Fejemis ROS
| Line 17: | Line 17: | ||
The installation also uses Intel RealSense and can be installed via this guide. | The installation also uses Intel RealSense and can be installed via this guide. | ||
| + | [https://github.com/IntelRealSense/realsense-ros#method-1-the-ros-distribution Instructions] | ||
| − | + | Install both ''realsense2_camera'' and ''realsense2_description'' | |
=== Calibration of RealSense === | === Calibration of RealSense === | ||
| − | For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md | + | For calibration on linux install this: |
| + | [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>] | ||
== IMU and robot-localization == | == IMU and robot-localization == | ||
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== RTAB-Map == | == RTAB-Map == | ||
| + | === Standard install === | ||
<code>sudo apt install ros-noetic-rtabmap-ros</code> | <code>sudo apt install ros-noetic-rtabmap-ros</code> | ||
=== Info about dual camera setup === | === Info about dual camera setup === | ||
| + | |||
| + | ===== Install Git version of RTAB-map ===== | ||
If you need both camera for SLAM the normal install will not work. | If you need both camera for SLAM the normal install will not work. | ||
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<code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code> | <code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code> | ||
| − | ==== Get the serial numbers for the cameras ==== | + | ===== Get the serial numbers for the cameras ===== |
<code>rs-enumerate-devices | grep 'Serial Number'</code> | <code>rs-enumerate-devices | grep 'Serial Number'</code> | ||
| − | ==== | + | ====== More info ====== |
| − | + | ||
[https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/) | [https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/) | ||
Revision as of 15:45, 23 September 2022
Back to fejemis
Contents |
ROS install
The version of ROS used on Fejemis is ROS noetic.
An installing guide can be found here: ROS Noetic installation instructions
The version installed is the Desktop-Full Install.
Catkin tools
Catkin build is used in the development and therefore catkin_tools need to be installed.
On Ubuntu apt-get can be used via this guide: Installing on Ubuntu with apt-get
Intel RealSense
The installation also uses Intel RealSense and can be installed via this guide. Instructions
Install both realsense2_camera and realsense2_description
Calibration of RealSense
For calibration on linux install this:
Installation Instructions for librealsense2-dkms and librealsense2-utils
IMU and robot-localization
Also for the IMU and integration with RTAB-Map, we use robot_localization
Use this
sudo apt-get install ros-noetic-robot-localization
and this
sudo apt-get install ros-noetic-imu-tools
Rviz Add-on (visualization)
For the Rviz visualization when using Intel RealSense install this.
sudo apt-get install ros-noetic-octomap-rviz-plugins
RTAB-Map
Standard install
sudo apt install ros-noetic-rtabmap-ros
Info about dual camera setup
Install Git version of RTAB-map
If you need both camera for SLAM the normal install will not work. Install from Github like this.
sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
cd ~/catkin_ws/src
git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
cd ~/catkin_ws
catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON
Get the serial numbers for the cameras
rs-enumerate-devices | grep 'Serial Number'
More info
[1](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/)
You need to of the same cameras, as the size of the pictures should be the same.
Another way of implementing it
[2](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/)
(here we just update the obstacle layer of the cost maps with camera 2)
