport std_msgs

recevice_rgb.cpp

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
//OpenCV2标准头文件

#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  try
  {
    cv::imshow("c++ show", cv_bridge::toCvShare(msg, "bgr8")->image);
    //展示图片
    cv::waitKey(10);
  }
  catch (cv_bridge::Exception& e)
  {
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  cv::namedWindow("view");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("/camera/color/image_raw", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
}

 recevi_rgb.py

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Image
import cv2
from cv_bridge import CvBridge

def callback(imgmsg):
    bridge = CvBridge()
    img = bridge.imgmsg_to_cv2(imgmsg, "bgr8")
    #print('******************')
    #print(img.shape)
    cv2.imshow("python show", img)
    cv2.waitKey(3)
    

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # node are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("/camera/color/image_raw", Image, callback)
    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()
if __name__ == '__main__':
    listener()

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(recive_rgb)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  rospy
  sensor_msgs
  image_transport
  std_msgs
)
find_package(OpenCV 4.2.0 REQUIRED)
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES recive_rgb
   CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs
#  DEPENDS system_lib
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(recive_rgbc src/recevice_rgb.cpp)
target_link_libraries(recive_rgbc ${catkin_LIBRARIES} ${OpenCV_LIBS})

package.xml

<buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>std_srvs</build_depend>
  <build_depend>image_transport</build_depend> 
 
  <build_export_depend>image_transport</build_export_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>std_srvs</build_export_depend>
  
  <exec_depend>image_transport</exec_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>std_srvs</exec_depend>

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud pointcloud_texture_stream:=RS2_STREAM_ANY enable_color:=true

 

 roslaunch realsense2_camera demo_pointcloud.launch