一. 安装realsense SDK
(注意:安装时需要拔掉相机)
由于T265停产,Intel RealSense SDK 2.0(v.2.54.1)在该版本中移除了对T265相机的支持,因此下载v2.48.0版本。
首先下载安装包:
git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense
分别执行安装依赖项:
cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
安装权限脚本:
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
编译librealsense:
mkdir build
cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make uninstall
make clean && make -j8
sudo make install
将t265插到USB3.0插口,测试安装好的librealsense
realsense-viewer
此时会打开realsense软件,把界面左边的off按钮拨到on, 即可出现相机的轨迹。
如果显示mission一个模块,右上角会有标注,输入如下指令安装该模块:
sudo cp ~/.99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger
再次打开realsense-viewer就可以看到t265的数据了~
三. 报错解决
(1)Error booting T265
把usb2.0口换为usb3.0口
(2)打开realsense-viewer后右上角有红色提醒
Description: Multiple realsense udev-rules were found!
1: /etc/udev/rules.d/99-realsense-libusb.rules
2:/lib/udev/rules.d/60-librealsense2-udev-rules.rules
Make sure to remove redundancies!
解决方法:
sudo rm -rf /etc/udev/rules.d/99-realsense-libusb.rules
sudo apt-get autoremove librealsense2-dkms
(3)无法获得锁/var/lib/dkpg/lock-frontend. 锁正由进程12836(unattended-upgr)持有。
解决方法:
sudo rm /var/cache/apt/archives/lock
sudo rm /var/lib/dpkg/lock
四. 使用ROS获取数据
方式一:
首先安装ros-noetic-realsense2-camera
sudo apt-get install ros-noetic-realsense2-camera
执行rs_t265.launch文件
roslaunch realsense2_camera rs_t265.launch
打开一个新的终端,查看发布的ros话题,可以看到realsense-camera和odom之类的数据
rostopic list
方式二:
源码位置:GitHub - IntelRealSense/realsense-ros at ros1-legacy
- Create a catkin workspace Ubuntu
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
- Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
- Make sure all dependent packages are installed. You can check .travis.yml file for reference.
- Specifically, make sure that the ros package ddynamic_reconfigure is installed. If ddynamic_reconfigure cannot be installed using APT or if you are using Windows you may clone it into your workspace 'catkin_ws/src/' from here
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc