T265驱动安装

Realsense T265 installation

The following instruction has been tested in Ubuntu 16.04 Kinetic

The library is installed in one folder and realsense ros packages are installed in workspace

Step 1: Install the latest Intel® RealSense™ SDK 2.0

Follow the steps in link: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md or following steps

1

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

2

get into realsense workspace

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

Unplug any connected Intel RealSense camera.

cd librealsense

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

sudo apt-get install libglfw3-dev

./scripts/setup_udev_rules.sh

./scripts/patch-realsense-ubuntu-lts.sh

If you see the following error, reboot with the UEFI secure boot deactivate and reboot with it activated to refresh.

Patched kernels modules were created successfully

Replacing videodev -
Applying the patched module ... modprobe: ERROR: could not insert 'videodev': Required key not available
Failed to insert the patched module. Operation is aborted, the original module is restored
Verify that the current kernel version is aligned to the patched module version
The original videodev module was reloaded

Final success

Patched kernels modules were created successfully

Replacing videodev -
Applying the patched module ... succeeded
Replacing uvcvideo -
Applying the patched module ... succeeded
Replacing hid_sensor_accel_3d -
Applying the patched module ... succeeded
Replacing hid_sensor_gyro_3d -
Applying the patched module ... succeeded

Script has completed. Please consult the installation guide for further instruction.

3

Building librealsense2 SDK

mkdir build && cd build

cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true

sudo make uninstall && make clean && make && sudo make install

Step 2: Installing the packages

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

Verify installation

realsense-viewer

Dismiss update firmware if recommend message shows up

sudo apt-get update

sudo apt-get upgrade

Step 3: Install Intel® RealSense™ ROS from Sources

mkdir -p realsense_ws/src

cd realsense_ws/src/

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

cd realsense-ros/

git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`

cd ..

catkin_init_workspace

git clone https://github.com/pal-robotics/ddynamic_reconfigure.git

cd ..

catkin_make clean

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

catkin_make install

echo "source ~/YOUR_WORKSAPCE/devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

Test isntallation

roslaunch realsense2_camera rs_t265.launch