mxmmbd1
commented
2 weeks ago little update, I was able to make it run after these changes, but very slowly and doesn't work every time, as well extremely slow when doing rviz2 on my computer and going on topic /camera/camera/color/image_raw
documented here the steps since my first message:
Hardware: Intel RealSense D455 Camera Raspberry Pi 4 High-quality, short USB 3.2 cable connected to a high-power port
Software: Ubuntu 22.04 ROS2 Humble RealSense SDK 2.55.1 RealSense ROS2 Wrapper 4.55.1
- Install Dependencies
First, ensure your system is updated and install dependencies required for RealSense SDK:
sudo apt update && sudo apt upgrade
sudo apt install git cmake libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev- Install the RealSense SDK (librealsense)
We are using RealSense SDK v2.55.1, which you can download and install manually. Ensure you are in the home directory for these steps.
# Clone the RealSense SDK repository
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
git checkout v2.55.1
# Build and install the SDK
mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release
make -j4
sudo make install- Update Camera Firmware
It's important to use firmware version 5.16.0.1 for compatibility. Use the RealSense Viewer to check and update firmware:
realsense-viewer
In the viewer, navigate to the settings and update the firmware if necessary.
- Install the RealSense ROS2 Wrapper
The RealSense ROS2 wrapper version 4.55.1 is used here. This wrapper integrates the RealSense SDK with ROS2, allowing you to access camera data in ROS2.
4.1. Create a ROS2 Workspace:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
4.2. Clone the Wrapper Repository:
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-4.55.1
4.3. Install ROS Dependencies:
cd ~/ros2_ws
sudo apt install python3-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
4.4. Build the ROS2 Wrapper:
cd ~/ros2_ws
colcon build --merge-install
4.5. Source the ROS2 Environment:
source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/local_setup.bash
- Run the RealSense ROS2 Node
Now that everything is installed, run the RealSense ROS2 node to start capturing data from the D455 camera.
ros2 run realsense2_camera realsense2_camera_node
MartyG-RealSense
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Issue Description
similar to issue #3158 @MartyG-RealSense @haidaumitom I am currently trying to connect the Realsense D455 with the Raspberry Pi 4 B over ROS 2. I used humble on the Ubuntu 22.04. I followed this guide https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#installation-on-ubuntu. I followed the steps for the installation on Ubuntu and did Step 1. the guide of Humble. Step 2 I did option 2. Step 3 I did option 2. The camera is plugged into the USB 3.0 When trying to do ros2 launch realsense2_camera rs_launch.py ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true or ros2 run realsense2_camera realsense2_camera_node ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_color:=false -p spatial_filter.enable:=true -p temporal_filter.enable:=true
I get this response usually