Tutorial: Install ROS Wrapper 2.0 for Intel RealSense Devices

Welcome to the ROS Wrapper 2.0 Depth Sensing wiki!

Model	Firmware
D400	5.08.15.0 +
SR300	3.10.10.0 +

Instructions

Follow the lastest instructions to install ROS Wrapper for Realsense here: https://github.com/intel-ros/realsense.

Archive

(This is the old installation instructions. Follow the above instructions first before trying the below.)

Below are the instructions to run ROS on the Intel realsense Camera.

Prerequisite: Follow the instructions from IntelRealSense/librealsense to install librealsense and clone the package to ~/catkin_ws/src.

Step 1: Download Source Code (.zip) from intel-ros/realsense. Extract this folder in ~/catkin_ws/src.

Step 2: Unzip the file and open the README.md file in Atom/Sublime/Pycharm and follow the instructions. You can also find the online README.md here.

Step 3: Run sample code using the camera. To start the camera node in ROS, plug in the camera, then type the following command:

roslaunch realsense2_camera rs_rgbd.launch

This will stream all camera sensors and publish data to appropriate ROS topics.

TroubleShooting

If rs_rgbd not found, go to cd ~/catkin_ws/src and git clone https://github.com/ros-drivers/rgbd_launch.git. Then run catkin_make.

References

https://github.com/intel-ros/realsense

https://github.com/IntelRealSense/librealsense/issues/1006

https://askubuntu.com/questions/764241/how-to-remove-new-kernel-and-make-older-default-16-04T

https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md#video4linux-backend-preparation