Realsense Camera on Ubuntu （如何配置安装Realsense相机）

## Objective - Install Realsense SDK on Ubuntu 如何在Ubuntu中配置安装Realsense SDK ## Related Resources - [Get started](https://realsense.intel.com/get-started/) - [IntelRealSense/librealsense-Github](https://github.com/IntelRealSense/librealsense) - [Intel® RealSense™ SDK 2.0 Github User Guide](https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-SDK2-Github-Guide.pdf) - Intel® RealSense™ SDK 2.0 (build 2.19.0) [Download](https://github.com/IntelRealSense/librealsense/releases/tag/v2.19.0) - Intel® RealSense™ Depth Cameras D435i - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.1) [Download](https://github.com/intel-ros/realsense/releases) - SLAM with D435i: [wiki](https://github.com/intel-ros/realsense/wiki/SLAM-with-D435i) # Preparation - RealSense Camere: my device is D435i - Ubuntu >= 16.04 ```sh Ubuntu 16.04/18.04 LTS (Linux Kernels 4.4, 4.8 ,4.10, 4.13, 4.15 and 4.16) ``` Refer [Linux Ubuntu Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) # Building librealsense2 SDK Frome Source Code ## Build librealsenseSDK on Ubuntu 18 ```sh sudo apt-get update && sudo apt-get upgrade sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev git clone https://github.com/IntelRealSense/librealsense.git cd librealsense ./scripts/setup_udev_rules.sh ./scripts/patch-realsense-ubuntu-lts.sh ``` ## Build libreasenseSDK on Ubuntu 16 ```sh sudo apt-get update && sudo apt-get upgrade sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev sudo apt-get install libglfw3-dev git clone https://github.com/IntelRealSense/librealsense.git cd librealsense ./scripts/setup_udev_rules.sh ./scripts/patch-realsense-ubuntu-lts.sh ``` - Build and install ```sh mkdir build && cd build cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true make -j3 make install or sudo make install ``` # Install librealsense use pre-build package Refer https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md - Register the server's public key ```sh sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE ``` - Add the server to the list of repositories Ubuntu 16: ```sh sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u ``` Ubuntu 18: ```sh sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u ``` - Install the libraries ```sh sudo apt-get install librealsense2-dkms sudo apt-get install librealsense2-utils ``` - Optionally install the developer and debug packages: ```sh sudo apt-get install librealsense2-dev sudo apt-get install librealsense2-dbg ``` ## Recompile and install librealsense binaries `sudo make uninstall && make clean && make && sudo make install` ## Remove all RealSense™ SDK-related packages with: `dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge` ## realsense-viewer Reconnect the Intel RealSense depth camera and run: ## Tools - **realsense-viewer** To verify the installation. If not working, reboot your PC and try again. - `./SimpleViewer`  - ./NiViewer  # ROS Wrapper - Install ```sh sudo apt-get install ros-kinetic-realsense2-camera ``` - ROS: RGBD Poind Cloud ```sh roslaunch realsense2_camera rs_camera.launch filters:=pointcloud ``` - ROS: Start the camera node ```sh roslaunch realsense2_camera rs_camera.launch ```  # sugestion Important notes: - Don't use the pre-build packages, try to build with source code. I don't know why - Make sure the SDK's version is compatible with ROS Wrapper's version - Error when execute ./scripts/patch-realsense-ubuntu-lts.sh Error Description: ```sh make: Leaving directory '/home/yubao/GitProject/librealsense-2.19.0/ubuntu-xenial-hwe' Patched kernels modules were created successfully Replacing videodev : Module videodev is used by videobuf2_core Unloading dependency videobuf2_core modprobe: FATAL: Module videobuf2_core is in use. Failed to unload module videobuf2_core. error type 1 . Operation is aborted yubao@yubao-Z370M-S01:~/GitProject/librealsense-2.19.0$ ``` Solution: ```sh yubao@yubao-Z370M-S01:~/catkin_ws$ lsmod | grep videobuf2_core videobuf2_core 40960 2 videobuf2_v4l2,uvcvideo videodev 180224 3 videobuf2_core,videobuf2_v4l2,uvcvideo yubao@yubao-Z370M-S01:~/catkin_ws$ sudo modprobe -r uvcvideo yubao@yubao-Z370M-S01:~/catkin_ws$ lsmod | grep videobuf2_core ```