diff --git a/README.md b/README.md index cd1f2aac78..4d5ec52f1d 100644 --- a/README.md +++ b/README.md @@ -1,48 +1,65 @@ # ROS Wrapper for Intel® RealSense™ Devices These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS. -LibRealSense supported version: v2.31.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense supported version: v2.33.1 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions -The following instructions support ROS Indigo, on **Ubuntu 14.04**, and ROS Kinetic, on **Ubuntu 16.04**. +The following instructions are written for ROS Kinetic, on **Ubuntu 16.04** but apply to ROS Melodic on **Ubuntu 18.04** as well, by replacing kinetic with melodic wherever is needed. -#### The simplest way to install on a clean machine is to follow the instructions on the [.travis.yml](https://github.com/intel-ros/realsense/blob/development/.travis.yml) file. It basically summerize the elaborate instructions in the following 3 steps: + ### Step 1: Install the ROS distribution + - #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04 or [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) on Ubuntu 18.04. -### Step 1: Install the latest Intel® RealSense™ SDK 2.0 -- #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages. -#### OR -- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.31.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) +### There are 2 sources to install realsense2_camera from: -### Step 2: Install the ROS distribution -- #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04 +* ### Method 1: The ROS distribution: + realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing: + + `sudo apt-get install ros-kinetic-realsense-camera` -### Step 3: Install Intel® RealSense™ ROS from Sources -- Create a [catkin](http://wiki.ros.org/catkin#Installing_catkin) workspace -```bash -mkdir -p ~/catkin_ws/src -cd ~/catkin_ws/src/ -``` -- Clone the latest Intel® RealSense™ ROS from [here](https://github.com/intel-ros/realsense/releases) into 'catkin_ws/src/' -```bashrc -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 .. -``` -- Make sure all dependent packages are installed. You can check .travis.yml file for reference. -- Specifically, make sure that the ros package *ddynamic_reconfigure* is installed. If *ddynamic_reconfigure* cannot be installed using APT, you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) (Version 0.2.0) + This will install both realsense2_camera and its dependents, including librealsense2 library. -```bash -catkin_init_workspace -cd .. -catkin_make clean -catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release -catkin_make install -echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc -source ~/.bashrc -``` + Notice: + * The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository. + * librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms. + +* ### Method 2: The RealSense™ distribution: + + #### This option is demonstrated in the [.travis.yml](https://github.com/intel-ros/realsense/blob/development/.travis.yml) file. It basically summerize the elaborate instructions in the following 2 steps: + + ### Step 1: Install the latest Intel® RealSense™ SDK 2.0 + - #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages. + + #### OR + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.33.1) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + + + ### Step 2: Install Intel® RealSense™ ROS from Sources + - Create a [catkin](http://wiki.ros.org/catkin#Installing_catkin) workspace + ```bash + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src/ + ``` + - Clone the latest Intel® RealSense™ ROS from [here](https://github.com/intel-ros/realsense/releases) into 'catkin_ws/src/' + ```bashrc + 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 .. + ``` + - Make sure all dependent packages are installed. You can check .travis.yml file for reference. + - Specifically, make sure that the ros package *ddynamic_reconfigure* is installed. If *ddynamic_reconfigure* cannot be installed using APT, you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) (Version 0.2.2) + + ```bash + catkin_init_workspace + cd .. + catkin_make clean + catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release + catkin_make install + echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc + source ~/.bashrc + ``` ## Usage Instructions @@ -228,7 +245,6 @@ python src/realsense/realsense2_camera/scripts/rs2_test.py --all ## Known Issues * This ROS node does not currently support [ROS Lunar Loggerhead](http://wiki.ros.org/lunar). * This ROS node does not currently work with [ROS 2](https://github.com/ros2/ros2/wiki). -* This ROS node currently does not provide the unit-tests which ensure the proper operation of the camera. Future versions of the node will provide ROS compatible unit-tests. * This ROS node currently does not support running multiple T265 cameras at once. This will be addressed in a future update. ## License diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index d8f24d0fae..5327d5f1fd 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -34,7 +34,7 @@ if(SET_USER_BREAK_AT_STARTUP) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG") endif() -find_package(realsense2 2.29.0) +find_package(realsense2 2.32.1) if(NOT realsense2_FOUND) message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") endif() diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 17b9995671..d6a561e638 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 2 -#define REALSENSE_ROS_PATCH_VERSION 12 +#define REALSENSE_ROS_PATCH_VERSION 13 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 40f0b97997..bac96d5709 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.12 + 2.2.13 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Sergey Dorodnicov Doron Hirshberg diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 3a853b2961..8aa10d4e16 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.2.12 + 2.2.13 RealSense Camera description package for Intel 3D D400 cameras Sergey Dorodnicov Doron Hirshberg