TX2 is configured with RealSense D455 camera SDK and ros driver
After struggling for two days, I finally installed the realsense driver. I tried command installation and source code installation. I did it three times. As a result, the camera could not be connected. Finally, I found that after directly installing the latest version of the SDK, the camera was actually connected... Magically, I
finally found out that my device cannot use cuda. If the compilation command uses cuda, there will be various problems.
equipment:
- Miaosuan 2G (L4T 28.2.1/ubuntu16.04/cmake3.9.2/cuda9.0)
- RealSense D455
Reference:
https://blog.csdn.net/nannan7777/article/details/103128397
1 SDK installation
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
mkdir build
cd build
cmake ../
sudo make uninstall && make clean && make && sudo make install
Then open realsense-viewer in the terminal to view the camera effect.
2 RealSense-ros installation
Download the source code and compile with catkin_make
mkdir -p ~/catkin_ws/src
cd ~/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 ..
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
launch file to launch camera
source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch
Use rviz to view the rgb and depth map effects. On the right is the published topic:
3 bugs and solutions
3.1 realsense-viewer displays usb2.1
This problem is amazing. The first time I turned it on, it showed usb2.1, and the second time I turned it on, it showed usb3.2. I
found someone asking this question on github https://github.com/IntelRealSense/librealsense/issues/9681
It can be solved by manually using hardware_reset or changing it in the script
3.2 Could not found ddynamic_reconfigure
Reference: https://blog.csdn.net/weixin_44401286/article/details/102943016
Find the kinetic-devel branch at https://github.com/pal-robotics/ddynamic_reconfigure, extract it to the catkin_ws/src space, and then use catkin_make to install it, so that it can be found when compiling realsense.