Problem:rtabmap_ros/Tutorials/HandHeldMapping use RealSense D435i

[heidytsai]

I run: roslaunch realsense2_camera rs_camera.launch \ align_depth:=true \ unite_imu_method:="linear_interpolation" \ enable_gyro:=true \ enable_accel:=true Terminal show: RLException: [rscamera. launch] is neither a launch file in package [realsense2 camera] nor is [realsense2_camera] a launch file name The traceback for the_exception was written to the log file How can I solve?

[MartyG-RealSense]

Hi @heidytsai Have you installed the RealSense SDK (librealsense) and the RealSense ROS wrapper for ROS Kinetic. Melodic and Noetic that enables this launch instruction to be used, please?

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

[heidytsai]

Hi @MartyG-RealSense Excuse me. I have executed the following code. git clone https://github.com/jetsonhacksnano/installLibrealsense cd installLibrealsense ./installLibrealsense.sh ./buildLibrealsense.sh sudo apt-get install libcanberra-gtk-module libcanberra-gtk3-module sudo reboot realsense-viewer

Is it the SDK you said?

I try your link(Method 2: The RealSense™ distribution:) to install wrapper for my ROS Melodic, but it goes wrong. Where am I doing wrong? In fact I have no idea how to install wrapper and what is realsense2_camera. Then I try to execute the following code.

mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src/ git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1 cd .. 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 roslaunch realsense2_camera rs_camera.launc

[MartyG-RealSense]

https://github.com/jetsonhacksnano/installLibrealsense would be a fine method for installing the RealSense SDK if your computer is an Nvidia Jetson, which the installLibrealsense script.

If you have a desktop or laptop PC with Ubuntu then installing the SDK and wrapper together at the same time with Method 1 may work well for you, so you would not have to install the wrapper afterwards because Method 1 does it for you.

If you have a desktop or laptop PC (not a Jetson) and want to try this, please follow the steps below.

1. Uninstall the SDK installation that you did earlier by using the command below to remove all packages with 'realsense' in their name.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

3. Install the SDK and wrapper together with Method 1 using apt-get install

https://github.com/IntelRealSense/realsense-ros#method-1-the-ros-distribution

---

I note that the roslaunch instruction that you listed above was roslaunch realsense2_camera rs_camera.launc without an h on the end of launch. Can you confirm that you entered the roslaunch instruction correctly please?

[heidytsai]

thanks you. I use Nvidia Jetson nano. Can you teach me how to install wrapper?

oh! I didn't post h here. But didn't miss when executed.

[MartyG-RealSense]

JetsonHacks also have a Jetson Nano installation script for the RealSense ROS wrapper that you could try on your Nano.

https://jetsonhacks.com/2019/10/25/realsense-ros-wrapper-jetson-nano/

[heidytsai]

In your link "$ git checkout " Where can I find my version number? I can't find.

Thanks you very much.

[MartyG-RealSense]

The instructions seem to be referring to the JetPack L4T version number (33.2.1, for example). If you know which JetPack version you are using (such as 4.5.1 or 4.6) then you can find its equivalent L4T number to use in the git checkout instruction by looking up your version on the JetPack Archive page at the link below.

https://developer.nvidia.com/embedded/jetpack-archive

[heidytsai]

Do I have to install JetPack first?!??

[MartyG-RealSense]

My feeling about this section of the instructions is that if you already have JetPack installed (which you very likely do) and the librealsense installation that you performed with the other JetsonHacks guide seems to be working correctly, then skip that section of the JetsonHacks ROS wrapper instructions and just use these commands:

$ git clone https://github.com/JetsonHacksNano/installRealSenseROS
$ cd installRealSenseROS
$ ./installRealSenseROS <catkin workplace name>

[heidytsai]

I executed "$sudo apt-cache show nvidia-jetpack", and terminal show: Package: nvidia-jetpack Version: 4.6-b199 I think I should have Jetpcak

I did " $ git clone https://github.com/JetsonHacksNano/installRealSenseROS $ cd installRealSenseROS $ ./installRealSenseROS " yesterday. Do you mean that I should skip "$ git checkout ", and execute "$ roslaunch realsense2_camera rs_camera.launch" ? Will I finish installing Wrapper?

[MartyG-RealSense]

The wrapper should already be installed if you carried out the instructions yesterday. Yes, skip checkout and now try inputting roslaunch realsense2_camera rs_camera.launch into the ROS terminal.

[heidytsai]

When I input roslaunch realsense2_camera rs_camera.launch, terminal show: [ERROR] [1660213530.506900347]: Failed to load nodelet [/camera/realsense2_camera] of type [realsense2_camera/RealSenseNodeFactory] even after refreshing the cache: Could not find library corresponding to plugin realsense2_camera/RealSenseNodeFactory. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ERROR] [1660213530.507060194]: The error before refreshing the cache was: Could not find library corresponding to plugin realsense2_camera/RealSenseNodeFactory. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [FATAL] [1660213530.507454420]: Failed to load nodelet '/camera/realsense2_cameraof typerealsense2_camera/RealSenseNodeFactoryto managerrealsense2_camera_manager' [camera/realsense2_camera-2] process has died [pid 21476, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/abcd/.ros/log/9923c1c0-195e-11ed-9dda-1418c3dc730a/camera-realsense2_camera-2.log]. log file: /home/abcd/.ros/log/9923c1c0-195e-11ed-9dda-1418c3dc730a/camera-realsense2_camera-2*.log

How can I solve? Thanks.

[MartyG-RealSense]

Another person who experienced this set of errors said:

---

I solved it by doing catkin build in the catkin workspace and then source devel/setup.bash

---

Another RealSense ROS user reported success with the same method at https://github.com/IntelRealSense/realsense-ros/issues/978#issuecomment-780707995

[heidytsai]

Sorry. I have a stupid question. Is ORB_SLAM and RTABMAP an equal system or is there a hierarchical relationship? Do I have to install ORB_SLAM before I use RTABMAP?

[MartyG-RealSense]

ORB_SLAM and RTABMAP are two different software tools for performing SLAM navigation. ORB_SLAM2 can be used with rtabmap_ros though.

A PDF guide at the link below about using them together installs rtabmap_ros first and then ORB_SLAM2 afterwards.

https://webdocs.cs.ualberta.ca/~zhang/c631/lectures/Demo_RTAB-Map_ORB-SLAM2.pdf

---

Alternatively, you can compile RTABMAP with ORB_SLAM2 included in it.

http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-td4230.html

[heidytsai]

Hi, I got a new SD card and started over, I use: Jetson nano (melodic), Ubuntu18.04, intel D435i Goal: Use rtabmap for indoor positioning and mapping let me clear my mind (1) RealSense SDK = librealsense? (2) RealSense ROS wrapper = realsense-ros ? (3) As far as I know, I need the packages included in realsense-ros: librealsense2, realsense2_camera? So do I need to have both librealsense and librealsense2? (4) Is the ROS wrapper already included in the SDK? This information confuses me, how can I start my steps in an organized manner? Thank you for your help.

[MartyG-RealSense]

1 and 2. RealSense SDK = librealsense2 and RealSense ROS Wrapper = realsense-ros

3. 'librealsense' refers to an older generation of the RealSense SDK that does not support the 400 Series cameras. librealsense2 is the correct SDK to use. librealsense2 should be installed first and then the realsense-ros wrapper secondly.

4. No, the ROS wrapper is not included in the SDK and has to be installed separately.

---

Instead of using the JetsonHacks install scripts, you could try the official Intel installation instructions instead.

1. Install librealsense2 from Jetson-compatible packages at the link below.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#4-install-with-debian-packages

2. Once you have confirmed that the librealsense2 SDK is working correctly, install realsense-ros by building it from source code using the wrapper's Method 2 instructions.

https://github.com/IntelRealSense/realsense-ros#step-2-install-intel-realsense-ros-from-sources

[heidytsai]

I can't add the server to the list of repositories. sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u Terminal show: E: Failed to fetch http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo/dists/bionic/InRelease 403 Forbidden [IP: 52.218.109.66 80] E: The repository 'http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic InRelease' is not signed. N: Updating from such a repository can't be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details.

[MartyG-RealSense]

If you are using the Jetson package install instructions, what happens if you use the command as written in the instructions with lsb_release -cs instead of using apt-repo bionic, please?

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

[heidytsai]

I found the problem I executed the following command incorrectly earlier sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u This also causes errors for new instructions, right? but i don't know how to rescue, please help me. Thank you very much!

lsb_release -cs ->bionic

[heidytsai]

I made it! By opening /etc/apt/sources.list, and unchecking the old url just works!!

[MartyG-RealSense]

That's great news - thanks very much for the update :)

[heidytsai]

Hi, I found that the teaching website that installs RealSense-ROS will install the ddynamic_reconfigure package, but the official website does not mention it. Is this necessary?

I click on the link in the RealSense-ROS official website https://github.com/IntelRealSense/realsense-ros/releases Found out this is about ROS2 installation??!! Or...is it a misunderstanding?

catkin_init_workspace cd .. catkin_make clean catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install May I ask whether these instructions install ddynamic_reconfigure package or RealSense-ROS?

[MartyG-RealSense]

In the ROS1 instructions for building the wrapper from source code, it advises to clone ddynamic_reconfigure into the catkin workspace.

You can alternatively install ddynamic_reconfigure with apt install.

Kinetic sudo apt install ros-kinetic-ddynamic-reconfigure

Melodic sudo apt install ros-melodic-ddynamic-reconfigure

Noetic sudo apt install ros-noetic-ddynamic-reconfigure

The 'Releases' link that you quoted lists all RealSense ROS wrapper versions for ROS1 and ROS2 in the date order that they were released. Versions start start with '4' are the current ros2_beta wrapper, versions that start with 3 are the older ros2 wrapper and versions that start with '2' are the ROS1 wrapper.

For SDK 2.50.0 the wrapper versions compatible with that librealsense SDK version at the time of writing this are:

ros2_beta: 4.0.4 ros2: 3.2.3 ROS1: 2.3.2

[heidytsai]

Thanks you. Can I specify version 2.3.2 as instructed in Method 2: The RealSense™ distribution? I can't find the relevant code.

[MartyG-RealSense]

The source code for ROS1 wrapper 2.3.2 is available from the link below, in the Assets file list at the bottom of that page.

https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.2

If you build from packages with Method 1 using sudo apt-get install ros-$ROS_DISTRO-realsense2-camera though then librealsense 2.50.0 and wrapper 2.3.2 should be installed together at the same time. so that you would not have to first install librealsense separately.

If you have already installed librealsense then you should remove that SDK version from your computer first before running the Method 1 apt-get installation.

https://github.com/IntelRealSense/realsense-ros#method-1-the-ros-distribution

[heidytsai]

https://github.com/IntelRealSense/realsense-ros/issues/2443#issuecomment-1210475349 You are expressing here that the method 1 does not apply to Jetson, including Jetson nano?(I use Jetson nano)

[MartyG-RealSense]

Yes, build SDK and wrapper separately if using Jetson instead of PC.

[heidytsai]

I just need to change the git clone https://github.com/IntelRealSense/realsense-ros.git of method 2 to git clone https://github.com/IntelRealSense/realsense-ros/releases/tag/2.3.2, and then execute it in sequence?

[MartyG-RealSense]

If you are using the ROS1 wrapper's git - the 'development' branch at https://github.com/IntelRealSense/realsense-ros.git - to build then you should not need to change the git clone instruction as it will build the latest wrapper version. For the ROS1 wrapper on the 'development' branch, the latest is 2.3.2 as there were no more ROS1 wrapper versions published after 2.3.2.

[heidytsai]

Oh! git commands are exclusive to ROS1?!

[MartyG-RealSense]

II believe that that the ROS1 and the ros2 wrappers use the same git clone address of https://github.com/IntelRealSense/realsense-ros.git but use the git tag commands to include or exclude particular wrapper version numbers (for example, if searching for a ROS1 version that starts with '2', ignore the ROS2 version numbers that start with 3).

[heidytsai]

Thanks you. But how can I use the git tag commands?

[MartyG-RealSense]

To install the RealSense ROS1 wrapper in the Ubuntu terminal, first create a catkin workspace if you have not done so already.

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src/

You should have now changed directory to /catkin_/ws/src

Next, git clone the RealSense ROS1 wrapper by inputting the commands below into the Ubuntu terminal.

git clone https://github.com/IntelRealSense/realsense-ros.git

cd realsense-ros/

git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`

cd ..

---

If you wish to insteaad git clone the ros2 wrapper, follow these instructions instead.

First create a ROS2 catkin workspace in the Ubuntu terminal.

mkdir -p ~/ros2_ws/src

cd ~/ros2_ws/src/

You should have now changed directory to /ros2_ws/src/

Next, git clone the RealSense ROS2 wrapper by inputting thr command below into the Ubuntu terminal.

git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git

cd ~/ros2_ws

[heidytsai]

Ok, thanks you very much.

How to install ddynamic_reconfigure using APT?

[MartyG-RealSense]

Kinetic sudo apt install ros-kinetic-ddynamic-reconfigure

Melodic sudo apt install ros-melodic-ddynamic-reconfigure

Noetic sudo apt install ros-noetic-ddynamic-reconfigure

---

ROS2 does not have dynamic_reconfigure. In the ros2 wrapper you can though still change parameters during runtime after launch with ros2 run rqt_reconfigure rqt_reconfigure

[heidytsai]

oh! Sorry!! Thanks you!

[heidytsai]

git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1 cd ..

After executing the above command, I need to execute the following command, right?

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

[MartyG-RealSense]

If you are building the ROS1 wrapper for Kinetic, Melodic or Noetic then yes, execute that list of instructions.

[heidytsai]

Thank you for answering.

[heidytsai]

May I ask what does this command mean? git checkout git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1 Should I do git tag | sort -V | grep -P "^2.\d+.\d+" | tail -1 first?

[MartyG-RealSense]

It is basically saying to install the latest version of the ROS wrapper, and only install the version number that begins with the number '2' (so that the latest version of the ros2 wrapper that starts with the version number '3' is not installed.

Instead of using a git tag instruction, a simpler method is to specify the version number that you want to install, with a 'v' in front of the number. For example: git checkout v2.3.2

[heidytsai]

Oh! This is the git tag command you mentioned earlier! ! Thanks you. Forgive my stupidity.

[heidytsai]

Sorry to bother you. Could you please tell me the meaning of the following commands?

catkin_init_workspace cd .. catkin_make clean catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release catkin_make install

[MartyG-RealSense]

DCMAKE_BUILD_TYPE - build in Release mode instead of the developer 'Debug' mode. The 'Release' mode should run better due to being optimized.

DCATKIN_ENABLE_TESTING - I am not certain what this does, other than run some tests as the name suggests. Usually a ROS wrapper build will break if it is set to True though.

[heidytsai]

Hi. Thanks you. I get a CMake Error when I reach the catkin_make clean command, How can I solve?(I use Jetson nano)

[MartyG-RealSense]

Earlier in this discussion you you stated that you were using Noetic, but the error messages have Melodic in them. Have you had ROS Melodic installed on your computer before you began using Noetic, please?

[heidytsai]

I've been using Melodic. You must have misunderstood? https://github.com/IntelRealSense/realsense-ros/issues/2443#issuecomment-1210317438 https://github.com/IntelRealSense/realsense-ros/issues/2443#issuecomment-1217535642

[heidytsai]

I use this way and solved the Error. thank you. But can you tell me what are these commands to do? Is it Installing the ros package ddynamic_reconfigure?? But you have provided me with the installation instructions for APT. Now I have executed the catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release command, and Jetson nano crashes. Do I need to do any compensating action after rebooting?

[MartyG-RealSense]

The commands at https://github.com/IntelRealSense/realsense-ros/issues/2443#issuecomment-1223824646 are not related to installing ddynamic_reconfigure.

In regard to the commands at that link: aside from the ones already discussed, catkin_init_workspace creates the catkin workspace folder and catkin_make clean cleans up the catkin workspace and can be used to remove a build from the workspace.

catkin_make install builds the wrapper with the configuration that you specified in the previous catkin_make instruction

Have you sourced the bashrc file after performing catkin_make install

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc