香橙派5+ROS2+D435i

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已于 2024-03-29 14:41:48 修改

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于 2024-03-28 18:12:08 首次发布

本文链接：https://blog.csdn.net/qq_51594109/article/details/137120147

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香橙派ROS2+D435i

DeviceInfo
Camera Model	D435i
Operating System & Version	Ubuntu 22.04
Platform	香橙派5
Intel® RealSense™ SDK 2.0	v2.54.2
RealSense ROS	v4.54.1

文章目录

香橙派ROS2+D435i

ROS2安装

鱼香安装

D435i使用

Intel® RealSense™ SDK 2.0安装

我用后报错的方法

官方安装教程
我在使用官方安装教程，进行到以下时

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

报错

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package librealsense2-dkms

没找到解决方法

我的方法

借鉴这位的

下载源码
git clone -b v2.52.2 https://github.com/IntelRealSense/librealsense.git
进入源码目录
cd librealsense
安装依赖

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

从libalsense根目录运行Intel Realsense权限脚本
sudo ./scripts/setup_udev_rules.sh
编译安装

mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_GRAPHICAL_EXAMPLES=FALSE

内存大运行这个，香橙派5为4核就为 -j4
sudo make uninstall && make clean && make -j4 && sudo make install
内存小运行这个
sudo make uninstall && make clean && make && sudo make install

RealSense™ROS安装

官网教程——Installation on Ubuntu——Step3

Install debian package from ROS servers

sudo apt install ros-humble-realsense2-*

Install from source

Create a ROS2 workspace

cd 
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src/

Clone the latest ROS2 Intel® RealSense™ wrapper from here into ‘~/ros2_ws/src/’

git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd ~/ros2_ws    #别忘了退回到ros_ws目录

Install dependencies

sudo apt-get install python3-rosdep -y
sudo rosdep init
rosdep update
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

foxy或更早版本这样做

sudo apt-get install python3-rosdep -y
sudo rosdep init --include-eol-distros
sudo rosdep update --include-eol-distros
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

Build
colcon build
Source environment
source install/setup.bash
test

ros2 launch realsense2_camera rs_launch.py
rviz2
# 在rviz2里添加imgae，订阅topic /camera/camera/color/image_raw

可能遇到的问题

RealSense-Ros编译后报错说不支持humble

解决方法：Intel® RealSense™ SDK 2.0安装的版本太老，可能你是跟着其他教程安装的

# 进入源码目录
cd librealsense
# 卸载Intel® RealSense™ SDK 2.0
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge
# 返回根目录
cd
# 删除源码
sudo rm -rf librealsense
# 用我的方法重新安装

rosdep时遇到报错

realsense2_description: Cannot locate rosdep definition for [xacro]
realsense2_camera: Cannot locate rosdep definition for [diagnostic_updater]

解决方法：

sudo apt-get install ros-humble-xacro
sudo apt-get install ros-humble-diagnostic-updater

rosdep init时遇到

ERROR: error loading sources list:
	('The read operation timed out',)

解决方法：多试几次

还遇到报错：
realsense2_camera: Cannot locate rosdep definition for [librealsense2]
解决方法：没安装RealSense™ROS
sudo apt install ros-humble-realsense2-*

编译时wearning

Cannot generate a safe runtime search path for target visualOdometry
[cmake]   because files in some directories may conflict with libraries in implicit
[cmake]   directories:

解决办法：再编译一次就不会报了

test时报错

ERROR [548145195232] (handle-libusb.h:125) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
rs_error was raised when calling rs2_create_device(info_list:0x5594c5e620, index:0):failed to set power state

解决方法：

重新插拔摄像头usb接口
检查端口是否读到摄像头
lsusb

以上都没有问题，则继续

转到usb规则定义文件夹
cd /etc/udev/rules.d/
打开realsense设备的规则定义文件
sudo gedit 99-realsense-libusb.rules
ctrl A全选，删除，然后添加以下代码

##Version=1.1##
# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev"

# Intel RealSense recovery devices (DFU)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev"

# Intel RealSense devices (Movidius, T265)
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev"
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev"
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev"

KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"

重新插拔，然后运行test
ros2 launch realsense2_camera rs_launch.py

test时警告

WARNING [547071453408] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
解决办法：不影响使用就不用管