RealSense D435をROSで使う

RealSense D435をROSで使うメモ。RealSense SDKはapt-getでインストールできるのでとても簡単。ROSのラッパーもすでに提供されているのですぐ使える。このメモはカラー画像の表示まで。

ソフトウェア環境

• Ubuntu16.04
• ROS Kinetic
• RealSense SDK 2.0: (Build 2.12.0)
• ROS Wrapper: build 2.0.3

RealSense SDKのインストール

• このページのとおり実施すればよい。以下の手順はその簡単な日本語訳。
• リポジトリにIntelサーバーを追加
  • echo ‘deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main’ | sudo tee /etc/apt/sources.list.d/realsense-public.list
• サーバーの公開鍵を登録
  • sudo apt-key adv –keyserver keys.gnupg.net –sudo apt-get install librealsense2-dbgrecv-key 6F3EFCDE
• リポジトリのリストと使えるパッケージをリフレッシュする
  • sudo apt-get update
• デモを実行できるようにインストールする
  • sudo apt-get install librealsense2-dkms
  • sudo apt-get install librealsense2-utils
• 開発用に追加のパッケージをインストールする
  • sudo apt-get install librealsense2-dev
  • sudo apt-get install librealsense2-dbg
• リブートする
  • reboot
• リブートしたらカーネルがアップデートしているか確認する
  • 次のコマンドを実行してrealsenseの文字列があれば成功
  • modinfo uvcvideo | grep “version:”

ROSラッパーのインストール

• https://github.com/intel-ros/realsense/releases　からSource code (realsense-2.0.2.tar.gz)を~/catkin_ws/srcにダウンロードする
• cd ~/catkin_ws/src
• tar xvzf realsense-2.0.3.tar.gz
• cd ~/catkin_ws
• catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  • usr/lib/libusb.aがないと怒られたら、次のコマンドを実施する。
    • sudo apt install libusb-dev
• catkin_make install

実行

• roslaunch realsense2_camera rs_camera.launch
  • 解像度は640×480 pixel。変更したいときはrs_camera.launchの中を書き換える。
• rosrun image_view image_view  image:=/camera/color/image_raw
  • 画像が表示されれば成功。

トピック

$ ~/catkin_ws/src/realsense-2.0.2/realsense_ros_camera/launch$ rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/realsense_ros_camera_manager/bond
/camera/realsense_ros_camera_manager/parameter_descriptions
/camera/realsense_ros_camera_manager/parameter_updates
/rosout
/rosout_agg
/tf_static

以上